CN109867136B - Dye holding and grabbing system - Google Patents

Dye holding and grabbing system Download PDF

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Publication number
CN109867136B
CN109867136B CN201910256277.3A CN201910256277A CN109867136B CN 109867136 B CN109867136 B CN 109867136B CN 201910256277 A CN201910256277 A CN 201910256277A CN 109867136 B CN109867136 B CN 109867136B
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fixed
plate
frame
guide
main
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CN109867136A (en
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洪萍
洪水贤
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Zhejiang Shaoxing Fuyuan Technology Co ltd
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Zhejiang Shaoxing Fuyuan Technology Co ltd
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Abstract

The invention discloses a dye holding and grabbing system, which comprises a material preparation frame, a transition material discharging frame and a grabbing mechanism, wherein the material preparation frame and the transition material discharging frame are arranged on the ground behind a bottom track mechanism of the grabbing mechanism; a plurality of emptying empty slots are formed in the material preparation frame, and emptying slots are formed in the middle of a bottom plate at the emptying empty slots; the transition discharging frame comprises a discharging supporting frame, a plurality of conveying roller bodies are arranged between the left side beam and the right side beam of the discharging supporting frame, and rotating shaft parts at two ends of the conveying roller bodies are hinged on the side plate bodies of the corresponding side beams through bearings; the automatic grabbing device has the advantages that the material preparation frame, the transition material discharge frame and the grabbing mechanism are arranged at the same position, the basin body is automatically grabbed from the material preparation frame through the grabbing mechanism and placed on the transition material discharge frame, manual taking and placing are facilitated, meanwhile, the grabbing mechanism can also take the basin body out of the material preparation frame and then directly placed on other nearby frame bodies, and the automatic grabbing efficiency is high and the effect is good.

Description

Dye holding and grabbing system
Technical Field
The invention relates to the technical field of printing and dyeing equipment, in particular to a dye holding conveying and grabbing system.
Background
The existing dyeing method is characterized in that firstly, components of different dyes needing to be matched are manually placed in a basin body, then, the basin body containing dye raw materials is placed on a material preparation rack, and when the raw material basin body with the corresponding color is needed, the basin body can be manually taken out, then, the basin body is carried and placed in a stirring tank body to be poured and stirred to prepare the dye, and then the dye is conveyed into a dyeing tank;
the process is very troublesome, manual carrying is needed, the manual labor is large, and the distance between the material preparation frame placed on the basin body and the material preparation position of the basin body is relatively long, so that the basin is very inconvenient.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a dye containing system with a conveying and grabbing function, which is characterized in that a material preparation frame, a transition material placing frame and a grabbing mechanism are arranged at the same position, a basin body is automatically grabbed from the material preparation frame through the grabbing mechanism and is placed on the transition material placing frame, so that the basin body is conveniently and manually taken and placed, meanwhile, the grabbing mechanism can also directly place the basin body on other nearby frame bodies after the basin body is taken out from the material preparation frame, the automatic grabbing efficiency is high, the effect is good, and the transition material placing frame can automatically move the basin body, so that the basin body is convenient and manual to take and is very convenient.
The scheme for solving the technical problems is as follows:
the dye container comprises a conveying and grabbing system, wherein the conveying and grabbing system comprises a material preparation frame, a transition material discharging frame and a grabbing mechanism, and the material preparation frame and the transition material discharging frame are arranged on the ground behind a bottom track mechanism of the grabbing mechanism;
a plurality of emptying empty slots are formed in the material preparation frame, and emptying slots are formed in the middle of a bottom plate at the emptying empty slots;
the transition discharging frame comprises a discharging support frame, a plurality of conveying roller bodies are arranged between the left side beam and the right side beam of the discharging support frame, rotating shaft parts at two ends of the conveying roller bodies are hinged to side plate bodies of the corresponding side beams through bearings, rotating shaft parts at the same side of all the conveying roller bodies extend out of the side plate bodies of the side beams, double-row chain wheels are fixed on the rotating shaft parts of one conveying roller body, driving chain wheels are fixed on the rotating shaft parts of the other conveying roller bodies, chains are tensioned on all the driving chain wheels and one chain wheel of the double-row chain wheels, a servo conveying motor is fixed on the top surface of a bottom transverse plate at one end of the discharging support frame, a main driving chain wheel is fixed on an output shaft of the servo conveying motor, and the driving chain is tensioned on one chain wheel of the main driving chain wheel and the double-row chain wheel;
the grabbing mechanism comprises a bottom track mechanism, a top guide beam and a movable lifting frame.
The movable lifting frame comprises a bottom movable frame, the bottom movable frame is arranged on a bottom track mechanism, two vertical support columns are fixed on the top surface of a main top plate of the bottom movable frame, a top horizontal plate is fixed on the top surfaces of the two vertical support columns, the bottom end and the upper part of a middle vertical screw rod are hinged on the main top plate and the top horizontal plate of the bottom movable frame through bearings, a plurality of guide wheels are arranged on the top surface of the top horizontal plate, and the top surfaces of the guide wheels are clung to the bottom surface of a top guide beam;
the lifting block is fixedly arranged on the lifting frame body, the top surface of the right end bottom plate of the lifting frame body is fixedly provided with a rotary servo motor, an output shaft of the rotary servo motor penetrates through the bottom surface of the right end bottom plate of the lifting frame body and is fixedly provided with a connecting plate, and the bottom surface of the connecting plate is fixedly provided with a grabbing telescopic mechanism.
The bottom track mechanism comprises a main bottom plate, the bottom surface of the main bottom plate is fixed on the ground, a bottom transverse guide rail is fixed on the top surface of the front part of the main bottom plate, a rear transverse beam is fixed on the top surface of the rear part of the main bottom plate, and a rack is fixed in the middle of the front wall surface of the rear transverse beam.
The bottom moving frame comprises a main top plate, a driving motor is fixed on the top surface of the left part of the main top plate, an output shaft of the driving motor penetrates through the bottom surface of the main top plate and is fixedly provided with a driving gear, the driving gear is meshed with a rack, bottom pulley seats are respectively fixed on the left part and the right part of the bottom surface of the main top plate, bottom pulleys are hinged in the bottom pulley seats through hinge shafts, and the bottom surfaces of the bottom pulleys are pressed against the top surface of a bottom transverse guide rail;
the front bottom surface of the main top plate is fixedly provided with two limiting plates, the bottom transverse guide rail is positioned between the two limiting plates, limiting sliding blocks are fixedly arranged on the inner side walls of the two limiting plates, and the end surfaces of the limiting sliding blocks are tightly attached to the lower side wall of the bottom transverse guide rail.
Two transition baiting frames which are close to each other are placed on the ground behind the bottom track mechanism of the grabbing mechanism, vertical columns are fixed on the front portions and the rear top surfaces of two side cross beams of the transition baiting frames, two conveying guide rods are positioned on the left side and the right side above all conveying roller bodies, and two ends of each conveying guide rod are fixed on connecting rods fixed on the corresponding vertical columns.
The infrared transmitters and the infrared receivers are fixed on the top surfaces of the front part and the rear part of the two side beams of the transition discharging frame, and the infrared transmitter of the left side beam corresponds to the infrared receiver of the right side beam.
In the two transition blowing frames that are close to each other, the front portion of one transition blowing frame is fixed with preceding limiting plate, and the rear portion of another transition blowing frame is fixed with back limiting plate.
The top of the middle vertical screw rod extends out of the top horizontal plate and is fixed with a lifting transmission gear, the bottom surface of the top horizontal plate is fixed with a lifting servo motor, an output shaft of the lifting servo motor penetrates through the top surface of the top horizontal plate and is fixed with a lifting driving gear, and the lifting driving gear is meshed with the lifting transmission gear.
The lifting block is fixed in the middle of the front wall surface of the rear plate body of the lifting frame body, two vertical support columns and a middle vertical screw rod are inserted and sleeved in the lifting frame body, sliding blocks are fixed at the left end and the right end of the rear wall surface of the front wall plate of the lifting frame body, sliding grooves are formed in the rear wall surface of the sliding blocks, vertical guide sliding rails are fixed on the front wall surfaces of the two vertical support columns, and the vertical guide sliding rails are inserted and sleeved in the corresponding sliding grooves of the sliding blocks;
the grabbing telescopic mechanism comprises a main rotating plate, the top surface of the left end of the main rotating plate is fixed on the bottom surface of the connecting plate, side guide plates are fixed on the bottom surfaces of the front part and the rear part of the main rotating plate, a plurality of guide cylinders are fixed on the outer side walls of the two side guide plates, and the guide cylinders on the same side guide plate are arranged in a row;
the lower moving plate is positioned below the main rotating plate, the front part and the rear part of the top surface of the lower moving plate are both fixed with guide side plates, the inner side walls of the upper parts of the guide side plates are both fixed with transverse sliding groove bodies, the middle parts of the inner side walls of the transverse sliding groove bodies are provided with transverse sliding grooves, and guide cylinders on the same side are inserted into the corresponding transverse sliding grooves;
the left portion and the right part of the bottom surface of main rotor plate all are fixed with the lower supporting shoe, and the both ends of horizontal screw rod pass through the bearing and articulate on two lower supporting shoes, are fixed with lateral shifting servo motor on the left side wall of the lower supporting shoe of left portion, and lateral shifting servo motor's output shaft is the integral key shaft, and the integral key shaft plug bush is in the splined hole that the left end of horizontal screw rod has, and lateral shifting piece spiro union is in horizontal screw rod, and the bottom surface of lateral shifting piece is fixed with down horizontal connecting plate, and the preceding wall and the back wall of lower horizontal connecting plate are fixed on the inside wall of two guide side plates that correspond.
The middle part and the right bottom surface of the lower horizontal connecting plate are both fixedly provided with telescopic support plates, the two ends of a telescopic screw rod are hinged to the corresponding telescopic support plates through bearings, the left side wall of the left telescopic support plate is fixedly provided with a telescopic servo motor, the output shaft of the telescopic servo motor is a spline shaft, the spline shaft is inserted into a spline hole formed in the left end of the telescopic screw rod, a telescopic moving block is screwed into the telescopic screw rod, the bottom surface of the telescopic moving block is fixedly provided with a telescopic long plate, the right part of the telescopic long plate is inserted into a middle through groove of a guide block fixed on the bottom surface of the right end of the lower horizontal connecting plate, the right end of the telescopic long plate extends out of the middle through groove, the front part and the rear part of the right end of the telescopic long plate are hinged to the left parts of the two grasping arc arms through hinge shafts, the left inner sides of the two grasping arc arms are provided with extension parts which extend oppositely, and the extension parts are hinged to the top surface of the right part of the lower moving plate through bearings;
a grabbing through groove is formed between the two grabbing arc arms.
The invention has the outstanding effects that:
compared with the prior art, it will prepare the work or material rest, transition work or material rest and snatch the mechanism and install in same department, snatch the basin body and place on transition work or material rest through snatching the mechanism automatic from the work or material rest of preparing, make things convenient for the manual work to take and place, simultaneously, its snatch the mechanism and also can directly place the basin body after taking out from the work or material rest and put on other nearby support bodies, it snatchs efficiently voluntarily, effectually, transition work or material rest can the automatic movement basin body moreover, make things convenient for the manual work to take, it is very convenient.
Drawings
FIG. 1 is a partially simplified schematic construction of the present invention;
FIG. 2 is a schematic view of a partial structure of a transitional blanking frame of the present invention;
FIG. 3 is a partial cross-sectional view of a transition pay-off rack;
FIG. 4 is a schematic view of a partial structure of the grasping mechanism;
FIG. 5 is an enlarged view of a portion of the grasping mechanism of the invention;
FIG. 6 is a partial cross-sectional view of the bottom rail mechanism of the present invention;
FIG. 7 is a partial cross-sectional view of the top transverse beam of the present invention;
FIG. 8 is a partial cross-sectional view of the lifting frame of the present invention;
FIG. 9 is a partial cross-sectional view of the present invention at the lower moving plate;
FIG. 10 is a partial structural schematic view of the sides of the main rotating plate and the lower moving plate of the present invention;
FIG. 11 is a schematic view of a partial structure between two grasping arms;
fig. 12 is a partial schematic view of the spare rack.
Detailed Description
In the embodiment, as shown in fig. 1 to 12, a dye holding device is provided with a conveying and grabbing system, which comprises a stock preparing rack 50, a transition discharging rack 60 and a grabbing mechanism 1000, wherein the stock preparing rack 50 and the transition discharging rack 60 are placed on the ground behind a bottom track mechanism 10 of the grabbing mechanism 1000;
a plurality of emptying empty slots 51 are formed in the material preparation frame 50, and emptying slots 52 are formed in the middle of a bottom plate at the emptying empty slots 51;
the transition discharging frame 60 comprises a discharging supporting frame 61, a plurality of conveying roller bodies 62 are arranged between left and right side beams of the discharging supporting frame 61, rotating shaft parts at two ends of the conveying roller bodies 62 are hinged on side plate bodies of the corresponding side beams through bearings, rotating shaft parts at the same side of all the conveying roller bodies 62 extend out of the side plate bodies of the side beams, a double-row chain wheel 63 is fixed on the rotating shaft part of one conveying roller body 62, a transmission chain wheel 64 is fixed on the rotating shaft part of the other conveying roller bodies 62, a chain 65 is tensioned on all the transmission chain wheels 64 and one chain wheel of the double-row chain wheel 63, a servo conveying motor 66 is fixed on the top surface of a bottom transverse plate at one end of the discharging supporting frame 61, a main driving chain wheel 67 is fixed on an output shaft of the servo conveying motor 66, and a driving chain 680 is tensioned on one chain wheel of the main driving chain wheel 67 and the double-row chain wheel 63;
the grabbing mechanism comprises a bottom track mechanism 10, a top guide beam 20 and a movable lifting frame 30, wherein the movable lifting frame 30 comprises a bottom movable frame 31, the bottom movable frame 31 is installed on the bottom track mechanism 10, two vertical support columns 32 are fixed on the top surface of a main top plate of the bottom movable frame 31, a top horizontal plate 33 is fixed on the top surfaces of the two vertical support columns 32, the bottom end and the upper part of a middle vertical screw 34 are hinged on the main top plate and the top horizontal plate 33 of the bottom movable frame 31 through bearings, a plurality of guide wheels 35 are installed on the top surface of the top horizontal plate 33, and the top surface of the guide wheel 35 is tightly attached to the bottom surface of the top guide beam 20;
the middle vertical screw 34 is connected with a lifting block 36 in a screwed manner, the lifting block 36 is fixed on the lifting frame 37, a rotary servo motor 371 is fixed on the top surface of the right end bottom plate of the lifting frame 37, an output shaft of the rotary servo motor 371 penetrates through the bottom surface of the right end bottom plate of the lifting frame 37 and is fixed with a connecting plate 372, and a grabbing telescopic mechanism 40 is fixed on the bottom surface of the connecting plate 372.
Further, the bottom rail mechanism 10 includes a main bottom plate 11, the bottom surface of the main bottom plate 11 is fixed on the ground, the front top surface of the main bottom plate 11 is fixed with a bottom transverse rail 12, the rear top surface of the main bottom plate 11 is fixed with a rear transverse beam 13, and the middle part of the front wall surface of the rear transverse beam 13 is fixed with a rack 14.
Further, the bottom moving frame 31 includes a main top plate, a driving motor 311 is fixed on the top surface of the left portion of the main top plate, an output shaft of the driving motor 311 passes through the bottom surface of the main top plate and is fixed with a driving gear 312, the driving gear 312 is meshed with the rack 14, a bottom pulley seat 313 is fixed on the left portion and the right portion of the bottom surface of the main top plate, a bottom pulley is hinged in the bottom pulley seat 313 through a hinge shaft, and the bottom surface of the bottom pulley is pressed against the top surface of the bottom transverse guide rail 12;
two limiting plates 314 are fixed on the bottom surface of the front part of the main top plate, the bottom transverse guide rail 12 is positioned between the two limiting plates 314, limiting sliding blocks 315 are fixed on the inner side walls of the two limiting plates 314, and the end surfaces of the limiting sliding blocks 315 are tightly attached to the lower side walls of the bottom transverse guide rail 12.
Further, the top end of the middle vertical screw 34 extends out of the top horizontal plate 33 and is fixed with a lifting transmission gear 341, the bottom surface of the top horizontal plate 33 is fixed with a lifting servo motor 331, the output shaft of the lifting servo motor 331 passes through the top surface of the top horizontal plate 33 and is fixed with a lifting driving gear 332, and the lifting driving gear 332 is meshed with the lifting transmission gear 341.
Further, the top surfaces of the left and right ends of the top horizontal plate 33 are respectively fixed with two side leaning wheel seats 333 arranged front and back, the side leaning wheel seats 333 are hinged with the central shaft of the side leaning wheel 334 through bearings, the front wall surface and the rear wall surface of the top guiding beam 20 are closely attached to the corresponding side leaning wheels 334, and the two ends of the top guiding beam 20 are fixed on the wall body.
Further, the lifting block 36 is fixed in the middle of the front wall of the rear plate of the lifting frame 37, two vertical support columns 32 and a middle vertical screw 34 are inserted into the lifting frame 37, sliding blocks 361 are fixed at the left and right ends of the rear wall of the front wall of the lifting frame 37, sliding grooves are formed in the rear wall of the sliding blocks 361, vertical guide sliding rails 329 are fixed on the front wall of the two vertical support columns 32, and the vertical guide sliding rails 329 are inserted into the corresponding sliding grooves of the sliding blocks 361.
Further, the grabbing telescopic mechanism 40 includes a main rotating plate 41, the top surface of the left end of the main rotating plate 41 is fixed on the bottom surface of the connecting plate 372, the bottom surfaces of the front and rear parts of the main rotating plate 41 are both fixed with side guide plates 42, the outer side walls of the two side guide plates 42 are both fixed with a plurality of guide cylinders 43, and the guide cylinders 43 on the same side guide plate 42 are arranged in a row;
the lower moving plate 44 is positioned below the main rotating plate 41, the front part and the rear part of the top surface of the lower moving plate 44 are both fixed with guide side plates 45, the inner side walls of the upper parts of the guide side plates 45 are both fixed with transverse sliding groove bodies 46, the middle parts of the inner side walls of the transverse sliding groove bodies 46 are provided with transverse sliding grooves, and the guide cylinders 43 on the same side are inserted in the corresponding transverse sliding grooves;
the left and right parts of the bottom surface of the main rotating plate 41 are respectively fixed with a lower supporting block 411, two ends of a transverse screw 412 are hinged to the two lower supporting blocks 411 through bearings, a transverse moving servo motor 413 is fixed on the left side wall of the lower supporting block 411 at the left part, an output shaft of the transverse moving servo motor 413 is a spline shaft, the spline shaft is inserted into a spline hole formed in the left end of the transverse screw 412, a transverse moving block 414 is in threaded connection with the transverse screw 412, a lower horizontal connecting plate 47 is fixed on the bottom surface of the transverse moving block 414, and the front wall surface and the rear wall surface of the lower horizontal connecting plate 47 are fixed on the inner side walls of the two corresponding guide side plates 45.
Further, the middle part and the bottom surface of the right part of the lower horizontal connecting plate 47 are both fixed with a telescopic supporting plate 48, both ends of a telescopic screw 481 are hinged on the corresponding telescopic supporting plate 48 through bearings, the left side wall of the left telescopic supporting plate 48 is fixed with a telescopic servo motor 482, the output shaft of the telescopic servo motor 482 is a spline shaft, the spline shaft is inserted and sleeved in a spline hole formed at the left end of the telescopic screw 481, a telescopic moving block 483 is screwed and connected in the telescopic screw 481, the bottom surface of the telescopic moving block 483 is fixed with a telescopic long plate 49, the right part of the telescopic long plate 49 is inserted and sleeved in a middle through groove 472 of a guide block 471 fixed at the bottom surface of the right end of the lower horizontal connecting plate 47, the right end of the telescopic long plate 49 extends out of the middle through groove 472, the front part and the rear part of the right end of the telescopic long plate 49 are hinged with two arc middle arms 500 through hinge shafts, the right ends of the two arc middle arms 500 are hinged on the left parts of the two arc arms 510 through hinge shafts, the left inner sides of the left ends of the two arc arms 510 are formed with extension parts 520 which extend relatively, and the extension parts 520 are hinged on the right top surface of the lower surface 44 through bearings;
a catching through groove is formed between the two catching arc arms 510.
Further, the bottom surfaces of the two grasping arc arms 510 are formed with arc-shaped reinforcing wall plates 511 extending downward.
Further, the inner side wall, the top surface and the bottom surface of the middle through groove 472 are respectively fixed with a self-lubricating wear-resistant layer 479, and the outer side wall, the top surface and the bottom surface of the right part of the telescopic long plate 49 are clung to the corresponding self-lubricating wear-resistant layer 479.
A limiting block 1 is fixed in the middle of one side wall of the main rotating plate 41, a side vertical plate is fixed on the middle outer side wall of the guiding side plate 45 on one side of the lower moving plate 44, a proximity switch 2 is fixed on the side vertical plate, and the sensing end of the proximity switch 2 corresponds to the limiting block 1.
Two limiting rods 3 are fixed on the top surface of the middle of the front portion of the main bottom plate 11, limiting elastic blocks 4 are fixed on the top ends of the two limiting rods 3, the limiting elastic blocks 4 correspond to the bottom surface of the middle of the lifting frame 37, upper limiting blocks 5 are fixed on the outer side walls of the upper portions of the two vertical supporting columns 32, and the upper limiting blocks 5 correspond to the top surfaces of the left side plate and the right side plate of the lifting frame 37.
Two transition baiting frames 60 which are close to each other are placed on the ground behind the bottom rail mechanism 10 of the grabbing mechanism 1000, vertical columns are fixed on the front top surfaces and the rear top surfaces of two side beams of the transition baiting frames 60, two conveying guide rods 68 are positioned on the left side and the right side above all conveying roller bodies 62, when the basin body is conveyed, the basin body is positioned between the two conveying guide rods 68, accurate and stable conveying positions are guaranteed, and two ends of the conveying guide rods 68 are fixed on connecting rods fixed on the corresponding vertical columns.
The front and rear top surfaces of the two side beams of the transition discharging frame 60 are respectively fixed with an infrared emitter 691 and an infrared receiver 692, and the infrared emitter 691 of the left side beam corresponds to the infrared receiver 692 of the right side beam.
In the two transition discharging frames 60 that are close to each other, a front limiting plate 69 is fixed at the front part of one transition discharging frame 60, and a rear limiting plate 690 is fixed at the rear part of the other transition discharging frame 60.
In this embodiment, the electrical components such as the rotary servo motor 371, the driving motor 311, the lifting servo motor 331, the lateral movement servo motor 413, the telescopic servo motor 482, the proximity switch 2, the infrared transmitter 691 and the infrared receiver 692 are all electrically connected with a control host, and the control host is a control cabinet body which is commonly used in the prior art and can be directly purchased, and will not be described in detail.
Working principle: when the automatic feeding device is used, firstly, a pot body with a matched material is placed on a conveying roller body 62 on a transitional discharging frame 60, at the moment, the pot body blocks infrared rays emitted by an infrared emitter 691 at the rear part, so that an infrared receiver 692 at the right side of the rear part cannot receive signals, the infrared rays emitted by the infrared emitter 691 at the front part can be received by the infrared receiver 692 at the right side of the front part, at the moment, a control host machine operates through a servo conveying motor 66, so that all conveying roller bodies 62 rotate, the pot body is conveyed and pressed against a corresponding front limiting plate 69, at the moment, the pot body is positioned between the infrared emitter 691 at the left side of the front part of the transitional discharging frame 60 and the infrared receiver 692 at the right side of the transitional discharging frame 60, and therefore, the infrared rays emitted by the infrared emitter 691 are blocked, so that the corresponding infrared receiver 692 cannot receive infrared rays, at the moment, the instruction, a feedback signal is transmitted to the control host machine through the infrared receiver 692, at the moment, the control host machine stops the operation of the infrared receiver 66, and the operation of the control host machine, at the moment, the two infrared receivers 66 are stopped, and the operation of the two servo conveying frames are not finished, and the pot bodies are completely discharged, and the operation of the two servo conveying frames are not completely, and the infrared receiver 66 and the operation is completely discharged at the state;
then, the gripping mechanism 1000 may be operated, by the driving motor 311, such that the driving gear 312 is rotated along the rack gear 14, thereby realizing the lateral movement of the bottom moving frame 31 and the top horizontal plate 33 along the bottom rail mechanism 10, the top guide beam 20, to the place where the frame is required, then, by rotating the rotation shaft of the servo motor 371 by 90 degrees, such that the gripping telescoping mechanism 40 is rotated by 90 degrees and is located right above the tub, then, by the lifting servo motor 331, such that the middle vertical screw 34 is rotated, such that the lifting block 36 is moved downward, such that the lifting frame 37 is lowered, such that the two gripping arc arms 510 are located right in front of the tub, then, by the telescopic servo motor 482, such that the telescopic long plate 49 is moved forward, such that the two gripping arc arms 510 are opened, then, by the lateral movement of the servo motor 413, the transverse moving block 414 is moved forward so that the basin body is positioned between the two grabbing arc arms 510, then the rotating shaft of the telescopic servo motor 482 is reversed so that the telescopic long plate 49 is retracted backward, the two grabbing arc arms 510 are folded, the basin body in front of the transitional discharging frame 60 is clamped between the two grabbing arc arms 510 to finish clamping, then the basin body is carried into the discharging empty groove 51 at the position of the material preparation frame 50 through the cooperative operation of the rotary servo motor 371, the driving motor 311, the lifting servo motor 331, the transverse moving servo motor 413 and the telescopic servo motor 482, then the basin body is lowered so that the lower part of the basin body is inserted and sleeved in the discharging slot 52, the inductive switch 9 is also fixed on the top surface of the bottom plate at one side of the discharging slot 52, the inductive switch 9 senses the basin body, and the inductive signal is transmitted to the control host, the control host sets that the discharging empty groove 51 is provided with a basin body so as to ensure that other basin bodies are not put into the discharging empty groove 51 when being placed subsequently, and the specific principle is basically the same as that of material taking and is not described in detail;
then, when the raw materials are needed at the stirring cylinder, the grabbing mechanism 1000 is operated, so that the basin body is taken out from the emptying empty groove 51 and conveyed to the rack at the stirring cylinder, the subsequent taking and the use are convenient, the grabbing and the placing are the same as the previous principle, and the details are not repeated;
meanwhile, the basin body after the cleaning is finished after the dumping of the stirring tank is grabbed and conveyed to the position of the transition discharging frame 60, the principle of the basin body is the same as that of the transition discharging frame 60, when the first basin body is placed at the transition discharging frame 60, the basin body runs through the servo conveying motor 66 to be pressed against the rear limiting plate 690, when two basin bodies are placed, the basin bodies are fully described, and at the moment, the empty basin bodies are only needed to be taken manually, so that the basin body cleaning device is very convenient.
Finally, the above embodiments are only for illustrating the invention, not for limiting it, and various changes and modifications can be made by one skilled in the relevant art without departing from the spirit and scope of the invention, so that all equivalent technical solutions are also within the scope of the invention, which is defined by the claims.

Claims (8)

1. The utility model provides a dyestuff is flourishing possesses with carrying snatch system, includes work or material preparation frame (50), transition work or material rest (60) and snatchs mechanism (1000), its characterized in that: a material preparation frame (50) and a transition material discharging frame (60) are arranged on the ground behind the bottom track mechanism (10) of the grabbing mechanism (1000);
a plurality of emptying empty slots (51) are formed in the material preparation frame (50), and emptying slots (52) are formed in the middle of a bottom plate at the emptying empty slots (51);
the transition discharging frame (60) comprises a discharging support frame (61), a plurality of conveying roller bodies (62) are arranged between the left side beam and the right side beam of the discharging support frame (61), rotating shaft parts at two ends of the conveying roller bodies (62) are hinged to side plate bodies of the corresponding side beams through bearings, rotating shaft parts at the same side of all the conveying roller bodies (62) extend out of the side plate bodies of the side beams, a double-row chain wheel (63) is fixed on the rotating shaft part of one conveying roller body (62), a transmission chain wheel (64) is fixed on the rotating shaft part of the other conveying roller bodies (62), a chain (65) is tensioned on one chain wheel of all the transmission chain wheels (64) and the double-row chain wheel (63), a servo conveying motor (66) is fixed on the top surface of a bottom transverse plate at one end of the discharging support frame (61), a main driving chain wheel (67) is fixed on the output shaft of the servo conveying motor (66), and a driving chain (680) is tensioned on one chain wheel of the main driving chain wheel (67) and the double-row chain wheel (63).
The grabbing mechanism (1000) comprises a bottom track mechanism (10), a top guide beam (20) and a movable lifting frame (30);
the movable lifting frame (30) comprises a bottom movable frame (31), the bottom movable frame (31) is arranged on a bottom track mechanism (10), two vertical support columns (32) are fixed on the top surface of a main top plate of the bottom movable frame (31), a top horizontal plate (33) is fixed on the top surfaces of the two vertical support columns (32), the bottom end and the upper part of a middle vertical screw rod (34) are hinged on the main top plate and the top horizontal plate (33) of the bottom movable frame (31) through bearings, a plurality of guide wheels (35) are arranged on the top surface of the top horizontal plate (33), and the top surfaces of the guide wheels (35) are clung to the bottom surface of the top guide beam (20);
the middle vertical screw rod (34) is in threaded connection with a lifting block (36), the lifting block (36) is fixed on a lifting frame body (37), a rotary servo motor (371) is fixed on the top surface of a right end bottom plate of the lifting frame body (37), an output shaft of the rotary servo motor (371) penetrates through the bottom surface of the right end bottom plate of the lifting frame body (37) and is fixed with a connecting plate (372), and a grabbing telescopic mechanism (40) is fixed on the bottom surface of the connecting plate (372);
two transition baiting frames (60) which are close to each other are placed on the ground behind the bottom track mechanism (10) of the grabbing mechanism (1000), vertical columns are fixed on the front portions and the rear top surfaces of two side cross beams of the transition baiting frames (60), two conveying guide rods (68) are positioned on the left side and the right side above all conveying roller bodies (62), and two ends of each conveying guide rod (68) are fixed on connecting rods fixed on the corresponding vertical columns.
2. A dye-holding system according to claim 1, wherein: the bottom track mechanism (10) comprises a main bottom plate (11), the bottom surface of the main bottom plate (11) is fixed on the ground, a bottom transverse guide rail (12) is fixed on the top surface of the front part of the main bottom plate (11), a rear transverse beam (13) is fixed on the top surface of the rear part of the main bottom plate (11), and a rack (14) is fixed in the middle of the front wall surface of the rear transverse beam (13).
3. A dye-holding system according to claim 2, wherein: the bottom moving frame (31) comprises a main top plate, a driving motor (311) is fixed on the top surface of the left part of the main top plate, an output shaft of the driving motor (311) penetrates through the bottom surface of the main top plate and is fixedly provided with a driving gear (312), the driving gear (312) is meshed with a rack (14), bottom pulley seats (313) are respectively fixed on the left part and the right part of the bottom surface of the main top plate, bottom pulleys are hinged in the bottom pulley seats (313) through hinge shafts, and the bottom surfaces of the bottom pulleys are pressed against the top surface of a bottom transverse guide rail (12);
two limiting plates (314) are fixed on the bottom surface of the front part of the main top plate, the bottom transverse guide rail (12) is positioned between the two limiting plates (314), limiting sliding blocks (315) are fixed on the inner side walls of the two limiting plates (314), and the end faces of the limiting sliding blocks (315) are tightly attached to the lower side wall of the bottom transverse guide rail (12).
4. A dye-holding system according to claim 1, wherein: the infrared emitters (691) and the infrared receivers (692) are fixed on the top surfaces of the front part and the rear part of the two side beams of the transition discharging frame (60), and the infrared emitters (691) of the left side beam correspond to the infrared receivers (692) of the right side beam.
5. A dye-holding system according to claim 1, wherein: in the two transition baiting frames (60) which are close to each other, a front limiting plate (69) is fixed at the front part of one transition baiting frame (60), and a rear limiting plate (690) is fixed at the rear part of the other transition baiting frame (60).
6. A dye-holding system according to claim 1, wherein: the top of middle part vertical screw rod (34) stretches out top horizontal plate (33) and is fixed with lift drive gear (341), and the bottom surface of top horizontal plate (33) is fixed with lift servo motor (331), and the output shaft of lift servo motor (331) passes the top surface of top horizontal plate (33) and is fixed with lift drive gear (332), and lift drive gear (332) meshes with lift drive gear (341).
7. A dye-holding system according to claim 1, wherein: the lifting block (36) is fixed in the middle of the front wall surface of the rear plate body of the lifting frame body (37), two vertical support columns (32) and a middle vertical screw rod (34) are inserted and sleeved in the lifting frame body (37), sliding blocks (361) are fixed at the left end and the right end of the rear wall surface of the front wall plate of the lifting frame body (37), sliding grooves are formed in the rear wall surface of the sliding blocks (361), vertical guide sliding rails (329) are fixed on the front wall surface of the two vertical support columns (32), and the vertical guide sliding rails (329) are inserted and sleeved in the corresponding sliding grooves of the sliding blocks (361);
the grabbing telescopic mechanism (40) comprises a main rotating plate (41), the top surface of the left end of the main rotating plate (41) is fixed on the bottom surface of a connecting plate (372), side guide plates (42) are fixed on the bottom surfaces of the front part and the rear part of the main rotating plate (41), a plurality of guide cylinders (43) are fixed on the outer side walls of the two side guide plates (42), and the guide cylinders (43) on the same side guide plate (42) are arranged in a row;
the lower moving plate (44) is positioned below the main rotating plate (41), the front part and the rear part of the top surface of the lower moving plate (44) are respectively fixed with a guide side plate (45), the inner side walls of the upper parts of the guide side plates (45) are respectively fixed with a transverse sliding groove body (46), the middle parts of the inner side walls of the transverse sliding groove bodies (46) are provided with transverse sliding grooves, and guide cylinders (43) at the same side are inserted into the corresponding transverse sliding grooves;
the left portion and the right part of the bottom surface of main rotor plate (41) all are fixed with lower supporting shoe (411), the both ends of horizontal screw rod (412) pass through the bearing and articulate on two lower supporting shoes (411), be fixed with lateral shifting servo motor (413) on the left side wall of lower supporting shoe (411) of left portion, the output shaft of lateral shifting servo motor (413) is the spline shaft, the spline shaft plug bush is in the spline hole that the left end of horizontal screw rod (412) had, lateral shifting piece (414) spiro union is in horizontal screw rod (412), the bottom surface of lateral shifting piece (414) is fixed with lower horizontal connecting plate (47), the preceding wall and the back wall of lower horizontal connecting plate (47) are fixed on the inside wall of two guide side plates (45) that correspond.
8. A dye-holding system as claimed in claim 7, wherein: the middle part and the right part bottom surface of lower horizontal connecting plate (47) are all fixed with flexible backup pad (48), the both ends of flexible screw rod (481) are all articulated on corresponding flexible backup pad (48) through the bearing, be fixed with flexible servo motor (482) on the left side wall of left flexible backup pad (48), the output shaft of flexible servo motor (482) is the integral key shaft, the integral key shaft plug bush is in the splined hole that the left end of flexible screw rod (481) had, flexible movable block (483) spiro union is in flexible screw rod (481), the bottom surface of flexible movable block (483) is fixed with flexible elongated plate (49), the right part of the telescopic long plate (49) is inserted and sleeved in a middle through groove (472) of a guide block (471) fixed on the bottom surface of the right end of the lower horizontal connecting plate (47), the right end of the telescopic long plate (49) extends out of the middle through groove (472), the front part and the rear part of the right end of the telescopic long plate (49) are hinged with two arc-shaped middle arms (500) through hinge shafts, the right ends of the two arc-shaped middle arms (500) are hinged with the left parts of the two grabbing arc-shaped arms (510) through hinge shafts, the inner sides of the left ends of the two grabbing arc-shaped arms (510) are provided with extension parts (520) which extend oppositely, and the extension parts (520) are hinged with the top surface of the right part of the lower moving plate (44) through bearings;
a grabbing through groove is formed between the two grabbing arc-shaped arms (510).
CN201910256277.3A 2019-04-01 2019-04-01 Dye holding and grabbing system Active CN109867136B (en)

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CN117585348A (en) * 2023-12-28 2024-02-23 浙江朝雾山农业科技有限公司 Automatic placing and taking device for tea spreading disc

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WO2001036302A1 (en) * 1999-11-17 2001-05-25 Dynamic Systems Engineering B.V. Picking store for piece goods
CN106966160A (en) * 2017-03-01 2017-07-21 姜�硕 A kind of PCB board separators grasping plate placement mechanism
CN107324048A (en) * 2017-08-29 2017-11-07 佛山科瑞菲新能源科技有限公司 A kind of automatic gripping conveyor structure of illuminating fluorescent tube
CN209796798U (en) * 2019-04-01 2019-12-17 浙江绍兴福元科技有限公司 dye possesses with carrying grasping system greatly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001036302A1 (en) * 1999-11-17 2001-05-25 Dynamic Systems Engineering B.V. Picking store for piece goods
CN106966160A (en) * 2017-03-01 2017-07-21 姜�硕 A kind of PCB board separators grasping plate placement mechanism
CN107324048A (en) * 2017-08-29 2017-11-07 佛山科瑞菲新能源科技有限公司 A kind of automatic gripping conveyor structure of illuminating fluorescent tube
CN209796798U (en) * 2019-04-01 2019-12-17 浙江绍兴福元科技有限公司 dye possesses with carrying grasping system greatly

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