CN111661636A - Mechanical gripper and cotton spinning conveying line comprising same - Google Patents
Mechanical gripper and cotton spinning conveying line comprising same Download PDFInfo
- Publication number
- CN111661636A CN111661636A CN201910175904.0A CN201910175904A CN111661636A CN 111661636 A CN111661636 A CN 111661636A CN 201910175904 A CN201910175904 A CN 201910175904A CN 111661636 A CN111661636 A CN 111661636A
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- Prior art keywords
- gripper
- piece
- mechanical
- slide
- crank
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- 229920000742 Cotton Polymers 0.000 title claims abstract description 14
- 238000009987 spinning Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical gripper and a cotton spinning conveying line comprising the same. The first gripper piece and the second gripper piece which are arranged oppositely are respectively connected to a sliding rail piece in a sliding mode, and the first gripper piece and the second gripper piece are respectively connected to a crank link mechanism through a first connecting piece and a second connecting piece; the driving part drives the crank-link mechanism to swing, and then drives the first gripper piece and the second gripper piece to slide along the sliding rail piece so as to be relatively close to or separated from each other. The mechanical gripper disclosed by the invention is designed by utilizing the principle of the swing guide rod mechanism, and the mechanical gripper can replace manual material handling, so that the working efficiency and the working stability are improved, and the potential safety hazard is reduced.
Description
Technical Field
The invention relates to a mechanical gripper and further relates to a cotton spinning conveying line comprising the mechanical gripper.
Background
At present, empty and full cans are often required to be converted in the production process of various processes in a cotton spinning workshop, for example, in the production of a drawing frame, when the material of the drawing frame is used up, the empty cans are required to be replaced by the full cans, and when the drawing frame is full, the full cans are required to be replaced by the empty cans. Most of the conventional replacement methods for empty cans are manually carried. Along with the continuous improvement of industrial automation degree, many drawbacks have been shown to the manual mode, for example work efficiency is low, information tracking is inaccurate, there are potential safety hazards etc. these problems greatly reduced drawing frame work efficiency, restricted the high-efficient production of enterprise.
Disclosure of Invention
The invention aims to provide a mechanical gripper and a cotton spinning conveying line comprising the mechanical gripper.
In order to achieve the above object, the mechanical gripper of the present invention includes a driving member and a gripper member connected to the driving member, wherein the gripper member includes a first gripper member, a second gripper member, and a first connecting member and a second connecting member. The first gripper piece and the second gripper piece which are arranged oppositely are respectively connected to a sliding rail piece in a sliding mode, and the first gripper piece and the second gripper piece are respectively connected to a crank connecting rod mechanism through the first connecting piece and the second connecting piece; the driving part drives the crank connecting rod mechanism to swing so as to drive the first gripper piece and the second gripper piece to slide along the sliding rail piece to be relatively close to or separated from each other.
In an embodiment of the aforementioned mechanical gripper, the crank-link mechanism includes a crank and a link, the link includes a long hole, one end of the crank is driven by the driving member, the other end of the crank is movably connected to the long hole, and the first connecting member and the second connecting member are respectively hinged to the link.
In an embodiment of the above mechanical gripper, the connecting rod includes a fixing portion, and the fixing portion is hinged to the sliding rail member.
In an embodiment of the mechanical gripper, the first gripper member and the second gripper member respectively include a gripper body, a gripper support and a buffer spring, and the gripper body and the gripper support are connected through the buffer spring.
In an embodiment of the above mechanical gripper, the slide rail member includes a guide rail and a slide block slidably connected to the guide rail, and the gripper bracket is rotatably connected to the slide block.
In an embodiment of the mechanical gripper, the first gripper member and the second gripper member respectively include a bearing seat and a support shaft, the bearing seat is connected to the slider, and the gripper support is rotatably connected to the bearing seat through the support shaft.
In an embodiment of the above mechanical gripper, the first gripper member and the second gripper member respectively include a return spring, and the return spring is connected between the gripper bracket and the slider.
In an embodiment of the above mechanical gripper, the sliding blocks include a first sliding block and a second sliding block located on two sides of the bearing seat, and the number of the return springs is two, and the two return springs are respectively disposed between the gripper bracket and the first sliding block and between the gripper bracket and the second sliding block.
In an embodiment of the above mechanical gripper, the gripper body includes an arc portion, and a rubber layer is attached to an inner side of the arc portion.
The cotton spinning conveying line comprises a conveying line and a mechanical gripper arranged on the conveying line, wherein the mechanical gripper is the mechanical gripper.
The mechanical gripper disclosed by the invention has the beneficial effects that the mechanical gripper is designed by utilizing the principle of the swing guide rod mechanism, the mechanical gripper can replace manual material handling, the working efficiency and the working stability are improved, and the potential safety hazard is reduced.
The cotton spinning conveying line adopts the mechanical gripper to realize automatic material transfer, and provides a foundation for realizing the automation of logistics equipment in a cotton spinning workshop.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a perspective view of one embodiment of a mechanical gripper of the present invention;
FIG. 2 is a perspective view of one embodiment of the mechanical gripper of the present invention (the guide rails not shown);
FIG. 3 is a perspective view of one embodiment of the mechanical gripper of the present invention (the guide rails and gripper members are not shown);
FIG. 4 is a mechanical motion diagram of the mechanical gripper of the present invention;
fig. 5 is a perspective view of a gripper member of an embodiment of the mechanical gripper of the present invention (the web is not shown);
FIG. 6 is an enlarged view at E of FIG. 2;
fig. 7 is a state diagram of the use of one embodiment of the mechanical gripper of the present invention.
Wherein the reference numerals
10: mechanical gripper
100: gripper component
200: driving part
110: first gripper member
111: tongs body
112: tongs support
113: buffer spring
111 a: arc-shaped part
111 b: rubber layer
116: reset spring
117: bearing seat
118: supporting shaft
119: connecting plate
120: second gripper member
121: tongs body
121 a: arc-shaped part
121 b: rubber layer
130: first connecting piece
140: second connecting piece
150: slide rail piece
151: guide rail
152: sliding block
152 a: first slide block
152 b: second slide block
160: crank connecting rod mechanism
161: crank arm
162: connecting rod
162 a: long hole
162 b: fixing part
20: portal frame
Detailed Description
The following detailed description of the embodiments of the present invention with reference to the drawings and specific examples is provided for further understanding the objects, aspects and effects of the present invention, but not for limiting the scope of the appended claims.
References in the specification to "an embodiment," "another embodiment," "the present embodiment," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not intended to refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
Where certain terms are used in the specification and following claims to refer to particular components or features, those skilled in the art will understand that various terms or numbers may be used by a skilled user or manufacturer to refer to the same component or feature. This specification and the claims that follow do not intend to distinguish between components or features that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. In addition, the term "coupled" is intended to include any direct or indirect coupling.
It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. appears on the basis of the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. For the sake of clarity, the terms "first," "second," "third," "fourth," and the like, as used herein, are used to distinguish one element, region, or section from another, the same or similar element, region, or section, and are not intended to limit the particular element, region, or section.
As shown in fig. 1 and 2, fig. 1 and 2 are perspective structural views of an embodiment of the mechanical gripper of the present invention. The mechanical gripper 10 of the present invention includes a gripper member 100 and a driving member 200, and the gripper member 100 is coupled to the driving member 200. The driving part 200 drives the gripper 100 to move to grip the material for the carrying operation.
The gripper unit 100 of the mechanical gripper 10 of the present invention includes a first gripper member 110, a second gripper member 120, a first link 130, a second link 140, a slide member 150, and a crank link mechanism 160. The first gripping member 110 and the second gripping member 120 are disposed opposite to each other and used for gripping the material. The first gripper member 110 and the second gripper member 120 are respectively slidably connected to the sliding rail member 150, two ends of the first connecting member 130 are respectively hinged to the first gripper member 110 and the crank link mechanism 160, two ends of the second connecting member 140 are respectively hinged to the second gripper member 120 and the crank link mechanism 160, that is, the first gripper member 110 and the second gripper member 120 are respectively connected to the crank link mechanism 160 through the first connecting member 130 and the second connecting member 140. The driving member 200 (e.g., a driving motor) drives the crank link mechanism 160 to swing, and the crank link mechanism 160 drives the first hand grip 110 and the second hand grip 120 to slide along the sliding rail 150 through the first connecting member 130 and the second connecting member 140 to move closer to or away from each other.
When the material is transported to the target position, the crank link mechanism 160 drives the first gripper member 110 and the second gripper member 120 to slide back to move away from each other, so as to place the material at the target position.
As shown in fig. 3 and 4, fig. 3 and 4 are a perspective view and a mechanism movement diagram of a hidden guide rail and a gripper member of the mechanical gripper of the present invention. The mechanical gripper adopts the principle of a swing guide rod mechanism, converts the swing of a driving crank into the swing of a driven guide rod through a slide block, further drives a left connecting rod and a right connecting rod to swing, and finally realizes the opening and closing of the left slide block and the right slide block. Specifically, the crank link mechanism 160 includes a crank 161 and a link 162, the link 162 includes a long hole 162a, one end of the crank 161 is driven by the driving member 200, and the other end of the crank 161 is movably connected to the long hole 162 a. The driving part 200 drives the crank 161 to rotate, the crank 161 is connected to the long hole 162a of the connecting rod 162 through the bearing slider and drives the connecting rod 162 to swing, the connecting rod 162 drives the first gripper 110 and the second gripper 120 through the first connecting piece 130 and the second connecting piece 140 respectively, opening and closing of the left gripper and the right gripper are achieved, and finally the effect of clamping a cotton cylinder is achieved.
The first gripping member 110 and the second gripping member 120 of the present invention have two sets of structures which have the same structure and the same working principle and are symmetrically arranged. One set, for example, the first gripping member 110, is described below as an example.
As shown in fig. 3, the connecting rod 162 further includes a fixing portion 162b, and the connecting rod 162 is hinged to the sliding rail member 150 through the fixing portion 162b to fixedly support the mechanism on the sliding rail member 150.
Referring to fig. 1 to 3, the slide member 150 includes a guide rail 151 and a slider 152 slidably coupled to the guide rail 151, the first gripper member 110 is coupled to the slider 152, and the first gripper member 110 slides relative to the guide rail 151 via the slider 152. In detail, the slider 152 includes a first slider 152a and a second slider 152b, the first gripper member 110 further includes a connection plate 119, and the connection plate 119 is connected to the first slider 152a and the second slider 152b, that is, the first gripper member 110 is connected to the first slider 152a and the second slider 152b through the connection plate 119.
In addition, one end of the first link 130 is hinged to the link 162 of the crank link mechanism 160, and the other end is hinged to the link plate 119. The driving part 200 drives the connecting rod 162 to swing through the crankshaft 161, and the connecting rod 162 drives the first gripper member 110 to slide relative to the guide rail 151 through the first connecting member 130.
Referring to fig. 2 and 5, fig. 5 is a perspective view of a gripper member according to an embodiment of the mechanical gripper of the present invention. The first grip member 110 includes a grip body 111, a grip holder 112, and a buffer spring 113, and the grip body 111 and the grip holder 112 are connected by the buffer spring 113. Preferably, two buffer springs 113 are disposed between the two sides of the hand grip body 111 and the hand grip support 112. When the first grip 110 and the second grip 120 are driven by the driving member 200 to expand and contract to grip the can, the buffer springs 113 at both sides are compressed to generate pressure to grip the can. The buffer spring 113 has a buffer function of slowly increasing the pressure of clamping the sliver can, and can avoid damage to the sliver can caused by excessive direct force applied by a mechanical structure.
The grip body of the present invention includes an arc portion for gripping a cylindrical can, and as shown in fig. 2, for example, the second grip portion 120 includes an arc portion 121a, and preferably, the arc portion 121a of the second grip portion 120 may be two or more for gripping two or more cans at the same time. In addition, a friction increasing layer may be disposed on the working surface of the gripper body 121, for example, a rubber layer 121b may be attached to the inner side of the arc portion 121a to increase the friction of gripping of the gripper and prevent slipping during gripping.
As shown in fig. 1, 2 and 5, the first gripper 110 further includes a bearing seat 117 and a support shaft 118, and the first gripper 110 is rotatably connected to the connecting plate 119 through the bearing seat 117 and the support shaft 118, or the gripper bracket 112 of the first gripper 110 is rotatably connected to the slider 152 of the slide rail 150 through the bearing seat 117 and the support shaft 118, in this embodiment, the gripper bracket 112 is rotatably connected between the first slider 152a and the second slider 152b through the connecting plate 119.
In detail, the bearing seat 117 is disposed on the connection plate 119, the support shaft 118 is disposed on the gripper bracket 112, and the gripper bracket 112 is rotatably connected to the connection plate 119 by engaging with the bearing seat 117 through the support shaft 118.
With reference to fig. 1, 2, 5, and 6, fig. 6 is an enlarged view of fig. 2 at E. The first gripper member 110 further includes a return spring 116, the return spring 116 being connected between the gripper bracket 112 and the slider 152. The return spring 116 has a homing adjustment function.
When the position of the can is slightly inclined, the first and second grasping members 110 and 120 can rotate around the bearing seat to be adjusted to grip the can. When the can is gripped, the return spring 116 can be used for returning and adjusting to ensure that the can which is released is in the correct position.
Two return springs 116 are respectively disposed between the grip holder 112 and the first and second sliders 152a and 152b, or the return springs 116 may be disposed between the grip holder 112 and the connection plate 119.
Fig. 7 is a view showing a state of use of the mechanical gripper according to an embodiment of the present invention. The mechanical gripper 10 is arranged on a portal frame 20 through a lifting mechanism and a sliding mechanism, the mechanical gripper 10 is lifted through the lifting mechanism and moves left and right relative to the portal frame 20 through the sliding mechanism, and therefore the operation of clamping and placing materials is completed.
The cotton spinning conveying line comprises the mechanical gripper, when the mechanical gripper is applied to cotton spinning production, for example, when a drawing frame is used for automatically clamping empty and full cylinders, the gripping function of the gripper is realized by using the principle of a swing guide rod mechanism, the structure is simple, the work is stable, the tedious work of manually converting the empty and full cylinders in the drawing frame production is effectively solved, the work efficiency is improved, and the logistics conveying automation of a cotton spinning workshop is realized.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A mechanical gripper comprising a drive member and a gripper member connected to said drive member, wherein said gripper member comprises:
the first gripper piece and the second gripper piece which are arranged oppositely are respectively connected to a sliding rail piece in a sliding mode;
the first and second gripping members are connected to a crank link mechanism through the first and second connecting members respectively;
the driving part drives the crank connecting rod mechanism to swing so as to drive the first gripper piece and the second gripper piece to slide along the sliding rail piece to be relatively close to or separated from each other.
2. The mechanical gripper of claim 1, wherein the crank-link mechanism includes a crank and a link, the link includes an elongated hole, one end of the crank is driven by the driving member, the other end of the crank is movably connected to the elongated hole, and the first and second connecting members are respectively hingedly connected to the link.
3. The mechanical gripper of claim 2, wherein the linkage includes a fixed portion hingedly connected to the slide member.
4. The mechanical gripper of any one of claims 1 to 3, wherein the first gripper member and the second gripper member each comprise a gripper body, a gripper bracket, and a buffer spring, the connection between the gripper body and the gripper bracket being via the buffer spring.
5. The mechanical hand grip of claim 4 wherein the slide member includes a rail and a slide slidably coupled to the rail, the grip support pivotally coupled to the slide.
6. The mechanical gripper of claim 5, wherein the first and second gripper members each include a bearing block and a support shaft, the bearing blocks being coupled to the slide blocks, and the gripper brackets being rotatably coupled to the bearing blocks via the support shafts.
7. The mechanical hand grip of claim 6, wherein the first and second hand grip members each include a return spring connected between the grip support and the slide.
8. The mechanical hand grip of claim 7, wherein the slide blocks include a first slide block and a second slide block on opposite sides of the bearing seat, and the return springs are two and disposed between the grip bracket and the first slide block and between the grip bracket and the second slide block, respectively.
9. The mechanical hand grip of claim 4 wherein the grip body includes an arcuate portion having a rubber layer attached to an inner side of the arcuate portion.
10. A cotton spinning transfer line comprising a transfer line and a mechanical gripper disposed on the transfer line, wherein the mechanical gripper is as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175904.0A CN111661636A (en) | 2019-03-08 | 2019-03-08 | Mechanical gripper and cotton spinning conveying line comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175904.0A CN111661636A (en) | 2019-03-08 | 2019-03-08 | Mechanical gripper and cotton spinning conveying line comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111661636A true CN111661636A (en) | 2020-09-15 |
Family
ID=72381883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910175904.0A Pending CN111661636A (en) | 2019-03-08 | 2019-03-08 | Mechanical gripper and cotton spinning conveying line comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111661636A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278837A (en) * | 2020-10-29 | 2021-01-29 | 翁宗享 | Multifunctional full-automatic rotary material taking and feeding mechanism |
| CN115194808A (en) * | 2022-07-25 | 2022-10-18 | 湖州德奥机械设备有限公司 | Special manipulator gripper for sliver can |
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| WO2014006680A1 (en) * | 2012-07-02 | 2014-01-09 | 株式会社安川電機 | Robot |
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| CN204324361U (en) * | 2014-11-26 | 2015-05-13 | 山东同力达智能机械有限公司 | Crank-type centering fixing device |
| CN104875182A (en) * | 2015-05-18 | 2015-09-02 | 天津大学 | Variable palm type manipulator pawl capable of realizing passive enveloping |
| CN207482867U (en) * | 2017-09-30 | 2018-06-12 | 武汉轻工大学 | A kind of intelligence electric business access stations crawl structure and intelligent electric business access stations |
| CN209758475U (en) * | 2019-03-08 | 2019-12-10 | 北自所（北京）科技发展有限公司 | mechanical gripper and cotton spinning conveying line comprising same |
-
2019
- 2019-03-08 CN CN201910175904.0A patent/CN111661636A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014006680A1 (en) * | 2012-07-02 | 2014-01-09 | 株式会社安川電機 | Robot |
| CN103932828A (en) * | 2014-04-04 | 2014-07-23 | 东北大学 | Multifunctional mechanical arm for helping physically-challenged people |
| CN203915151U (en) * | 2014-04-04 | 2014-11-05 | 东北大学 | A kind of multi-functional mechanical hand of helping the disabled |
| CN204324361U (en) * | 2014-11-26 | 2015-05-13 | 山东同力达智能机械有限公司 | Crank-type centering fixing device |
| CN104875182A (en) * | 2015-05-18 | 2015-09-02 | 天津大学 | Variable palm type manipulator pawl capable of realizing passive enveloping |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278837A (en) * | 2020-10-29 | 2021-01-29 | 翁宗享 | Multifunctional full-automatic rotary material taking and feeding mechanism |
| CN115194808A (en) * | 2022-07-25 | 2022-10-18 | 湖州德奥机械设备有限公司 | Special manipulator gripper for sliver can |
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