CN113086629A - Spinning cake gripping device, spinning cake production system and operation method thereof - Google Patents
Spinning cake gripping device, spinning cake production system and operation method thereof Download PDFInfo
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- CN113086629A CN113086629A CN202110455483.4A CN202110455483A CN113086629A CN 113086629 A CN113086629 A CN 113086629A CN 202110455483 A CN202110455483 A CN 202110455483A CN 113086629 A CN113086629 A CN 113086629A
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- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0232—Coils, bobbins, rolls
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Abstract
The invention discloses a spinning cake grabbing device, a spinning cake production system and an operation method thereof, wherein the device comprises: a main connecting rod; the main connecting rods are provided with first connecting seats which are in one-to-one correspondence with the first connecting rods at annular intervals, and one ends of the first connecting rods are rotatably connected with the first connecting seats; the second connecting rods correspond to the first connecting rods one by one, one ends of the second connecting rods are rotatably connected with the other ends of the first connecting rods, and the other ends of the second connecting rods extend downwards; the supporting plates correspond to the second connecting rods one to one, one ends of the supporting plates are rotatably connected with the other ends of the second connecting rods, and the other ends of the supporting plates face the virtual axis direction of the main connecting rod; the traction mechanism is connected with the first connecting rods; the driving mechanism is connected with the traction mechanism and drives the traction mechanism to draw a plurality of first connecting rods, a plurality of second connecting rods and a plurality of supporting plates to form a gripping constraint area in an enclosing mode to expand or furl; the scheme is reliable to implement and convenient to operate.
Description
Technical Field
The invention relates to the field of textile production systems, in particular to a spinning cake grabbing device, a spinning cake production system and an operation method of the spinning cake grabbing device.
Background
The principle of the grabbing and moving is mainly that friction force between the grabbing mechanism and the inner wall of a spinning cake winding drum is utilized to restrain and fix, the defects caused by the fact that usually, obvious matching marks exist on the inner wall of the winding drum after grabbing, vibration of the grabbing device in the moving process needs to be controlled within a small range, and the spinning cake is prevented from being separated from the grabbing device due to dead weight and inertia problems, meanwhile, the spinning cake with high quality usually falls off due to insufficient cooperation constraint force with the gripping device during transferring, so that production accidents are caused, and the production continuity is delayed.
Although some grabbing devices for grabbing the outer side surface of the spinning cake exist at present, the grabbing devices mainly aim at clamping, and the grabbing devices and the side wall of the spinning cake form a large friction force to support the gravity of the spinning cake, so that yarns of the spinning cake are easily scratched, and the risk of damaging the spinning cake exists in the transferring process; and traditional spinning cake snatchs mechanism need carry out a lot of drives by drive arrangement when snatching with release spinning cake, and the drive cooperation in-process can lead to frequently to teach grabbing device because of cooperation error scheduling problem.
Disclosure of Invention
In view of the above, the present invention aims to provide a spinning cake gripping device, a spinning cake production system and an operation method thereof, wherein the spinning cake gripping device has a simple structure, reliable matching, low possibility of accidental damage to a spinning cake and simple matching action.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a cake gripping device, comprising:
a main connecting rod;
the number of the first connecting rods is at least 3, first connecting seats which correspond to the first connecting rods one by one are annularly arranged on the main connecting rods at intervals, and one ends of the first connecting rods are rotatably connected with the first connecting seats;
the second connecting rods correspond to the first connecting rods one by one, one ends of the second connecting rods are rotatably connected with the other ends of the first connecting rods, the other ends of the second connecting rods extend downwards, and first locking assemblies for locking and fixing the second connecting rods and the first connecting rods relatively are arranged between the second connecting rods and the first connecting rods;
the supporting plates correspond to the second connecting rods one to one, one ends of the supporting plates are rotatably connected with the other ends of the second connecting rods, the other ends of the supporting plates face the virtual axis direction of the main connecting rod, a second locking assembly used for locking and fixing the supporting plates and the second connecting rods relatively is arranged between the supporting plates and the second connecting rods, the upper end faces of the supporting plates are used for supporting the spinning cakes to be grabbed, and grabbing constraint areas for grabbing and constraining the spinning cakes are formed by encircling among the first connecting rods, the second connecting rods and the supporting plates;
the traction mechanism is connected with the first connecting rods;
the driving mechanism is connected with the traction mechanism and drives the traction mechanism to pull the first connecting rods to drive the second connecting rods and the supporting plates to turn around the first connecting seats, so that a grabbing constraint area formed by encircling the first connecting rods, the second connecting rods and the supporting plates is expanded or folded;
wherein, the outer edge of the radial cross section outline of the main connecting rod is rectangular or circular.
As a possible implementation, further, the traction mechanism includes:
the second connecting seats correspond to the first connecting rods one by one and are fixedly connected to the lower side surfaces, close to the first connecting seats, of the middle parts of the first connecting rods;
the traction sleeve is sleeved at the lower part of the main connecting rod in a sliding manner, and third connecting seats corresponding to the second connecting seats in number one by one are arranged on the peripheral side of the traction sleeve;
the third connecting rods correspond to the second connecting seats or the third connecting seats one by one, one end of each third connecting rod is rotatably connected to the second connecting seat, and the other end of each third connecting rod is rotatably connected with the third connecting seat;
the driving mechanism is connected with the traction sleeve.
As a preferred implementation choice, the scheme further includes:
the first limiting sleeve is of a tubular structure, and the inner wall of the first limiting sleeve is provided with a first internal thread;
the lower end of the main connecting rod is also provided with a first external thread; the first limiting sleeve is in threaded connection with the first external thread.
As a preferred implementation option, it is preferred that the first external thread does not extend radially beyond the outer wall of the main connecting rod;
a transition sleeve is further connected in the first limiting sleeve in a threaded manner, and a second external thread is arranged on the outer wall of the transition sleeve and is in threaded connection with a first internal thread of the first limiting sleeve through the second external thread; the inner wall of transition cover is equipped with the second internal thread and passes through second internal thread threaded connection on first external screw thread.
As a preferred implementation option, preferably, the driving mechanism includes:
the second limiting sleeve is fixedly sleeved on the main connecting rod and is positioned between the traction sleeve and the part of the main connecting rod, which is provided with the first connecting seat;
the spring is sleeved on the main connecting rod between the traction sleeves of the second limiting sleeves, one end of the spring is fixedly connected with the second limiting sleeves, and the other end of the spring is fixedly connected with the traction sleeves;
the connecting frame is fixed at the upper end of the main connecting rod;
the driving cylinder is fixedly connected with the connecting frame, and the tail end of a driving rod of the driving cylinder is fixedly connected with a connecting plate;
the traction rods are arranged on two sides of the main connecting rod oppositely, the lower ends of the traction rods are respectively fixedly connected with the traction sleeve, the upper ends of the traction rods extend upwards and slidably penetrate through a connecting plate connected with the driving cylinder, an avoiding through groove is formed in the connecting plate corresponding to the traction rods, and a limiting block is arranged at the tail end of the upper end of each traction rod;
when the driving cylinder drives the driving rod to retract, the connecting plate drives the traction rod to pull the traction sleeve to slide along the direction close to the second limiting sleeve, so that the traction sleeve pulls the plurality of first connecting rods to drive the plurality of second connecting rods and the plurality of supporting plates to turn around the first connecting seat, and a grabbing constraint area formed by encircling among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates is expanded; when the driving rod of the driving cylinder resets and extends, the spring pushes the traction sleeve to slide along the direction away from the second limiting sleeve, so that the traction sleeve pulls the first connecting rods to drive the second connecting rods and the supporting plates to overturn around the first connecting seat, and the grabbing constraint area formed by surrounding among the first connecting rods, the second connecting rods and the supporting plates is folded.
As a preferred implementation option, preferably, the lower end surfaces of the supporting plates are each provided with a guide assembly, and the guide assembly includes:
the guide plates are in a pair and are oppositely arranged on the lower end surface of the supporting plate, the guide plates are in a triangular structure, one side edge of each guide plate is fixedly connected with the lower end surface of the guide plate, and the intersection parts of the other two side edges of each guide plate form a round chamfer structure;
the guide pulleys are rotatably connected between the pair of guide plates, and the edges of the guide pulleys exceed the side edges of the guide plates close to the other ends of the supporting plates;
wherein, the other end of the supporting plate is provided with an arc-shaped part.
As a preferred implementation choice, preferably, the first locking component includes a first bolt and a first nut, one end of the first bolt sequentially passes through one end of the second connecting rod and the other end of the first connecting rod and is locked and fixed with the first nut, so as to detachably lock and fix the first connecting rod and the second connecting rod;
the second locking assembly comprises a second bolt and a second nut, the second bolt comprises a second bolt head, a first rod part and a second rod part, a plurality of limiting clamping teeth are arranged on the first rod part, a third external thread matched with the second nut in a threaded manner is arranged on the second rod part, and a first limiting mounting hole penetrating through two side faces of the supporting plate is formed in one end of the supporting plate; the structure of the first limiting mounting hole is matched with a limiting latch structure on the first rod part of the second bolt; the middle part of one end of the supporting plate is also provided with a U-shaped mounting groove which penetrates through the upper end surface and the lower end surface of the supporting plate and is communicated with the first limiting mounting hole, the U-shaped mounting groove is used for being matched with the other end of the second connecting rod in a penetrating way, and the other end of the second connecting rod is provided with a second limiting mounting hole matched with the structure of the second limiting mounting groove corresponding to the limiting latch on the first rod part of the second bolt; when the first rod part of the second bolt penetrates into the first limiting mounting hole and the second limiting mounting hole, the second rod part of the second bolt penetrates out of the supporting plate and is locked and fixed with the second nut, and the supporting plate and the second connecting rod are relatively fixed.
As a preferred implementation choice, preferably, the number of the first connecting rods is 3 to 5, and the number of the second connecting rods and the number of the supporting plates are both 3 to 5.
Based on the scheme of the spinning cake gripping device, the invention also provides a spinning cake production system, which comprises:
the transfer conveying mechanism is used for outputting the spinning cakes, and the spinning cakes are supported on the spinning cake transfer support;
the spinning cake stacking mechanism is arranged on one side of the transferring and conveying mechanism;
the first sliding rail is arranged above the transferring and conveying mechanism and the spinning cake stacking mechanism in a crossing manner;
the translation mechanism is connected to the first sliding rail;
the lifting support is vertically arranged, and the upper end of the lifting support is connected with the translation mechanism;
the lifting mechanism is connected to one side of the lifting mechanism in a lifting manner;
one end of the connecting bracket is connected with the lifting mechanism;
it also comprises the spinning cake gripping device,
the connecting frame of the spinning cake gripping device is fixedly connected with the connecting support, and the lifting mechanism drives the spinning cake gripping device to lift;
the device further comprises a controller, wherein the controller is respectively connected with the driving cylinder, the transferring and conveying mechanism, the translation mechanism and the lifting mechanism and respectively controls the actions of the driving cylinder, the transferring and conveying mechanism, the translation mechanism and the lifting mechanism.
Based on the scheme of the spinning cake production system, the invention also provides an operation method of the spinning cake production system, which comprises the following steps:
s01, driving the spinning cake transfer support which holds the spinning cakes to move to a preset position by the transfer conveying mechanism;
s02, the translation mechanism drives the lifting support and the spinning cake gripping device to move to the upper side of the spinning cake, so that the spinning cake gripping device is vertically opposite to the spinning cake on the spinning cake transfer support;
s03, the lifting mechanism drives the connecting bracket to be communicated with the spinning cake gripping device to descend, so that a guide component connected with the lower end face of a supporting plate of the spinning cake gripping device is contacted with the edge of the spinning cake, meanwhile, the lifting mechanism further drives the spinning cake gripping device to descend, a guide plate and a guide pulley of the guide assembly form a pushing force which drives the supporting plate to expand along the radial center direction far away from the spinning cake under the downward pressing of the lifting mechanism and the contact repulsive force of the spinning cake, so that the first connecting rods drive the second connecting rods and the supporting plates to turn around the first connecting seats, the grabbing constraint areas formed by the surrounding among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates are expanded, meanwhile, the traction sleeve is passively lifted to compress the spring, and the compression repulsive force of the spring acts on the traction sleeve to restrict the overturning speed of the first connecting rod, the second connecting rod and the supporting plate, so that the other end of the supporting plate or the guide assembly is kept in contact with the spinning cake;
when the grabbing constraint area is expanded to the state that the outer diameters of the spinning cakes are suitable, the spinning cake grabbing device is further driven by the lifting mechanism to descend until the other end of the supporting plate is separated from the edge of the spinning cake, the spinning cake completely enters the grabbing constraint area, at the moment, the supporting plate loses the contact repulsive force of the spinning cake, the lifting mechanism stops working, the spring pushes the traction sleeve to slide along the direction away from the second limiting sleeve, the traction sleeve pulls the first connecting rods to drive the second connecting rods and the supporting plates to overturn around the first connecting seat, and the grabbing constraint area formed by the surrounding among the first connecting rods, the second connecting rods and the supporting plates is folded, so that the lower end face of the supporting plate is opposite to the lower end face of the spinning cake;
s04, starting the lifting mechanism and driving the spinning cake gripping device to ascend, so that the lower end face of the supporting plate is in contact with the spinning cake and supports the spinning cake to ascend to a preset position;
s05, the translation mechanism drives the lifting support and the cake gripping device to move to the upper part of the cake stacking mechanism;
s06, the lifting mechanism drives the spinning cake grabbing device to descend to a preset position;
s07, starting a driving cylinder, enabling a driving rod of the driving cylinder to retract, enabling a connecting plate to drive a traction sleeve to pull to slide along the direction close to a second limiting sleeve by a traction rod, enabling the traction sleeve to pull a plurality of first connecting rods to drive a plurality of second connecting rods and a plurality of supporting plates to turn around a first connecting seat, enabling a grabbing constraint area formed by surrounding among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates to expand, and enabling the spinning cakes to fall onto a spinning cake stacking structure until the grabbing constraint area expands to be larger than the outer diameter of the spinning cakes;
s08, the lifting mechanism drives the spinning cake gripping device to ascend and reset, and simultaneously drives the driving rod of the air cylinder to reset;
and S09, resetting the translation mechanism.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: the proposal ingeniously forms a grabbing constraint area for grabbing and constraining the spinning cakes by encircling among a plurality of first connecting rods, a plurality of second connecting rods and a plurality of supporting plates, is connected with the plurality of first connecting rods by combining a traction mechanism, and is connected with the traction mechanism by a driving mechanism, so that the device drives the traction mechanism to pull the plurality of first connecting rods to drive the plurality of second connecting rods and the plurality of supporting plates to overturn around a first connecting seat by driving the traction mechanism by the driving mechanism, so that the grabbing constraint area formed by encircling among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates is expanded or folded, the driving mechanism adopts a double-driving unit form, the grabbing constraint area is folded mainly by matching of a spring and the traction mechanism, the grabbing constraint area is expanded by matching of a driving cylinder and the traction mechanism, the spinning cakes are grabbed without intervention of the driving cylinder, and only when the spinning cakes are released, the driving cylinder is required to, this cooperation form has not only realized carrying out the reliable effective cooperation that snatchs from the spinning cake outside, still greatly reduced drives the intervention frequency of actuating cylinder, the durability and the maintenance convenience of device have been improved, and simultaneously, this scheme is implementing reliably, operate conveniently and to the spinning cake under the advantage that the possibility is little that accidentally injures, it is with low costs concurrently, maintain convenient and strong adaptability's advantage, it can be through adjusting the head rod, cooperation angle between second connecting rod and the layer board, the realization snatchs the spinning cake of different diameter contours, and simultaneously, the form that the adoption layer board held, the lateral wall of having avoided the spinning cake carries out long-time heavy extrusion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is one of the schematic three-dimensional structures of the cake gripping device of the present invention;
FIG. 2 is a second schematic three-dimensional view of the cake gripping device of the present invention;
FIG. 3 is a third schematic three-dimensional view of the spinning cake gripping apparatus of the present invention;
FIG. 4 is a fourth schematic three-dimensional view of the cake gripping apparatus of the present invention;
FIG. 5 is a schematic plan exploded view of a second connecting rod, pallet and second locking assembly of the present invention;
FIG. 6 is a schematic view of a spinning cake production system employing the spinning cake gripping device of the present invention;
FIG. 7 is a schematic view of a spinning cake gripping device for gripping a spinning cake in the spinning cake production system of the present invention;
FIG. 8 is a second schematic diagram of a cake gripping device for gripping cakes in the cake production system of the present invention;
FIG. 9 is a third schematic diagram of a cake gripping device for gripping cakes in the cake production system of the present invention;
FIG. 10 is a fourth schematic view showing a cake gripping device for gripping a cake in the cake production system of the present invention;
FIG. 11 is a schematic view showing a schematic state of a spinning cake gripping device for releasing a spinning cake in the spinning cake production system of the present invention;
FIG. 12 is a second schematic diagram of a cake gripping device releasing a cake in the cake making system of the present invention;
figure 13 is one of the schematic views of the cake gripping device releasing the cake in the cake making system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
As shown in one of fig. 1 to 5, a cake gripping device 108 of the present embodiment includes:
a main connecting rod 1;
at least 3 first connecting rods 2 are arranged, first connecting seats 11 which are in one-to-one correspondence with the first connecting rods 2 are annularly arranged on the main connecting rod 1 at intervals, and one ends of the first connecting rods 2 are rotatably connected (can be riveted or matched through rotating pin shafts) with the first connecting seats 11;
the second connecting rods 3 correspond to the first connecting rods 2 one by one, one ends of the second connecting rods are rotatably connected with the other ends of the first connecting rods 2, the other ends of the second connecting rods 3 extend downwards, and first locking assemblies 4 for locking and fixing the second connecting rods 3 and the first connecting rods 2 relatively are arranged between the second connecting rods 3 and the first connecting rods 2;
the supporting plates 5 correspond to the second connecting rods 3 one by one, one ends of the supporting plates are rotatably connected with the other ends of the second connecting rods 3, the other ends of the supporting plates 5 face the virtual axis direction of the main connecting rod 1, second locking assemblies 6 used for locking and fixing the supporting plates 5 and the second connecting rods 3 relatively are further arranged between the supporting plates 5 and the second connecting rods 3, the upper end faces of the supporting plates 5 are used for supporting spinning cakes 10 to be grabbed, and grabbing constraint areas for grabbing and constraining the spinning cakes 10 are formed by encircling among the first connecting rods 2, the second connecting rods 3 and the supporting plates 5;
the traction mechanism is connected with the first connecting rods 2;
and the driving mechanism is connected with the traction mechanism, and the driving mechanism drives the traction mechanism to drive the first connecting rods 2 to drive the second connecting rods 3 and the supporting plates 5 to overturn around the first connecting seat 11, so that the grabbing constraint areas formed by the first connecting rods 2, the second connecting rods 3 and the supporting plates 5 in a surrounding manner are expanded or folded.
As a possible embodiment, in order to facilitate the auxiliary turning traction on the first connecting rod 2, the traction mechanism further includes:
the second connecting seats 81 correspond to the first connecting rods 2 one by one and are fixedly connected to the lower side surfaces, close to the first connecting seats 11, of the middle parts of the first connecting rods 2;
the traction sleeve 8 is sleeved at the lower part of the main connecting rod 1 in a sliding manner, and third connecting seats 83 corresponding to the second connecting seats 81 in number one by one are arranged on the peripheral side of the traction sleeve;
a plurality of third connecting rods 82, which correspond to the second connecting seats 81 or the third connecting seats 83 one by one, one end of each of which is rotatably connected to the second connecting seat 81, and the other end of each of which is rotatably connected to the third connecting seat 83;
the driving mechanism is connected with the traction sleeve 8.
The main connecting rod 1 can be a rectangular rod, a cylindrical rod, a round pipe rod or a rectangular pipe rod structure, and the peripheral side of the main connecting rod is small in relative friction force and less in interference under the condition of adopting the cylindrical rod or the round pipe rod structure, so that the service life can be prolonged, and the rectangular pipe rod structure or the rectangular rod is beneficial to avoiding the traction sleeve 8 from rotating and dislocating, so that the anti-rotation capacity of the main connecting rod to the third connecting rod 82 can be reduced.
In addition, through form the structure that opens and shuts similar to umbrella skeleton complex between traction cover 8, third connecting rod 82 and the second connecting rod 2, can slide on main connecting rod 1 through traction cover 8, realize driving the upset of second connecting rod 2, and during the atress of second connecting rod 2, also can conduct to traction cover 8 through third connecting rod 82, make traction cover 8 realize corresponding slip action.
In order to avoid the pulling sleeve 8 from coming out, as a preferred implementation choice, the scheme further includes:
the first limiting sleeve 13 is of a tubular structure, and the inner wall of the first limiting sleeve is provided with a first internal thread 131;
the lower end of the main connecting rod 1 is also provided with a first external thread 12; the first stop collar 13 is screwed on the first external thread 12.
As a preferred embodiment, it is preferred that the first external thread 12 does not extend radially beyond the outer wall of the main connecting rod 1;
on the basis of fig. 1 to 5, as shown in fig. 7, a transition sleeve 14 is further connected in the first position-limiting sleeve 13 in a threaded manner, and a second external thread is arranged on the outer wall of the transition sleeve 14 and is in threaded connection with a first internal thread of the first position-limiting sleeve 13 through the second external thread; the inner wall of the transition sleeve 14 is provided with a second internal thread and is in threaded connection with the first external thread 12 through the second internal thread.
Wherein, pass through transition cover 14 and pass through, can be so that first external screw thread 12 does not radially surpass the outer wall of main connecting rod 1, and under this structure, can let the equipment of drawing cover 8 more convenient, make the outer wall fit clearance of drawing cover 8 and main connecting rod 1 simultaneously more compact (about 0.5mm fit clearance), improve its cooperation precision, avoid taking place the shake condition.
In this embodiment, as a preferred implementation option, preferably, the driving mechanism includes:
the second limiting sleeve 91 is fixedly sleeved on the main connecting rod 1 and is positioned between the traction sleeve 8 and the part of the main connecting rod 1 provided with the first connecting seat 11;
the spring 92 is sleeved on the main connecting rod 1 between the traction sleeves 8 of the second limiting sleeve 91, one end of the spring is fixedly connected with the second limiting sleeve 91, and the other end of the spring is fixedly connected with the traction sleeve 8;
a connecting frame 93 fixed on the upper end of the main connecting rod 1;
the driving cylinder 9 is fixedly connected with the connecting frame 93, and the tail end of a driving rod 901 of the driving cylinder is fixedly connected with a connecting plate;
the traction rods 94 are a pair and oppositely arranged at two sides of the main connecting rod 1, the lower ends of the traction rods are respectively fixedly connected with the traction sleeve 8, the upper ends of the traction rods extend upwards and slidably penetrate through a connecting plate 95 connected with the driving cylinder 9, an avoiding through groove 951 is formed in the connecting plate 95 corresponding to the traction rod 94, and a limiting block 941 is arranged at the tail end of the upper end of the traction rod 94;
when the driving cylinder 9 drives the driving rod 901 to retract, the connecting plate 95 drives the traction rod 94 to pull the traction sleeve 8 to slide along a direction close to the second limiting sleeve 91, so that the traction sleeve 8 pulls the plurality of first connecting rods 2 to drive the plurality of second connecting rods 3 and the plurality of supporting plates 5 to turn around the first connecting seat 11, and a grabbing constraint area formed by encircling among the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of supporting plates 5 is expanded; when the driving rod 901 of the driving cylinder 9 is reset and extends out, the spring 92 pushes the traction sleeve 8 to slide along the direction far away from the second limiting sleeve 91, so that the traction sleeve 8 pulls the first connecting rods 2 to drive the second connecting rods 3 and the supporting plates 5 to overturn around the first connecting seat 11, and the grabbing constraint areas formed by surrounding among the first connecting rods 2, the second connecting rods 3 and the supporting plates 5 are folded.
It should be noted that the driving mechanism of the present embodiment adopts a dual-driving mechanism, wherein the second position-limiting sleeve 91 and the spring 92 constitute a driving unit for pushing the pulling sleeve 8 to move in a direction away from the second position-limiting sleeve 91, through the pushing force of the spring 92, when no other external force exists or the force of the other external force is smaller than the pushing force of the spring 92, the traction sleeve 8 moves along the direction far away from the second limiting sleeve 91, so that the grabbing and restraining area is folded, other external force is not needed, namely, the second limit sleeve 91, the spring 92 and the first limit sleeve 13 form a matching mechanism for restricting the initial position of the traction sleeve 8, so that the expansion opening of a grabbing restriction area formed by the encircling among the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of supporting plates 5 can be adjusted, namely, the first stop collar 13 is used for adjustment, and the spring 92 is used for providing a resetting force; in addition, the driving cylinder 9, the connecting plate 95 and the traction rod 94 form a driving unit for pulling the traction sleeve 8 to move in the direction close to the second limiting sleeve 91, the connecting plate 95 is provided with an avoiding through groove 951, and the avoiding through groove 951 is matched with a limiting block 941 of the traction rod 94, so that when the initial position of the traction sleeve 8 is adjusted by the first limiting sleeve 13, the connecting plate 95 cannot interfere with the traction rod 94, meanwhile, when the driving rod 901 of the driving motor 9 retracts, the connecting plate 95 pulls the limiting block 941 to drive the traction sleeve 94 to pull the traction sleeve 8 to move in the direction close to the second limiting sleeve 91, the expansion of a grabbing constrained region is realized, and two driving unit structures of the driving mechanism realize that the grabbing constrained region only needs one retraction and extension control action through the driving cylinder 9, namely the grabbing constrained region is released to grab the spinning.
In order to better complete the gripping of the spinning cake 10 by the cooperation of the second stop collar 91 and the spring 92 without relying on the active control of the driving cylinder 9, as a preferred implementation option, the lower end surfaces of the supporting plates 5 are each preferably provided with a guide assembly 7, and the guide assemblies 7 comprise:
the guide plates 72 are a pair and are oppositely arranged on the lower end surface of the supporting plate 5, the guide plates 72 are of a triangular structure, one side edge of each guide plate is fixedly connected with the lower end surface of the guide plate 72, and the intersection parts of the other two side edges form a round chamfer structure;
a plurality of guide pulleys 71 which are rotatably connected between the pair of guide plates 72, and the edges of the guide pulleys 71 exceed the side edges of the guide plates 72 close to the other end of the supporting plate 5;
wherein, the other end of the supporting plate 5 is provided with an arc-shaped part 51.
The guide plate 72 and the guide pulley 71 can better utilize contact force to expand and grab the restricted area, and the spring 92 pushes the acting force of the traction sleeve 8, so that the arc-shaped part 51 or the guide plate 72 can be kept in contact with the outer side of the spinning cake 10, and the undesirable problems of gap sloshing and the like when the spinning cake 10 is grabbed are avoided.
As a preferred implementation choice for facilitating the application to different spinning cake 10 specifications, preferably, the first locking component 4 includes a first bolt 41 and a first nut 42, one end of the first bolt 41 sequentially passes through one end of the second connecting rod 3 and the other end of the first connecting rod 2 and is locked and fixed with the first nut 42, so as to detachably lock and fix the first connecting rod 2 and the second connecting rod 3; through the detachable form of first bolt 41 and second nut 42, can control the cooperation angle of adjusting first connecting rod 2 and second connecting rod 3 through loosening first locking component 4, make it adapt to spinning cake 10 of different periphery side profiles.
The second locking assembly 6 comprises a second bolt 61 and a second nut 62, the second bolt 61 comprises a second bolt head 611, a first rod part 612 and a second rod part 613, the first rod part 612 is provided with a plurality of limiting clamping teeth, the second rod part 612 is provided with a third external thread matched with the second nut 62 in a threaded manner, and one end of the supporting plate 5 is provided with a first limiting mounting hole 53 penetrating through two side surfaces of the supporting plate 5; the structure of the first limit mounting hole 53 is matched with the limit latch structure on the first rod part 612 of the second bolt 61; the middle part of one end of the supporting plate 5 is also provided with a U-shaped mounting groove 52 which penetrates through the upper end surface and the lower end surface of the supporting plate and is communicated with the first limiting mounting hole 612, the U-shaped mounting groove 52 is used for being matched with the other end of the second connecting rod 3 in a penetrating way, and the other end of the second connecting rod 3 is provided with a second limiting mounting hole 31 matched with the structure of the second connecting rod 3 corresponding to the limiting latch on the first rod part of the second bolt 61; when the first rod part of the second bolt 61 penetrates into the first limiting mounting hole 53 and the second limiting mounting hole 31, the second rod part 613 penetrates out of the supporting plate 5 and is locked and fixed with the second nut 62, the supporting plate 5 and the second connecting rod 3 are relatively fixed, the second connecting rod 3 and the supporting plate 5 can be detached to adjust the matching angle by adopting the matching mode of the second bolt 61 and the second nut 62, and in addition, the special limiting latch structure of the first rod part 612 of the second bolt 61 can be matched with the first fiber mounting hole 53 of the supporting plate 5 and the second fiber mounting hole 31 of the second connecting rod 3 to complete the angle adjustment and locking of the supporting plate 5 and the second connecting rod 3, so that the upper end face of the supporting plate 5 can be attached to the lower surface of the spinning cake 10 as much as possible, and the spinning cake 10 can be held by the supporting plate 5 after being moved.
In this embodiment, as a preferred implementation choice, the number of the first connecting rods 2 is preferably 4, but it is not limited to 4, and it may also be 3 or 5, and the number of the second connecting rods 3 and the number of the supporting plates 5 are both corresponding to the number of the first connecting rods 2.
Based on the scheme of the cake gripping device 108 as described above, the present embodiment further provides a cake production system based on the scheme of one of fig. 1 to 5, further shown in fig. 6, which comprises:
the transfer conveying mechanism 101 is used for outputting the spinning cakes 10, and the spinning cakes 10 are supported on a spinning cake transfer support 109;
the spinning cake stacking mechanism 102 is arranged on one side of the transfer conveying mechanism 101;
a first slide rail 103 arranged across the transfer and conveying mechanism 101 and the cake stacking mechanism 102;
a translation mechanism 104 connected to the first slide rail 103;
a lifting support 105 which is vertically arranged and the upper end of which is connected with the translation mechanism 104;
a lifting mechanism 106 connected to one side of the lifting mechanism 106 in a liftable manner;
a connecting bracket 107, one end of which is connected with the lifting mechanism 106;
it also includes a cake gripping device 108 as described above,
the connecting frame 93 of the spinning cake gripping device 108 is fixedly connected with the connecting support 107, and the lifting mechanism 106 drives the spinning cake gripping device 108 to lift;
the device further comprises a controller, wherein the controller is respectively connected with the driving cylinder 9, the transferring and conveying mechanism 101, the translation mechanism 104 and the lifting mechanism 106 and respectively controls the actions of the translation mechanism 104 and the lifting mechanism 106.
On the basis of the schematic state diagram shown in one of fig. 1 to 6, further combining the schematic state diagram shown in one of fig. 7 to 13; based on the scheme of the spinning cake 10 production system, the embodiment further provides an operation method of the spinning cake production system, which includes:
s01, the transfer conveying mechanism 101 drives the spinning cake transfer support 109 which holds the spinning cake 10 to move to a preset position;
s02, the translation mechanism 104 drives the lifting bracket 105 and the cake gripping device 108 to move above the cake 10, so that the cake gripping device 108 is vertically opposite to the cake 10 on the cake transfer support 109;
s03, the lifting mechanism 106 drives the connecting bracket 107 to communicate with the cake gripping device 108 to descend, so that the guide assembly 7 connected with the lower end face of the supporting plate 5 of the cake gripping device 108 is in contact with the edge of the cake 10, meanwhile, the lifting mechanism 106 further drives the cake gripping device 108 to descend, the guide plate 72 and the guide pulley 71 of the guide assembly 7 are pressed by the lifting mechanism 106 and the contact repulsive force of the cake 10 form a driving force for driving the supporting plate 5 to expand along the radial central direction away from the cake 10, so that the first connecting rod 2 drives the second connecting rod 3 and the supporting plate 5 to turn around the first connecting seat 11, so that the gripping restraining area formed by the surrounding among the first connecting rods 2, the second connecting rods 3 and the supporting plates 5 is expanded, meanwhile, the traction sleeve 8 is lifted to compress the spring 92, and the compression repulsive force of the spring 92 acts on the traction sleeve 8 to restrain the first connecting rod 2, The turning speed of the second connecting rod 3 and the supporting plate 5 enables the other end of the supporting plate 5 or the guide component 7 to be kept in contact with the spinning cake 10;
when the grabbing constraint area is expanded to enable the outer diameter of the spinning cake 10 to be suitable, the spinning cake grabbing device 108 is further driven by the lifting mechanism 106 to descend until the other end of the supporting plate 5 is separated from the edge of the spinning cake 10, the spinning cake 10 completely enters the grabbing constraint area, at the moment, the supporting plate 5 loses the contact repulsive force of the spinning cake 10, the lifting mechanism 106 stops working, the spring 92 pushes the traction sleeve 8 to slide in the direction away from the second limiting sleeve 91, the traction sleeve 8 pulls the plurality of first connecting rods 2 to drive the plurality of second connecting rods 3 and the plurality of supporting plates 5 to turn around the first connecting seat 11, the grabbing constraint area formed by the surrounding among the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of supporting plates 5 is folded, and the lower end face of the supporting plate 5 is opposite to the lower end face of;
s04, the lifting mechanism 106 is started to drive the spinning cake gripping device 108 to ascend, so that the lower end face of the supporting plate 5 is in contact with the spinning cake 10 and supports the spinning cake 10 to ascend to a preset position;
s05, the translation mechanism 104 drives the lifting bracket 105 and the cake gripping device 108 to move to above the cake stacking mechanism 102;
s06, the lifting mechanism 106 drives the spinning cake gripping device 108 to descend to a preset position;
s07, starting a driving cylinder 9, retracting a driving rod 901 of the driving cylinder, driving a traction rod 94 to pull a traction sleeve 8 to slide along a direction close to a second limiting sleeve 91 by a connecting plate, so that the traction sleeve 8 pulls a plurality of first connecting rods 2 to drive a plurality of second connecting rods 3 and a plurality of supporting plates 5 to turn over around a first connecting seat 11, a grabbing constraint area formed by encircling the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of supporting plates 5 is expanded, and when the grabbing constraint area is expanded to be larger than the outer diameter of a spinning cake 10, the spinning cake 10 falls to a stacking structure of the spinning cake 10;
s08, the lifting mechanism 106 drives the spinning cake gripping device 108 to ascend and reset, and simultaneously drives the driving rod 901 of the air cylinder 9 to reset;
and S09, resetting the translation mechanism 104.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cake gripping device, comprising:
a main connecting rod;
the number of the first connecting rods is at least 3, first connecting seats which correspond to the first connecting rods one by one are annularly arranged on the main connecting rods at intervals, and one ends of the first connecting rods are rotatably connected with the first connecting seats;
the second connecting rods correspond to the first connecting rods one by one, one ends of the second connecting rods are rotatably connected with the other ends of the first connecting rods, the other ends of the second connecting rods extend downwards, and first locking assemblies for locking and fixing the second connecting rods and the first connecting rods relatively are arranged between the second connecting rods and the first connecting rods;
the supporting plates correspond to the second connecting rods one to one, one ends of the supporting plates are rotatably connected with the other ends of the second connecting rods, the other ends of the supporting plates face the virtual axis direction of the main connecting rod, a second locking assembly used for locking and fixing the supporting plates and the second connecting rods relatively is arranged between the supporting plates and the second connecting rods, the upper end faces of the supporting plates are used for supporting the spinning cakes to be grabbed, and grabbing constraint areas for grabbing and constraining the spinning cakes are formed by encircling among the first connecting rods, the second connecting rods and the supporting plates;
the traction mechanism is connected with the first connecting rods;
the driving mechanism is connected with the traction mechanism and drives the traction mechanism to pull the first connecting rods to drive the second connecting rods and the supporting plates to turn around the first connecting seats, so that a grabbing constraint area formed by encircling the first connecting rods, the second connecting rods and the supporting plates is expanded or folded;
wherein, the outer edge of the radial cross section outline of the main connecting rod is rectangular or circular.
2. A cake gripping device as defined in claim 1, wherein said pulling mechanism comprises:
the second connecting seats correspond to the first connecting rods one by one and are fixedly connected to the lower side surfaces, close to the first connecting seats, of the middle parts of the first connecting rods;
the traction sleeve is sleeved at the lower part of the main connecting rod in a sliding manner, and third connecting seats corresponding to the second connecting seats in number one by one are arranged on the peripheral side of the traction sleeve;
the third connecting rods correspond to the second connecting seats or the third connecting seats one by one, one end of each third connecting rod is rotatably connected to the second connecting seat, and the other end of each third connecting rod is rotatably connected with the third connecting seat;
the driving mechanism is connected with the traction sleeve.
3. A cake gripping device as defined in claim 2, further comprising:
the first limiting sleeve is of a tubular structure, and the inner wall of the first limiting sleeve is provided with a first internal thread;
the lower end of the main connecting rod is also provided with a first external thread; the first limiting sleeve is in threaded connection with the first external thread.
4. A cake gripping device as defined in claim 3, wherein said first external thread does not extend radially beyond the outer wall of the primary connecting rod;
a transition sleeve is further connected in the first limiting sleeve in a threaded manner, and a second external thread is arranged on the outer wall of the transition sleeve and is in threaded connection with a first internal thread of the first limiting sleeve through the second external thread; the inner wall of transition cover is equipped with the second internal thread and passes through second internal thread threaded connection on first external screw thread.
5. A cake gripping device as defined in claim 3, wherein said drive mechanism comprises:
the second limiting sleeve is fixedly sleeved on the main connecting rod and is positioned between the traction sleeve and the part of the main connecting rod, which is provided with the first connecting seat;
the spring is sleeved on the main connecting rod between the traction sleeves of the second limiting sleeves, one end of the spring is fixedly connected with the second limiting sleeves, and the other end of the spring is fixedly connected with the traction sleeves;
the connecting frame is fixed at the upper end of the main connecting rod;
the driving cylinder is fixedly connected with the connecting frame, and the tail end of a driving rod of the driving cylinder is fixedly connected with a connecting plate;
the traction rods are arranged on two sides of the main connecting rod oppositely, the lower ends of the traction rods are respectively fixedly connected with the traction sleeve, the upper ends of the traction rods extend upwards and slidably penetrate through a connecting plate connected with the driving cylinder, an avoiding through groove is formed in the connecting plate corresponding to the traction rods, and a limiting block is arranged at the tail end of the upper end of each traction rod;
when the driving cylinder drives the driving rod to retract, the connecting plate drives the traction rod to pull the traction sleeve to slide along the direction close to the second limiting sleeve, so that the traction sleeve pulls the plurality of first connecting rods to drive the plurality of second connecting rods and the plurality of supporting plates to turn around the first connecting seat, and a grabbing constraint area formed by encircling among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates is expanded; when the driving rod of the driving cylinder resets and extends, the spring pushes the traction sleeve to slide along the direction away from the second limiting sleeve, so that the traction sleeve pulls the first connecting rods to drive the second connecting rods and the supporting plates to overturn around the first connecting seat, and the grabbing constraint area formed by surrounding among the first connecting rods, the second connecting rods and the supporting plates is folded.
6. A cake gripping device as defined in claim 5, wherein each of said lower end surfaces of said carriers is provided with a guide assembly, said guide assembly comprising:
the guide plates are in a pair and are oppositely arranged on the lower end surface of the supporting plate, the guide plates are in a triangular structure, one side edge of each guide plate is fixedly connected with the lower end surface of the guide plate, and the intersection parts of the other two side edges of each guide plate form a round chamfer structure;
the guide pulleys are rotatably connected between the pair of guide plates, and the edges of the guide pulleys exceed the side edges of the guide plates close to the other ends of the supporting plates;
wherein, the other end of the supporting plate is provided with an arc-shaped part.
7. The cake gripping device according to claim 6, wherein the first locking member comprises a first bolt and a first nut, one end of the first bolt sequentially passes through one end of the second connecting rod and the other end of the first connecting rod and is locked and fixed with the first nut, and the first connecting rod and the second connecting rod are detachably locked and fixed;
the second locking assembly comprises a second bolt and a second nut, the second bolt comprises a second bolt head, a first rod part and a second rod part, a plurality of limiting clamping teeth are arranged on the first rod part, a third external thread matched with the second nut in a threaded manner is arranged on the second rod part, and a first limiting mounting hole penetrating through two side faces of the supporting plate is formed in one end of the supporting plate; the structure of the first limiting mounting hole is matched with a limiting latch structure on the first rod part of the second bolt; the middle part of one end of the supporting plate is also provided with a U-shaped mounting groove which penetrates through the upper end surface and the lower end surface of the supporting plate and is communicated with the first limiting mounting hole, the U-shaped mounting groove is used for being matched with the other end of the second connecting rod in a penetrating way, and the other end of the second connecting rod is provided with a second limiting mounting hole matched with the structure of the second limiting mounting groove corresponding to the limiting latch on the first rod part of the second bolt; when the first rod part of the second bolt penetrates into the first limiting mounting hole and the second limiting mounting hole, the second rod part of the second bolt penetrates out of the supporting plate and is locked and fixed with the second nut, and the supporting plate and the second connecting rod are relatively fixed.
8. A cake gripping device according to any one of claims 1 to 7, wherein the number of said first connecting rods is 3 to 5, and the number of said second connecting rods and said pallets each corresponds to 3 to 5.
9. A cake production system, comprising:
the transfer conveying mechanism is used for outputting the spinning cakes, and the spinning cakes are supported on the spinning cake transfer support;
the spinning cake stacking mechanism is arranged on one side of the transferring and conveying mechanism;
the first sliding rail is arranged above the transferring and conveying mechanism and the spinning cake stacking mechanism in a crossing manner;
the translation mechanism is connected to the first sliding rail;
the lifting support is vertically arranged, and the upper end of the lifting support is connected with the translation mechanism;
the lifting mechanism is connected to one side of the lifting mechanism in a lifting manner;
one end of the connecting bracket is connected with the lifting mechanism;
characterized in that it further comprises a cake gripping device as claimed in claim 7,
the connecting frame of the spinning cake gripping device is fixedly connected with the connecting support, and the lifting mechanism drives the spinning cake gripping device to lift;
the device further comprises a controller, wherein the controller is respectively connected with the driving cylinder, the transferring and conveying mechanism, the translation mechanism and the lifting mechanism and respectively controls the actions of the driving cylinder, the transferring and conveying mechanism, the translation mechanism and the lifting mechanism.
10. A method of operating a spinning cake production system as claimed in claim 9, wherein: it includes:
s01, driving the spinning cake transfer support which holds the spinning cakes to move to a preset position by the transfer conveying mechanism;
s02, the translation mechanism drives the lifting support and the spinning cake gripping device to move to the upper side of the spinning cake, so that the spinning cake gripping device is vertically opposite to the spinning cake on the spinning cake transfer support;
s03, the lifting mechanism drives the connecting bracket to be communicated with the spinning cake gripping device to descend, so that a guide component connected with the lower end face of a supporting plate of the spinning cake gripping device is contacted with the edge of the spinning cake, meanwhile, the lifting mechanism further drives the spinning cake gripping device to descend, a guide plate and a guide pulley of the guide assembly form a pushing force which drives the supporting plate to expand along the radial center direction far away from the spinning cake under the downward pressing of the lifting mechanism and the contact repulsive force of the spinning cake, so that the first connecting rods drive the second connecting rods and the supporting plates to turn around the first connecting seats, the grabbing constraint areas formed by the surrounding among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates are expanded, meanwhile, the traction sleeve is passively lifted to compress the spring, and the compression repulsive force of the spring acts on the traction sleeve to restrict the overturning speed of the first connecting rod, the second connecting rod and the supporting plate, so that the other end of the supporting plate or the guide assembly is kept in contact with the spinning cake;
when the grabbing constraint area is expanded to the state that the outer diameters of the spinning cakes are suitable, the spinning cake grabbing device is further driven by the lifting mechanism to descend until the other end of the supporting plate is separated from the edge of the spinning cake, the spinning cake completely enters the grabbing constraint area, at the moment, the supporting plate loses the contact repulsive force of the spinning cake, the lifting mechanism stops working, the spring pushes the traction sleeve to slide along the direction away from the second limiting sleeve, the traction sleeve pulls the first connecting rods to drive the second connecting rods and the supporting plates to overturn around the first connecting seat, and the grabbing constraint area formed by the surrounding among the first connecting rods, the second connecting rods and the supporting plates is folded, so that the lower end face of the supporting plate is opposite to the lower end face of the spinning cake;
s04, starting the lifting mechanism and driving the spinning cake gripping device to ascend, so that the lower end face of the supporting plate is in contact with the spinning cake and supports the spinning cake to ascend to a preset position;
s05, the translation mechanism drives the lifting support and the cake gripping device to move to the upper part of the cake stacking mechanism;
s06, the lifting mechanism drives the spinning cake grabbing device to descend to a preset position;
s07, starting a driving cylinder, enabling a driving rod of the driving cylinder to retract, enabling a connecting plate to drive a traction sleeve to pull to slide along the direction close to a second limiting sleeve by a traction rod, enabling the traction sleeve to pull a plurality of first connecting rods to drive a plurality of second connecting rods and a plurality of supporting plates to turn around a first connecting seat, enabling a grabbing constraint area formed by surrounding among the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates to expand, and enabling the spinning cakes to fall onto a spinning cake stacking structure until the grabbing constraint area expands to be larger than the outer diameter of the spinning cakes;
s08, the lifting mechanism drives the spinning cake gripping device to ascend and reset, and simultaneously drives the driving rod of the air cylinder to reset;
and S09, resetting the translation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110455483.4A CN113086629A (en) | 2021-04-26 | 2021-04-26 | Spinning cake gripping device, spinning cake production system and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110455483.4A CN113086629A (en) | 2021-04-26 | 2021-04-26 | Spinning cake gripping device, spinning cake production system and operation method thereof |
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| CN113086629A true CN113086629A (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110455483.4A Pending CN113086629A (en) | 2021-04-26 | 2021-04-26 | Spinning cake gripping device, spinning cake production system and operation method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459137A (en) * | 2021-07-26 | 2021-10-01 | 天津理工大学 | Based on manipulator for intelligent manufacturing |
| CN114014000A (en) * | 2021-11-24 | 2022-02-08 | 闽江学院 | Transfer system and application thereof in spinning cake production |
| CN114524184A (en) * | 2022-02-21 | 2022-05-24 | 东风汽车集团股份有限公司 | Rotor lamination supports transfer device |
| CN116853721A (en) * | 2023-09-04 | 2023-10-10 | 江苏新核合金科技有限公司 | Conveying conveyor for revolving electric heating belt |
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2021
- 2021-04-26 CN CN202110455483.4A patent/CN113086629A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459137A (en) * | 2021-07-26 | 2021-10-01 | 天津理工大学 | Based on manipulator for intelligent manufacturing |
| CN113459137B (en) * | 2021-07-26 | 2022-09-27 | 天津理工大学 | Based on manipulator for intelligent manufacturing |
| CN114014000A (en) * | 2021-11-24 | 2022-02-08 | 闽江学院 | Transfer system and application thereof in spinning cake production |
| CN114524184A (en) * | 2022-02-21 | 2022-05-24 | 东风汽车集团股份有限公司 | Rotor lamination supports transfer device |
| CN114524184B (en) * | 2022-02-21 | 2023-12-19 | 东风汽车集团股份有限公司 | Rotor lamination supports transfer device |
| CN116853721A (en) * | 2023-09-04 | 2023-10-10 | 江苏新核合金科技有限公司 | Conveying conveyor for revolving electric heating belt |
| CN116853721B (en) * | 2023-09-04 | 2023-11-17 | 江苏新核合金科技有限公司 | Conveying conveyor for revolving electric heating belt |
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