CN118832609B - A material handling robot for a textile workshop and a method of using the same - Google Patents
A material handling robot for a textile workshop and a method of using the same Download PDFInfo
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- CN118832609B CN118832609B CN202411143660.5A CN202411143660A CN118832609B CN 118832609 B CN118832609 B CN 118832609B CN 202411143660 A CN202411143660 A CN 202411143660A CN 118832609 B CN118832609 B CN 118832609B
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- 239000000463 material Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000004753 textile Substances 0.000 title claims abstract description 24
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000008093 supporting effect Effects 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 229920000742 Cotton Polymers 0.000 description 7
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 7
- 229910052709 silver Inorganic materials 0.000 description 7
- 239000004332 silver Substances 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种纺织车间用的物料搬运机器人及其使用方法，涉及纺织搬运机器人领域。该纺织车间用的物料搬运机器人及其使用方法，包括行走单元和安装在行走单元侧面的夹持单元，行走单元包括移动座和、行走轮和转向轮，移动座的顶部安装有激光雷达。该纺织车间用的物料搬运机器人及其使用方法，伺服电机启动，使得记忆合金板与棉条桶侧面相抵，然后增压气缸向多轴夹持气缸内部充气，使得记忆合金板与防滑橡胶板弯折贴合夹持于棉条桶外壁，增压气缸向顶升气缸内充气，使得棉条桶上升，同时楔形支撑板插至棉条桶底部支撑，从增大接触面提升静摩擦力和底部支撑提供额外支撑力两方面来确保棉条桶搬运过程中不会发生滑落情况。
The present invention discloses a material handling robot for a textile workshop and a method for using the same, and relates to the field of textile handling robots. The material handling robot for a textile workshop and the method for using the same comprise a walking unit and a clamping unit installed on the side of the walking unit, wherein the walking unit comprises a moving seat, a walking wheel and a steering wheel, and a laser radar is installed on the top of the moving seat. The material handling robot for a textile workshop and the method for using the same, the servo motor is started, so that the memory alloy plate is against the side of the sliver barrel, and then the booster cylinder inflates the inside of the multi-axis clamping cylinder, so that the memory alloy plate and the anti-skid rubber plate are bent and fitted to the outer wall of the sliver barrel, the booster cylinder inflates the lifting cylinder, so that the sliver barrel rises, and at the same time, the wedge-shaped support plate is inserted into the bottom support of the sliver barrel, so as to ensure that the sliver barrel will not slip during the handling process from two aspects: increasing the contact surface to enhance the static friction and providing additional support force for the bottom support.
Description
Technical Field
The invention relates to the technical field of textile transfer robots, in particular to a material transfer robot for a textile workshop and a use method thereof.
Background
In modern textile workshops, some simple and laborious operations are usually carried out by robots, and in the process of carrying sliver cans, the sliver cans are usually carried by special intelligent carrying robots, and the carrying robots mainly comprise a movable base and mechanical arms mounted on the movable base, detection and positioning are realized by laser and industrial cameras, then the sliver cans are held by the mechanical arms, and then the sliver cans are carried after lifting.
In the actual use process, as the mechanical arm is in a suspended state, if the weight of the internal materials of the sliver can is large, in the carrying process, once jolting or emergency braking is encountered, the whole intelligent robot can be turned over, meanwhile, the mechanical arm can be enabled to sag and deform due to the influence of the material characteristics in long-term carrying, and the carrying robot suitable for a narrow space is introduced in the prior published patent CN217801666U, and the carrying robot disclosed by the patent can effectively prevent the occurrence of the conditions through the supporting wheels arranged on the two sides;
However, in practical application research, it is found that the carrying robot in the patent holds the sliver can in the arc-shaped abdication groove through the two holding devices to clamp and fix, however, when dealing with sliver cans of different sizes and non-standard circles, the held contact points are fewer, the sliver can cannot be effectively clamped, and the sliver can slide down due to gravity even directly contacts with the ground in the moving process, so that carrying operation cannot be completed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a material carrying robot for a textile workshop and a use method thereof, and solves the problem that carrying operation cannot be completed because fewer holding contact points are required when the carrying robot in the CN217801666U is used for coping with sliver cans of different sizes and non-standard circles and the sliver cans cannot be effectively clamped, and the sliver cans slide downwards due to gravity even are in direct contact with the ground in the moving process.
The material handling robot for the textile workshop comprises a walking unit and a clamping unit arranged on the side surface of the walking unit, wherein the walking unit comprises a movable seat, a walking wheel and a steering wheel which are arranged at the bottom of the movable seat, and a laser radar is arranged at the top of the movable seat;
The clamping unit comprises an anti-falling sliding base and a self-adaptive clamping lifting piece vertically arranged at the top of the anti-falling sliding base in a sliding manner;
the anti-falling sliding base comprises a sliding carrying seat, an anti-falling blocking piece and a jacking air cylinder, wherein the sliding carrying seat is arranged on the outer surface of the moving seat in a sliding manner, a bidirectional screw rod for driving the sliding carrying seat to move is rotatably arranged in the moving seat, the anti-falling blocking piece is arranged on one side of the bottom end of the sliding carrying seat, the jacking air cylinder is fixedly arranged at the top of the sliding carrying seat, and the jacking air cylinder is in transmission connection with the anti-falling blocking piece;
The self-adaptive clamping lifting piece comprises a lifting seat fixedly installed at the top end of the lifting cylinder, a clamping mechanism is installed in the lifting seat, the clamping mechanism comprises a steel frame which is arranged inside the lifting seat in a sliding mode, the front end of the steel frame is fixedly connected with a memory alloy plate, a multi-shaft clamping cylinder is arranged on the inner side of the memory alloy plate, and a plurality of output shafts of the multi-shaft clamping cylinder are all movably hinged to the back face of the memory alloy plate.
Preferably, the fixture further comprises an anti-slip rubber plate, a hinge seat and a connecting block, wherein the anti-slip rubber plate is fixedly connected to the outer surface of the memory alloy plate, the hinge seat is fixedly welded to the inner side of the memory alloy plate, the connecting block is fixedly installed at the output end of the multi-shaft clamping cylinder, and the connecting block is rotationally connected to the inner side of the hinge seat.
Preferably, the back fixed mounting of elevating socket has the equipment shell, multiaxis centre gripping cylinder fixed mounting is in the inside of equipment shell, fixed mounting has the support arm between the interior survey middle part of memory alloy board and the equipment shell, the inside fixed mounting of support arm has pressure sensor, spacing spout has all been seted up to the inner wall both sides of elevating socket, the side integrated into one piece of steelframe has spacing draw runner, spacing draw runner sliding connection is in spacing spout.
Preferably, the anti-falling baffle piece comprises a wedge-shaped supporting plate, a transmission rack, a connecting arm, a driving rack, a driving gear, a transmission shaft and a transmission gear, wherein the wedge-shaped supporting plate is movably inserted into the inner bottom of the sliding carrier, the transmission rack is fixedly connected to the back of the wedge-shaped supporting plate, the connecting arm is fixedly connected to the top ends of output shafts of two groups of jacking cylinders, the driving rack is fixedly connected to the bottom of the connecting arm, the transmission shaft is rotationally connected to the inside of the sliding carrier, the driving gear and the transmission gear are fixedly sleeved on the outer surface of the transmission shaft, the driving rack is meshed with the driving gear, and the transmission gear is meshed with the transmission rack.
Preferably, an upright post is integrally formed at one end top of the sliding carrier, a slot is formed in the upright post, an inserting block is fixedly connected to the end part of the lifting seat and movably inserted into the slot, a sliding connecting piece is fixedly welded on the side face of the upright post, and the sliding connecting piece is in threaded connection with the outer surface of the bidirectional screw rod.
Preferably, one end of the movable seat is fixedly provided with a servo motor, the output end of the servo motor is fixedly connected with one end of the bidirectional screw rod, the outer wall of the movable seat is provided with a guide chute, the sliding connecting piece is slidably connected in the guide chute, the inner bottom of the movable seat is fixedly provided with a steering motor, and the output end of the steering motor is fixedly arranged with a steering wheel.
Preferably, the vertical groove has been seted up to the side of inserted block, the equal fixed mounting of surface of multiaxis centre gripping cylinder and jacking cylinder has the intake pipe, the intake pipe runs through vertical groove and sliding connection spare, the surface fixed mounting who removes the seat has the boost cylinder, the output of boost cylinder is connected with the cross solenoid valve, cross solenoid valve fixed mounting is in the inside that removes the seat, the intake pipe is connected with the cross solenoid valve.
Preferably, the top fixed mounting of jacking cylinder has the mounting panel, the mounting panel passes through bolt fixed mounting in the bottom of elevating socket, the outside rotation of sliding carrier is connected with the supporting roller.
Preferably, the top fixed mounting of removal seat has the protective cover, the top fixed mounting of protective cover has electronic runing rest, laser radar installs at the top of electronic runing rest.
Preferably, a method of using a material handling robot for a textile shop includes the steps of:
S1, positioning, wherein a travelling wheel and a steering wheel in a travelling unit are positioned and moved by using a laser radar, so that a sliver can is positioned in the middle of a clamping unit;
S2, clamping, namely starting a servo motor to enable the anti-skid rubber plate to prop against the side surface of the sliver can, and enabling the pressurizing cylinder to charge air into the multi-shaft clamping cylinder so as to enable the memory alloy plate and the anti-skid rubber plate to be self-adaptive to the appearance and the size of the sliver can for lamination and clamping;
S3, lifting, wherein the pressurizing cylinder pressurizes the inside of the lifting cylinder, the output end of the lifting cylinder moves upwards to lift the sliver can upwards, and meanwhile, the lifting cylinder drives the driving rack to move upwards through the connecting arm, so that the wedge-shaped supporting plate is inserted into the bottom of the sliver can for auxiliary support;
S4, carrying, namely positioning the walking unit by using a laser radar, enabling the walking unit to draw the clamping unit to move to a target position, enabling the output shaft of the jacking air cylinder to descend, enabling the wedge-shaped supporting plate to shrink towards two sides, enabling the output shaft of the multi-shaft clamping air cylinder to shrink, enabling the cotton sliver barrel to fall to the ground, enabling the two groups of clamping units to prop open, enabling the walking unit to draw the clamping unit to move away from the outer surface of the cotton sliver barrel at the moment, and carrying to be completed.
The invention discloses a material handling robot for a textile workshop and a use method thereof, which have the following beneficial effects:
1. this material handling robot that weaving workshop was used and application method thereof, servo motor starts, drive two-way lead screw rotation, make the slip carrier remove to the middle part, memory alloy board offsets with silver bucket side, confirm the clamping force according to pressure sensor's numerical value this moment, when pressure sensor shows the clamping pressure reach the default, four-way solenoid valve starts, the pressure boost cylinder is to the inside inflation of multiaxis centre gripping cylinder, the output shaft of multiaxis centre gripping cylinder outwards stretches out this moment, make the memory alloy board buckle through a plurality of articulated seats, thereby make the appearance and the size that anti-skidding rubber board can self-adaptation silver bucket laminate the centre gripping, promote static friction through increasing area of contact, the antiskid effect is better.
2. This material transfer robot that weaving workshop was used and application method thereof, the boost cylinder is through the inside pressure boost of the jacking cylinder of intake pipe to both sides, the output of jacking cylinder upwards moves this moment for the lift seat is with the cotton silver bucket clamping upwards lifting, make the cotton silver bucket unsettled, drive the drive rack through the linking arm simultaneously and upwards remove, make wedge backup pad insert to the bottom of cotton silver bucket, with this provides extra supporting effect to cotton silver bucket from the below, avoid carrying the too heavy or the too smooth condition that leads to taking place the gliding in the removal in-process of cotton silver bucket outer wall.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall top structure of the present invention;
FIG. 2 is a schematic view of the overall bottom structure of the present invention;
FIG. 3 is an exploded view of the outer surface structures of the walking unit and the clamping unit of the present invention;
FIG. 4 is an exploded view showing the internal structure of the walking unit of the present invention;
FIG. 5 is a schematic view of the outer surface structure of the holding unit according to the present invention;
FIG. 6 is a schematic view of the outer surface structure of the lifting seat of the present invention;
FIG. 7 is a cross-sectional view of the internal structure of the elevating seat of the present invention;
FIG. 8 is a schematic view of the structure of the outer surface of the sliding carrier according to the present invention;
FIG. 9 is a cross-sectional view of the internal structure of the slide mount of the present invention.
In the figure, 1, a walking unit; 11, a movable seat, 12, a steering wheel, 13, a travelling wheel, 14, a pressurizing cylinder, 15, a servo motor, 16, a laser radar, 17, a four-way electromagnetic valve, 18, a steering motor, 19, a guide chute, 110, a protective cover, 111, an electric rotary support, 112, a two-way screw, 2, a clamping unit, 21, an anti-falling sliding base, 211, a sliding carrier, 212, an anti-falling baffle, 2121, a wedge-shaped supporting plate, 2122, a transmission rack, 2123, a connecting arm, 2124, a driving rack, 2125, a driving gear, 2126, a transmission shaft, 2127, a transmission gear, 213, a column, 214, a slot, 215, a sliding connector, 216, a jacking cylinder, 217, a mounting plate, 218, a supporting roller, 22, an adaptive clamping lifter, 221, a lifting seat, 222, a clamping mechanism, 2221, a steel frame, 2222, a memory alloy plate, 2223, an anti-sliding rubber plate, 2224, a multi-axis clamping cylinder, 2225, an air inlet pipe, 6, a limit sliding strip, 7, a hinging seat, 2228, a device housing, 223, a device shell, 224, a plug block, 226, a vertical supporting arm, 228, a limiting connecting block, a 228, a pressure sensor, a connecting block.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the application provides a material handling robot for a textile workshop and a use method thereof, which solve the problem that the handling robot in the CN217801666U can not finish handling operation due to the fact that fewer holding contact points are required and the sliver can not be effectively clamped when handling sliver cans of different sizes and non-standard circles and the sliver can slide downwards due to gravity even directly contact with the ground in the moving process.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
The embodiment of the invention discloses a material handling robot for a textile workshop and a use method thereof.
According to the figures 1-9, the walking unit 1 comprises a walking unit 1 and a clamping unit 2 arranged on the side surface of the walking unit 1, the walking unit 1 comprises a movable seat 11, a walking wheel 13 and a steering wheel 12 which are arranged at the bottom of the movable seat 11, and a laser radar 16 is arranged at the top of the movable seat 11;
the clamping unit 2 comprises an anti-falling sliding base 21 and an adaptive clamping lifter 22 vertically arranged at the top of the anti-falling sliding base 21 in a sliding manner;
The anti-falling sliding base 21 comprises a sliding carrier 211, an anti-falling baffle 212 and a jacking air cylinder 216, wherein the sliding carrier 211 is arranged on the outer surface of the moving base 11 in a sliding manner, a bidirectional screw rod 112 for driving the sliding carrier 211 to move is rotatably arranged in the moving base 11, the anti-falling baffle 212 is arranged on one side of the bottom end of the sliding carrier 211, the jacking air cylinder 216 is fixedly arranged on the top of the sliding carrier 211, and the jacking air cylinder 216 is in transmission connection with the anti-falling baffle 212;
The self-adaptive clamping lifter 22 comprises a lifting seat 221 fixedly installed at the top end of the lifting cylinder 216, a clamping mechanism 222 is installed in the lifting seat 221, the clamping mechanism 222 comprises a steel frame 2221 slidably arranged in the lifting seat 221, the front end of the steel frame 2221 is fixedly connected with a memory alloy plate 2222, a multi-shaft clamping cylinder 2224 is arranged on the inner side of the memory alloy plate 2222, and a plurality of output shafts of the multi-shaft clamping cylinder 2224 are movably hinged to the back surface of the memory alloy plate 2222.
The clamping mechanism 222 further comprises an anti-slip rubber plate 2223, a hinge seat 2227 and a connecting block 2228, wherein the anti-slip rubber plate 2223 is fixedly connected to the outer surface of the memory alloy plate 2222, the hinge seat 2227 is fixedly welded to the inner side of the memory alloy plate 2222, the connecting block 2228 is fixedly installed at the output end of the multi-shaft clamping cylinder 2224, and the connecting block 2228 is rotationally connected to the inner side of the hinge seat 2227.
The back fixed mounting of lift seat 221 has equipment shell 223, multiaxis centre gripping cylinder 2224 fixed mounting is in the inside of equipment shell 223, fixed mounting has support arm 227 between the interior survey middle part of memory alloy plate 2222 and the equipment shell 223, the inside fixed mounting of support arm 227 has pressure sensor 228, spacing spout 226 has all been seted up to the inner wall both sides of lift seat 221, the side integrated into one piece of steelframe 2221 has spacing slide 2226, spacing slide 2226 sliding connection is in spacing spout 226.
The anti-falling catch 212 comprises a wedge-shaped supporting plate 2121, a transmission rack 2122, a connecting arm 2123, a driving rack 2124, a driving gear 2125, a transmission shaft 2126 and a transmission gear 2127, wherein the wedge-shaped supporting plate 2121 is movably inserted into the inner bottom of the sliding carrier 211, the transmission rack 2122 is fixedly connected to the back of the wedge-shaped supporting plate 2121, the connecting arm 2123 is fixedly connected to the top ends of output shafts of two groups of jacking cylinders 216, the driving rack 2124 is fixedly connected to the bottom of the connecting arm 2123, the transmission shaft 2126 is rotatably connected to the inside of the sliding carrier 211, the driving gear 2125 and the transmission gear 2127 are fixedly sleeved on the outer surface of the transmission shaft 2126, the driving rack 2124 is meshed with the driving gear 2125, and the transmission gear 2127 is meshed with the transmission rack 2122.
The top of one end of the sliding carrier 211 is integrally provided with a stand column 213, a slot 214 is formed in the stand column 213, the end part of the lifting seat 221 is fixedly connected with an inserting block 224, the inserting block 224 is movably inserted into the slot 214, the side surface of the stand column 213 is fixedly welded with a sliding connecting piece 215, and the sliding connecting piece 215 is in threaded connection with the outer surface of the bidirectional screw rod 112.
One end of the movable seat 11 is fixedly provided with a servo motor 15, the output end of the servo motor 15 is fixedly connected with one end of a bidirectional screw rod 112, the outer wall of the movable seat 11 is provided with a guide chute 19, a sliding connecting piece 215 is slidably connected in the guide chute 19, the inner bottom of the movable seat 11 is fixedly provided with a steering motor 18, and the output end of the steering motor 18 is fixedly arranged with a steering wheel 12.
The vertical groove 225 has been seted up to the side of the inserted block 224, and the surface of multiaxis centre gripping cylinder 2224 and jacking cylinder 216 is all fixed mounting has intake pipe 2225, and the intake pipe 2225 runs through vertical groove 225 and sliding connection spare 215, and the surface fixed mounting who removes seat 11 has the boost cylinder 14, and the output of boost cylinder 14 is connected with four-way solenoid valve 17, and four-way solenoid valve 17 fixed mounting is in the inside that removes seat 11, and intake pipe 2225 is connected with four-way solenoid valve 17.
The top of jacking cylinder 216 is fixed mounting plate 217, and mounting plate 217 passes through the bottom of bolt fixed mounting in lifting seat 221, and the outside of sliding carrier 211 rotates and is connected with supporting roller 218.
The top of the movable seat 11 is fixedly provided with a protective cover 110, the top of the protective cover 110 is fixedly provided with an electric rotating bracket 111, and the laser radar 16 is arranged on the top of the electric rotating bracket 111.
When the device is used, the travelling wheel 13 and the steering wheel 12 in the travelling unit 1 are positioned and moved by the laser radar 16, so that the travelling unit 1 drives the clamping unit 2 to move to a position opposite to the sliver can and then to move to one end close to the sliver can, and the sliver can is positioned in the middle of the clamping unit 2, and the whole device is in a state shown in fig. 1;
At this time, the servo motor 15 is started at first, the bidirectional screw rod 112 is driven to rotate, so that the sliding bearing seats 211 at two sides move towards the middle, finally, the memory alloy plates 2222 at two opposite sides of the two groups of sliding bearing seats 211 are propped against the side surface of the sliver can, at this time, clamping force is determined according to the numerical value of the pressure sensor 228, when the clamping pressure displayed by the pressure sensor 228 reaches a preset value, the four-way electromagnetic valve 17 is started, the booster cylinder 14 is communicated with the multi-shaft clamping cylinders 2224 at two sides through the two groups of air inlet pipes 2225 above, then the booster cylinder 14 is used for inflating the multi-shaft clamping cylinders 2224, at this time, the output shafts of the multi-shaft clamping cylinders 2224 extend outwards, the memory alloy plates 2222 are driven to bend through the hinge seats 2227, so that the memory alloy plates 2222 can be extruded with the sliver can realize multi-point extrusion through the hinge seats 2227, and the anti-slip rubber plate 2223 can be self-adaptively clamped according to the appearance and the size of the sliver can, and the static force can be improved through increasing the contact area, and the effect is better;
Then the four-way electromagnetic valve 17 closes the two groups of air inlet pipes 2225 above, so that the two groups of multi-shaft clamping cylinders 2224 keep internal pressure, then the other two interfaces of the four-way electromagnetic valve 17 are opened, so that the pressurizing cylinder 14 pressurizes the interiors of the jacking cylinders 216 at the two sides through the air inlet pipes 2225, at the moment, the output ends of the jacking cylinders 216 move upwards, the lifting seat 221 is pushed to slide upwards along the slots 214, so that the clamping mechanisms 222 at the two sides clamp the sliver can, then the sliver can is lifted upwards, at the moment, the sliver can is suspended, and the clamping unit 2 is movably supported by the supporting rollers 218 at the two sides, so that toppling caused by jolt and emergency braking in the moving process is avoided;
and along with the continuous rising of the output end of the jacking cylinder 216, the driving rack 2124 is driven to move upwards through the connecting arm 2123, the driving rack 2124 drives the driving gear 2125 to rotate, at the moment, the transmission shaft 2126 synchronously drives the transmission gear 2127 to rotate, so that the transmission rack 2122 slides outwards, the wedge-shaped supporting plate 2121 is inserted to the bottom of the sliver can, and therefore an additional supporting effect is provided for the sliver can from below, and the situation that the carrying is overweight or the outer wall of the sliver can is too smooth to cause sliding in the moving process is avoided;
At this time, the sliver can is clamped and lifted, then the traveling wheel 13 and the steering wheel 12 are positioned by using the laser radar 16, the traveling unit 1 pulls the clamping unit 2 to move to the target position, at this time, the output shaft of the jacking cylinder 216 descends, so that the clamping mechanism 222 moves downwards, meanwhile, the wedge-shaped supporting plate 2121 contracts from the bottom of the sliver can to the two sides to the inside of the sliding carrier 211, finally, the bottom end of the sliver can is contacted with the ground, at this time, the output shaft of the multi-shaft clamping cylinder 2224 contracts, the memory alloy plate 2222 is deformed and restored, then the servo motor 15 reverses, so that the two groups of clamping units 2 are spread, at this time, the traveling unit 1 pulls the clamping unit 2 to move away from the outer surface of the sliver can, and the next group of sliver can carrying operation is performed.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
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| CN202411143660.5A CN118832609B (en) | 2024-08-20 | 2024-08-20 | A material handling robot for a textile workshop and a method of using the same |
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| KR102135249B1 (en) * | 2018-06-29 | 2020-07-17 | 박상욱 | Cargo loading unit and hand lift apparatus including the same |
| CN217627454U (en) * | 2022-06-08 | 2022-10-21 | 冯志鹏 | Fork truck loading and unloading appurtenance convenient to adjust |
| CN219314500U (en) * | 2023-03-15 | 2023-07-07 | 安徽班佑建筑工程有限责任公司 | A transporting device for construction barrels |
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|---|---|---|---|---|
| CN217201943U (en) * | 2022-04-18 | 2022-08-16 | 绵阳市邦太食品科技有限责任公司 | Special oil drum loading and unloading structure of commodity circulation workshop fork truck |
| CN118187538A (en) * | 2024-04-10 | 2024-06-14 | 杭州立丹机械有限公司 | A clamping mechanism and a vehicle moving robot |
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| CN118832609A (en) | 2024-10-25 |
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