CN202671765U - Manipulator mechanism for grabbing bobbin during ring spinning doffing - Google Patents
Manipulator mechanism for grabbing bobbin during ring spinning doffing Download PDFInfo
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- CN202671765U CN202671765U CN 201220295625 CN201220295625U CN202671765U CN 202671765 U CN202671765 U CN 202671765U CN 201220295625 CN201220295625 CN 201220295625 CN 201220295625 U CN201220295625 U CN 201220295625U CN 202671765 U CN202671765 U CN 202671765U
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- Prior art keywords
- finger
- spring
- grabbing
- fork
- spool
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- Expired - Lifetime
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- 238000007378 ring spinning Methods 0.000 title claims abstract description 22
- 239000013013 elastic material Substances 0.000 claims 3
- 230000006835 compression Effects 0.000 claims 2
- 238000007906 compression Methods 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 abstract 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 12
- 238000003756 stirring Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000013536 elastomeric material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000009985 spun yarn production Methods 0.000 description 1
Images
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- Spinning Or Twisting Of Yarns (AREA)
Abstract
一种用于环锭纺落纱抓取纱管的机械手机构，属于环锭纺落纱设备技术领域，包括基座、两个手指、两个摆杆、两个簧件等。该机构可实现纱管的快速抓取和释放；可以作为人工拔纱工具或者用于落纱机的抓取纱管的手爪，可稳定在抓住纱管状态，抓持力大；可以实现一直呈释放状态；可以从张开手爪切换到抓取纱管，且反应快速、抓取和释放的效率高；适合从纱管顶部抓取，不接触纱线；结构简单、可靠，制造和维修成本低；体积小、重量轻；满足当手掌与落纱机本体相对运动时既可以打开手指，也可以关闭手指，特别适用于连续式自动落纱机。
A manipulator mechanism for ring spinning doffing and grabbing bobbins, belonging to the technical field of ring spinning doffing equipment, including a base, two fingers, two swing rods, two spring parts and the like. This mechanism can realize the fast grabbing and releasing of the bobbin; it can be used as a manual drawing tool or a claw for grabbing the bobbin of the doffing machine, and it can be stable in the state of grasping the bobbin, and the gripping force is large; it can realize It is always in a released state; it can switch from opening the claw to grabbing the bobbin, and the response is fast, and the efficiency of grabbing and releasing is high; it is suitable for grabbing from the top of the bobbin without touching the yarn; the structure is simple and reliable, and the manufacturing and Low maintenance cost; small size and light weight; it can open or close the fingers when the palm and the doffer body move relative to each other, especially suitable for continuous automatic doffing machines.
Description
Technical field
The utility model belongs to the RING SPINNING equipment technical field of doffing, and is particularly a kind of for the doff structural design of manipulator mechanism of crawl spool of RING SPINNING.
Background technology
Ring spinning is a kind of very general spinning technique, and wherein the spun yarn production process spool that needs to spin takes off, and namely is called and doffs.The Grasp Modes of spool mainly adopts following three kinds of modes at present:
(1) manually grabs yarn.This mode adopts the staff crawl with the spool of yarn, and hand contact yarn can cause yarn qualities to descend.
(2) two disks are grabbed yarn.This mode adopts disk contact spool middle part, and disk can cause yarn qualities to descend, and the long-term work meeting is to the spindle injury.
(3) strength is grabbed yarn.This mode adopts the top to grab spool, and strength promotes movable lug and realizes grasping spool, and strength is slow actuation time, causes the crawl inefficiency, and needs compressed gas source and tracheae, and cost is high.
The utility model content
The purpose of this utility model is the weak point for prior art, provides a kind of doffing for RING SPINNING to grasp the manipulator mechanism of spool, and this mechanism can realize quick crawl and the release of spool; Can be used as the paw that manually pulls out the yarn instrument or be used for the crawl spool of doffer, can be stabilized in and catch the spool state, grasping force is large; Can realize being release conditions always; Can change to the crawl spool from the nail-press that opens one's hand, and the efficient of reacting quick, grasp and discharging is high; Be fit to from the spool top gripping, do not contact yarn; Simple in structure, reliable, manufacturing and maintenance cost are low; Volume is little, lightweight.
The technical solution of the utility model is as follows:
A kind of doffing for RING SPINNING described in the utility model grasped the manipulator mechanism of spool, it is characterized in that: comprise pedestal, the first finger, second finger, the first fork, the second fork, the first spring spare, the second spring spare, the first axle and the second axle; Root and the pedestal of described the first finger are affixed, and the first axle sleeve is located in the pedestal, and the root of second finger is actively socketed on the first axle, and an end of the first fork is actively socketed on the first axle and is affixed with the root of second finger; The second axle sleeve is located in the pedestal, and an end of the second fork is actively socketed on the second axle; Have a ratchet on the first fork at least, a ratchet is arranged on the second fork, ratchet is meshed with ratchet; The two ends of the first spring spare connect respectively pedestal and the first fork, and the two ends of the second spring spare connect respectively pedestal and the second fork, and the first spring spare makes second finger rely on the first finger; The second spring spare makes the second fork rely on the first fork; The direction that the first axle and disalignment parallel with the second axle, the first spring spare are rotated second finger is identical with the direction that the second spring spare rotates the second fork, namely is all clockwise or is all counterclockwise.
Described in the utility model doffing for RING SPINNING grasped the manipulator mechanism of spool, and it is characterized in that: the first spring spare adopts torsion spring, extension spring, stage clip or sheet spring; The second spring spare adopts torsion spring, extension spring, stage clip or sheet spring.
Described in the utility model doffing for RING SPINNING grasped the manipulator mechanism of spool, it is characterized in that: the flexible material of the first finger surface inserting; The flexible material of second finger surface inserting.
Described in the utility model doffing for RING SPINNING grasped the manipulator mechanism of spool, and it is characterized in that: described elastomeric material adopts rubber.
The utility model compared with prior art has the following advantages and the high-lighting effect:
The utility model mechanism adopts two fingers, ratchet, ratchet, spring spare etc. comprehensively to realize being used for the doff manipulator mechanism of crawl spool of RING SPINNING.This mechanism can realize quick crawl and the release of spool; Can be used as the paw that manually pulls out the yarn instrument or be used for the crawl spool of doffer, can be stabilized in and catch the spool state, grasping force is large; Can realize being release conditions always; Can change to crawl spool, high efficiency from the nail-press that opens one's hand; Be fit to from the spool top gripping, do not contact yarn; Simple in structure, reliable, manufacturing and maintenance cost are low; Volume is little, lightweight.Owing to having adopted the first spring spare, the crawl of this mechanism is very fast, and the grasping force that the first spring spare produces can satisfy from the spindle blade needed power of spool of choosing; Owing to adopting ratchet and ratchet, so that this mechanism can remain on open mode, and it is lighter to trigger crawl; Owing to having adopted the second spring spare, so that ratchet relies on ratchet all the time, having guaranteed the normal circulation running of mechanism; Because it is consistent to stir the direction of two forks, so that this mechanism is applicable to the continous mode automatic doffer, satisfy and when palm and the relative motion of doffer body, both can open finger, also can close finger, only need to lay two boss at the doffer body and stir respectively the first fork and the second fork.
Description of drawings
Fig. 1 of the present utility modelly opens the vertical view cutaway drawing (being the A-A cutaway view of Fig. 5) that finger, preparation are grabbed spool for doff a kind of embodiment of manipulator mechanism of crawl spool of RING SPINNING.
Fig. 2 is the vertical view cutaway drawing (analysing and observe the position identical with the A-A of Fig. 5) that the closed finger of the present embodiment is caught spool.
Fig. 3 is the three-dimensional view of Fig. 1.
Fig. 4 is the three-dimensional view at another visual angle of Fig. 1.
Fig. 5 is the front view of Fig. 1.
Fig. 6 is the left side view of Fig. 5.
Fig. 7 is the top view of Fig. 5.
Fig. 8 is three-dimensional view shown in Figure 2.
Fig. 9 is the three-dimensional view at another visual angle shown in Figure 2.
In Fig. 1 to Fig. 9:
The 1-pedestal, 11-the first finger,
The 2-second finger, 21-the first fork, 22-the first spring spare, 23-the first axle, the 24-ratchet,
31-the second fork, 32-the second spring spare, 33-the second axle, the 34-ratchet,
The 9-spool, the 91-block rubber.
The specific embodiment
Be described in further detail the content of concrete structure of the present utility model, operation principle below in conjunction with accompanying drawing and a plurality of embodiment.
The utility model design a kind of for doff a kind of embodiment of manipulator mechanism of crawl spool of RING SPINNING, such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, comprise pedestal 1, the first finger 11, second finger 2, the first fork 21, the second fork 31, the first spring spare 22, the second spring spare 32, the first axle 23 and the second axle 33; Described the first finger 11 root and pedestal 1 are affixed, and the first axle 23 is set in the pedestal 1, and the root of second finger 2 is actively socketed on the first axle 23, and an end of the first fork 21 is actively socketed on the first axle 23 and is affixed with the root of second finger 2; The second axle 33 is set in the pedestal 1, and an end of the second fork 31 is actively socketed on the second axle 33; Have on the first fork 21 on a ratchet 24, the second forks 31 ratchet 34 is arranged, ratchet 24 is meshed with ratchet 34; The two ends that the two ends of the first spring spare 22 connect respectively pedestal 1 and the first fork 21, the second spring spares 32 connect respectively pedestal 1 and the second fork 31, the first spring spares 22 make second finger 2 rely on the first finger 11; The second spring spare 32 makes the second fork 31 rely on the first fork 21; The direction that the first axle 23 and the second axle 33 parallel and disalignments, the first spring spare 22 rotate second finger 2 is identical with the direction that the second spring spare 32 rotates the second fork 31, namely is all clockwise or is all counterclockwise.
Described in the utility model doffing for RING SPINNING grasped the manipulator mechanism of spool, and it is characterized in that: the first spring spare adopts torsion spring, extension spring, stage clip or sheet spring; The second spring spare adopts torsion spring, extension spring, stage clip or sheet spring.In the present embodiment, the first spring spare adopts extension spring; The second spring spare adopts torsion spring.The first spring spare relies on the first finger all the time by second finger, and the second spring spare allows the second fork rely on all the time the first fork.
Described in the utility model doffing for RING SPINNING grasped the manipulator mechanism of spool, it is characterized in that: the flexible material of the first finger surface inserting; The flexible material of second finger surface inserting.In the present embodiment, described elastomeric material adopts rubber.The first finger surface inserting has block rubber 91; The second finger surface inserting has block rubber 91.
Another kind of embodiment of the present utility model also comprises the first shifting block and the second shifting block on the diverse location that is fixedly mounted on doffer, and the first fork is stirred in described the first shifting block collision, and the second fork is stirred in described the second shifting block collision.
The operation principle of the utility model mechanism by reference to the accompanying drawings 1, Fig. 2, is described below:
(a) prepare to grab the spool stage, namely open second finger 2 and remain on the state of opening second finger 2:
The first fork 21 is stirred by operator or the robot that doffs allows second finger 2 open (being that second finger 2 is left the first finger 11), and this moment, the first spring spare 22 deformed; Until the ratchet 34 on the second fork 31 is meshed with ratchet 24 on the first fork 21; Decontrol the first fork 21, because ratchet 34 has fastened ratchet 24, so second finger 2 remains on open mode, as shown in Figure 1.
(b) grab the spool stage, namely discharge second finger 2 and remain on spool 9 states of catching:
Operator or the robot that doffs are placed into this mechanism on spool 9 tops of fine spining machine, namely allow be the top of spool 9 between the first finger 11 and the second finger 2, stir the second fork 31, the second spring spares 32 and deform; Until the ratchet 34 on the second fork 31 separates with ratchet 24 on the first fork 21, the first spring spare 22 makes second finger 2 rely on rapidly the first finger 11, decontrols the second fork 31, the second spring spares 32 and makes the second fork 31 get back to the position that relies on the first fork 21; At this moment, realized that the first finger 11 catches spool 9 with second finger 2, and remained on the state of grasping.As shown in Figure 2.
(c) put the spool stage, namely again open second finger and remain on the state of opening second finger:
Operator or the robot that doffs will catch this mechanism of spool to mention, and spool separates with spindle blade on the fine spining machine, and operator or the robot that doffs will catch this mechanism of spool to move to the bobbin box top; Then stir the first fork 21 and allow second finger 2 open, the first spring spare 22 deforms, and this moment, this mechanism decontroled spool 9, and spool 9 drops in the bobbin box; Continue to stir the first fork 21 and allow second finger 2 open greatlyr, the first spring spare 22 continues to deform; Until the ratchet 34 on the second fork 31 is meshed with ratchet 34 on the first fork 21; Decontrol the first fork 21, because ratchet 34 has fastened ratchet 24, so second finger 2 remains on open mode.
Repeat afterwards (b), (c) process, realize doffing repeatedly.
Stirring of the first fork and the second fork can have following several mode:
(a) if operating personnel directly stir with hand and both can.
(b) if portable doffer can utilize the first shifting block, the second shifting block that are fixedly mounted on the doffer body diverse location to stir respectively the first fork and the second fork, realize continuously crawl and discharge spool.The purpose that the comprehensive realization of yarn motion is taken off spool from fine spining machine of pulling out that cooperates doffer.
(c) if the multivariant robot that doffs, this mechanism can be installed in the end of robot, utilize one or two motors and transmission mechanism to stir respectively the first fork and the second fork, perhaps utilize the body of this mechanism and the robot that doffs or the relative motion between the miscellaneous part to stir respectively the first fork and the second fork.
The utility model mechanism adopts two fingers, ratchet, ratchet, spring spare etc. comprehensively to realize being used for the doff manipulator mechanism of crawl spool of RING SPINNING.This mechanism can realize quick crawl and the release of spool; Can be used as the paw that manually pulls out the yarn instrument or be used for the crawl spool of doffer, can be stabilized in and catch the spool state, grasping force is large; Can realize being release conditions always; Can change to crawl spool, high efficiency from the nail-press that opens one's hand; Be fit to from the spool top gripping, do not contact yarn; Simple in structure, reliable, manufacturing and maintenance cost are low; Volume is little, lightweight.Owing to having adopted the first spring spare, the crawl of this mechanism is very fast, and the grasping force that the first spring spare produces can satisfy from the spindle blade needed power of spool of choosing; Owing to adopting ratchet and ratchet, so that this mechanism can remain on open mode, and it is lighter to trigger crawl; Owing to having adopted the second spring spare, so that ratchet relies on ratchet all the time, having guaranteed the normal circulation running of mechanism; Because it is consistent to stir the direction of two forks, so that this mechanism is applicable to the continous mode automatic doffer, satisfy and when palm and the relative motion of doffer body, both can open finger, also can close finger, only need to lay two boss at the doffer body and stir respectively the first fork and the second fork.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220295625 CN202671765U (en) | 2012-06-21 | 2012-06-21 | Manipulator mechanism for grabbing bobbin during ring spinning doffing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220295625 CN202671765U (en) | 2012-06-21 | 2012-06-21 | Manipulator mechanism for grabbing bobbin during ring spinning doffing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202671765U true CN202671765U (en) | 2013-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220295625 Expired - Lifetime CN202671765U (en) | 2012-06-21 | 2012-06-21 | Manipulator mechanism for grabbing bobbin during ring spinning doffing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202671765U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102719942A (en) * | 2012-06-21 | 2012-10-10 | 青岛城阳华祥纺织机械厂 | Manipulator mechanism for grabbing ring bobbin during frame spinning doffing |
| CN103526365A (en) * | 2013-10-18 | 2014-01-22 | 陕西华燕航空仪表有限公司 | Paper bobbin feeding mechanical hand |
-
2012
- 2012-06-21 CN CN 201220295625 patent/CN202671765U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102719942A (en) * | 2012-06-21 | 2012-10-10 | 青岛城阳华祥纺织机械厂 | Manipulator mechanism for grabbing ring bobbin during frame spinning doffing |
| CN102719942B (en) * | 2012-06-21 | 2015-01-07 | 青岛城阳华祥纺织机械厂 | Manipulator mechanism for grabbing ring bobbin during frame spinning doffing |
| CN103526365A (en) * | 2013-10-18 | 2014-01-22 | 陕西华燕航空仪表有限公司 | Paper bobbin feeding mechanical hand |
| CN103526365B (en) * | 2013-10-18 | 2015-11-18 | 陕西华燕航空仪表有限公司 | Upper paper tube manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130116 Effective date of abandoning: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |