CN203439702U - Spinning yarn cake grabbing mechanism - Google Patents
Spinning yarn cake grabbing mechanism Download PDFInfo
- Publication number
- CN203439702U CN203439702U CN201320523364.9U CN201320523364U CN203439702U CN 203439702 U CN203439702 U CN 203439702U CN 201320523364 U CN201320523364 U CN 201320523364U CN 203439702 U CN203439702 U CN 203439702U
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- group
- chuck
- yarn cake
- permanent seat
- grasping mechanism
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Abstract
The utility model provides a spinning yarn cake grabbing mechanism. The spinning yarn cake grabbing mechanism is mainly characterized in that fixing bases of transmission devices are assembled on a support, and assembling rods are arranged in the positions of the adjacent fixing bases and used for assembling the fixing bases and sliding units. Besides, the fixing bases are connected with one ends of chuck assembling bases in a pivoted mode, inclined guide grooves are formed in the other ends of the chuck assembling bases, guide posts are assembled in the positions, opposite to the inclined guide grooves of the chuck assembling bases, of the assembling rods, and the guide posts correspondingly penetrate through the inclined guide grooves. A power source is additionally arranged and connected with the assembling rods. When chucks assembled on the chuck assembling bases are be made to grab spinning yarn cakes inserted on positioning rods obliquely arranged on a material rack, the power source of the transmission devices can drive the assembling rods, the chuck assembling bases connected with the inclined guide grooves are pushed through the guide posts of the assembling rods, then, the chuck assembling bases and the chucks connected to the chuck assembling bases are made to swing to the inclination angles the same as those of the positioning rods of the material rack, and the spinning yarn cakes can be grabbed stably by the chucks corresponding to the angles of the spinning yarn cakes inserted on the positioning rods of the material rack.
Description
Technical field
The utility model system is relevant for a kind of yarn cake grasping mechanism, the chuck that espespecially captures yarn cake is rocked to a yarn cake equal angular of planting on the radius stay with material supplier, so that chuck firmly captures the yarn cake grasping mechanism of yarn cake.
Background technology
Spinning, weaving are historical traditional industries quite remote, and being affect both far-reaching and huge industry of human civilization, still lasting so far human civilization are played an important role.The spinning of playing the part of the upstream industries of weaving, for cloth and follow-up apparel manufacture processed provide required material, for convenience of downstream industry, use, generally all yarn is utilized pipe in to reel, to make the forms such as yarn cake, subsequently, then at this yarn cake outer cladding glued membrane, to guarantee the clean, clean and tidy of this yarn cake, last joint sealing is to complete packing.
In order to save human cost expenditure and to increase work efficiency, existing spinning is made to pie, to almost entirely being implemented by machine automation in operations such as yarn cake outer cladding glued membrane and vannings, and after yarn cake outer cladding glued membrane, the yarn cake of this coated glued membrane can be placed on material supplier, to treat that robotic arm is carried to automatic packing cartoning sealing machine place by the yarn cake of this coated glued membrane.And be that the yarn cake that prevents from being placed on material supplier drops, this material supplier forms skewed from lower to upper in order to put the radius stay of yarn cake, when putting yarn cake, the middle pipe correspondence that is about to yarn cake is inserted on this radius stay, the angle of inclination that utilizes this radius stay to form, can make the yarn cake that is inserted in radius stay incline and lean on towards support body direction, so, just can reach and prevent that yarn cake is because of factors such as vibrations, and by the situation dropping on material supplier.
Design according to this, though can reach, prevent that yarn cake is because the factors such as vibrations are by the effect dropping on material supplier, but when robotic arm installing clamping fixture seat, when wish is taken off yarn cake by material supplier, but find that the angle of inclination that each fixture on the clamping fixture seat of robotic arm installing is difficult to each registration bar on corresponding material supplier fetches yarn cake.Because the fixture on existing clamping fixture seat is that orthogonal sets is located at clamping fixture seat, when robotic arm is by the radius stay inclination equal angular of the corresponding material supplier of clamping fixture seat, so that its fixture is while capturing yarn cake, except the corresponding first row fixture of the yarn cake with on the radius stay of first row can fully insert the middle pipe of yarn cake, to capture outside the yarn cake of first row, on clamping fixture seat second, three, four ... on row's fixture and material supplier second, three, four ... row's yarn cake is at a distance of far away, therefore under by second row fixture, it is gradually shallow that the jaw of fixture can insert the degree of depth of middle pipe of yarn cake.So, cause the jaw of fixture to capture the degree of stability of yarn cake not good, easily in capturing the process that yarn cake moves, the situation that causes yarn cake to be dropped by the jaw of fixture because of factors such as vibrations.Therefore, existing several yarn cakes are once taken off to the operation of casing by material supplier, in actual mechanical process, meet with difficulty greatly, if only capture row's yarn cake at every turn, relatively can cause yarn cake packing joint sealing operating efficiency lower, and the enforcement of unfavorable machine automated job.
So, the inventor is because existing yarn cake captures conveying toward automatically packing the difficulty meeting with in the process of cartoning sealing machine from material supplier, rely on for many years in the manufacture of association area and assisting a ruler in governing a country of design experiences and knowledge, and through clever thought in many ways, for existing yarn cake grasping mechanism, research and develop improvement, and propose the utility model scheme.
Utility model content
The utility model relates to a kind of yarn cake grasping mechanism, its main purpose is in order to provide a kind of chuck that makes to capture yarn cake to be rocked to the yarn cake equal angular of planting on the radius stay with material supplier, so that chuck firmly captures the yarn cake grasping mechanism of yarn cake.
In order to reach above-mentioned enforcement object, the inventor proposes following yarn cake grasping mechanism, it is mainly provided with a support, and group is provided with at least one driving device on this support, this driving device includes at least one permanent seat, this permanent seat and this support Joint, at this permanent seat adjacent, be provided with group vertical rod again, between this group vertical rod and this permanent seat with sliding unit mutually group establish, separately be provided with at least one chuck group stand, this chuck group stand is corresponding with this permanent seat, and this chuck group stand one end and this permanent seat one end are articulated, this chuck group stand other end forms inclined guide groove, and this group vertical rod is provided with guide pillar in the inclined guide groove place group of relative this chuck group stand, this guide pillar correspondence is arranged in the inclined guide groove location of this chuck group stand.Separately be provided with a propulsion source, this propulsion source is fixedly arranged on a permanent seat, and the driving section of this propulsion source and this group vertical rod are connected with group.Described yarn cake grasping mechanism is also provided with chuck, and this chuck is mounted on this chuck group stand.
Yarn cake grasping mechanism as above, wherein, the chuck group stand of this driving device is on the one side moulding inclined-plane to should permanent seat, and makes the inclined-plane of this chuck group stand corresponding with its inclined guide groove position.
Yarn cake grasping mechanism as above, wherein, between the permanent seat of this driving device and group vertical rod, the sliding unit established of group is corresponding slide rail and the slide of establishing that connect, this slide rail and slide respectively with this permanent seat and group vertical rod mutually group establish.
Yarn cake grasping mechanism as above, wherein, this chuck is provided with jaw and jaw propulsion source, and this jaw and jaw propulsion source mutually group are established.
Yarn cake grasping mechanism as above, wherein, the propulsion source of this driving device is air cylinder.
Yarn cake grasping mechanism as above, wherein, is at least provided with a convergence part on this support, and these both sides, convergence part are connected with roof beam structure portion, forms the roof beam structure portion that set up at most rows interval on this support.In addition, in each roof beam structure portion respectively group be provided with one described in driving device.
Thereby, while being the yarn cake of planting on the radius stay that tilts to set up on the chuck crawl material supplier of wanting to establish with chuck group stand group, can make the propulsion source drive group vertical rod of driving device, through the guide pillar in group vertical rod, promote the chuck group stand joining with inclined guide groove, and make chuck group stand and upper group of chuck connecing thereof be rocked to the angle of inclination identical with radius stay on material supplier, and then the yarn cake angle that chuck is planted on can the radius stay of corresponding material supplier, reach the effect of firm crawl yarn cake.
Accompanying drawing explanation
The following drawings is only intended to the utility model to schematically illustrate and explain, does not limit scope of the present utility model.Wherein,
Fig. 1 is block diagram of the present utility model.
Fig. 2 is birds-eye view of the present utility model.
Fig. 3 is sectional view of the present utility model.
Fig. 4 is chuck heeling condition figure of the present utility model.
Fig. 5 is that chuck of the present utility model captures yarn cake constitution diagram in advance.
Fig. 6 is that chuck of the present utility model captures yarn cake constitution diagram.
Fig. 7 is that chuck of the present utility model captures yarn pie state end elevation.
Fig. 8 is that yarn cake of the present utility model is got from material supplier constitution diagram.
Drawing reference numeral explanation:
1 support 11 convergence parts
12 roof beam structure portion 2 drivings device
21 permanent seat 211 pivot ears
212 22 groups of slide rails vertical rods
221 slide 222 guide pillars
23 chuck group stand 231 pivots
232 inclined guide groove 233 inclined-planes
24 propulsion source 241 driving sections
242 connecting rod 3 chucks
31 jaw 4 robotic arms
5 material supplier 51 radius stays
Pipe in 6 yarn cakes 61
The specific embodiment
For technical characterictic of the present utility model, object and effect being had more clearly, understand, now contrast accompanying drawing the specific embodiment of the present utility model is described.
First, refer to Fig. 1 to Fig. 3, yarn cake grasping mechanism of the present utility model, is mainly comprised of support 1, driving device 2 and chuck 3; Wherein:
This support 1, is at least provided with a convergence part 11, and these 11 both sides, convergence part are connected with roof beam structure portion 12, so that number roof beam structure portion 12 forms number row interval on support 1, sets up;
This driving device 2, be mounted on each roof beam structure portion 12 of support 1, this driving device 2 respectively includes at least one permanent seat 21, permanent seat 21 and roof beam structure portion 12 Joints, and form pivot ear 211 in each permanent seat 21 both sides, in 211, the both sides of permanent seat 21 pivot ear, be installed with slide rail 212, be provided with adjacent with permanent seat 21 organized vertical rod 22, in this group vertical rod 22, slide rail 212 places of corresponding each permanent seat 21 are installed with slide 221, and each slide 221 in this group vertical rod 22 docks group with the slide rail 212 of each permanent seat 21 and establishes.In this group vertical rod 22, its other side that sets firmly slide 221 is provided with the chuck group stand 23 corresponding with each slide 221 relatively, and the pivot ear 211 of each chuck group stand 23 one end and each permanent seat 21 wears pivot joint with pivot 231.Each chuck group stand 23 forms and is the inclined guide groove 232 of setting up at an angle of inclination at the other end place of relative permanent seat 21 pivot ear 211 pivot joints; Inclined guide groove 232 places at this corresponding each chuck group stand 23 in group vertical rod 22 sides are respectively connected with guide pillar 222, and each guide pillar 222 wears location with the inclined guide groove 232 of each chuck group stand 23.One side moulding inclined-plane 233 at each chuck group stand 23 with corresponding permanent seat 21, and make the inclined-plane 233 of this chuck group stand 23 corresponding with its inclined guide groove 232 positions, and there is same tilt angle.The driving device 2 that is mounted on each roof beam structure portion 12 of support 1 is respectively provided with a propulsion source 24; this propulsion source 24 is air cylinder; this propulsion source 24 is fixedly arranged on a permanent seat 21 of each roof beam structure portion, and the driving section 241 of the propulsion source 24 of each driving device 2 is connected with group with connecting rod 242 and the group vertical rod 22 of each driving device 2;
Chuck 3 is connected on each chuck group stand 23 of driving device 2, and group is provided with jaw 31 on each chuck 3, and the jaw propulsion source of establishing in this jaw 31 and chuck 3 mutually group is established.
Accordingly, please consult in the lump again Fig. 3, when wanting, with robotic arm 4, the yarn cake 6 of coated glued membrane is taken off to carry out joint sealing packing on the radius stay 51 by material supplier 5, mechanical arm 4 and the support 1 of yarn cake grasping mechanism of the present utility model to be positioned to the convergence part 11 phase interlockings of middle, so that yarn cake grasping mechanism interlocking of the present utility model is on robotic arm 4, and the propulsion source 24 of driving device 2 of the present utility model and the jaw propulsion source of chuck 3 are coupled mutually with the control circuit of robotic arm 4.
Subsequently, robotic arm 4 is moved to material supplier 5 places by the utility model yarn cake grasping mechanism of installing on it, and make each yarn cake 6 of planting on each radius stay 51 of each chuck 3 that on support 1 of the present utility model, group is established and material supplier 5 corresponding, then, see also Fig. 4, propulsion source 24 actions of the control circuit drive transmission 2 of robotic arm 4, so that pushing away, the propulsion source 24 of driving device 2 stretches its driving section 241, now, the group vertical rod 22 being connected with group with connecting rod 242 with driving section 241 is produced feed motion by the stroke of setting, and utilization is mounted on slide 221 and the docking structure that is fixedly arranged on the slide rail 212 of permanent seat 21 in vertical rod 22, stability that can maintenance group vertical rod 22 feedings, in group vertical rod 22 feedings, be fixed in the also synchro-feed of each guide pillar 222 of group vertical rod 22, when each guide pillar 222 feeding, rely on the inclined guide groove 232 of itself and each chuck group stand 23 to wear the structure that group connects, drive each chuck group stand 23 along its inclined guide groove 232, form the swing of same tilt angle, utilize the one side of chuck group stand 23 corresponding permanent seats 21 to there is the design on inclined-plane 233, can make chuck group stand 23 do not interfered, successfully swing, and be butted on permanent seat 21 location, when chuck group stand 23 is rocked to after the angle orientation of setting, the chuck 3 that the is mounted on chuck group stand 23 identical set angle that also tilts, and the setting of this angle is corresponding with the angle of inclination of the radius stay 51 of material supplier 5, therefore, the angle that the middle pipe 61 that can make the crawl angle of each chuck 3 on yarn cake grasping mechanism of the present utility model just equal to be inserted in yarn cake 6 on every a positioning rod 51 of material supplier 5 presents.
When the control circuit of robotic arm 4 is adjusted to chuck 3 behind location, thereupon, see also Fig. 5, the arm 4 of operating machines drives yarn cake grasping mechanism of the present utility model toward the 6 direction feedings of yarn cake, so that the jaw 31 of each chuck 3 inserts in the middle pipe 61 of corresponding yarn cake 6, by the control circuit of robotic arm 4, driven again the jaw propulsion source of each chuck 3, make the jaw 31 of each chuck 3 do the action of opening, see also Fig. 6 to Fig. 7, and the jaw 31 that makes chuck 3 stays on middle pipe 61 tube walls of yarn cake 6, and make each chuck 3 firmly capture yarn cake 6 corresponding thereto, it is past away from the 6 direction feedings of yarn cake that the control circuit of robotic arm 4 system controls robotic arm 4 drive yarn cake grasping mechanism of the present utility model subsequently, and by the radius stay 51 of each yarn cake 6 extraction material suppliers 5.
When yarn cake 6 is drawn out of after the radius stay 51 of material supplier 5, as shown in Figure 8, the control circuit of robotic arm 4 drives the group vertical rod 22 that the driving section 241 drive groups of propulsion source 24 of the driving device 2 of yarn cake grasping mechanism of the present utility model connect again and connects with group vertical rod 22 the chuck group stand 23 of establishing and resets, after chuck group stand 23 homings, this chuck 3 that is connected to chuck group stand 23 is synchronous reset also, and the yarn cake 6 that chuck 3 grasps is ajusted, robotic arm 4 drives yarn cake 6 to be moved to automatic packing cartoning sealing machine place, and the jaw 31 of chuck 3 is discharged after the crawl of yarn cake 6, this yarn cake 6 can neatly drop down onto the default packing place of automatic packing cartoning sealing machine, packing joint sealing in order to yarn cake 6.
So, yarn cake grasping mechanism of the present utility model relies on each chuck 3 is adjusted to every a positioning rod 51 of material supplier 5 and is inserted in the design of middle pipe 61 corresponding angles of each yarn cake 6 of radius stay 51, can make the jaw 31 of each chuck 3 when grasping yarn cake 6, jaw 31 all can be planted into middle pipe 61 appropriate depth of yarn cake 6, and then each yarn cake 6 is firmly grasped, therefore can once a majority yarn cake of placing on the radius stay of material supplier 5 51 6 all be captured to automatic packing cartoning sealing machine place and pack, thereby can reach the work flow efficiency that effective raising yarn cake 6 is transported to automatic packing cartoning sealing machine, be convenient to the real benefits such as machine automated job enforcement.
The enforcement sample state of aforesaid embodiment or diagram non-limiting the utility model yarn cake grasping mechanism; driving device 2 of the present utility model is positioned at slide 221 and slide rail 212 designs of group vertical rod 22 and permanent seat 21; also can adopt guide groove and the corresponding structure that is arranged in the sliding units such as guide rod of guide groove to substitute; under all, in technical field, there is suitable variation or the modification of conventionally knowing that the knowledgeable does, all should be considered as not departing from the category of yarn cake grasping mechanism protection of the present utility model.
Claims (10)
1. a yarn cake grasping mechanism, is characterized in that, described yarn cake grasping mechanism is provided with a support, and is provided with at least one driving device in described support group, and described driving device includes at least one permanent seat, described permanent seat and described support Joint; At described permanent seat adjacent, be provided with group vertical rod again, between described group of vertical rod and described permanent seat with sliding unit mutually group establish, separately be provided with at least one chuck group stand, described chuck group stand is corresponding with described permanent seat, described chuck group stand one end and described permanent seat one end are articulated, described chuck group stand other end place forms inclined guide groove, and the inclined guide groove place group at the described group of relatively described chuck group of vertical rod stand is provided with guide pillar, described guide pillar correspondence is arranged in the inclined guide groove location of described chuck group stand; Separately be provided with a propulsion source, described propulsion source is fixedly arranged on a permanent seat, and the driving section of described propulsion source and described group of vertical rod are connected with group; Described yarn cake grasping mechanism is also provided with chuck, and described chuck is mounted on described chuck group stand.
2. yarn cake grasping mechanism as claimed in claim 1, is characterized in that, the chuck group stand of described driving device is on the one side moulding inclined-plane of relatively described permanent seat, and the inclined-plane of described chuck group stand is corresponding with its inclined guide groove position.
3. yarn cake grasping mechanism as claimed in claim 2, it is characterized in that, between the permanent seat of described driving device and group vertical rod, the sliding unit established of group connects for corresponding slide rail and the slide of establishing, and described slide rail and slide respectively with described permanent seat and group vertical rod mutually group establish.
4. yarn cake grasping mechanism as claimed in claim 3, is characterized in that, described chuck is provided with jaw and jaw propulsion source, and described jaw and jaw propulsion source mutually group establish.
5. yarn cake grasping mechanism as claimed in claim 4, is characterized in that, the propulsion source of described driving device is air cylinder.
6. yarn cake grasping mechanism as claimed in claim 3, is characterized in that, the propulsion source of described driving device is air cylinder.
7. yarn cake grasping mechanism as claimed in claim 1, it is characterized in that, between the permanent seat of described driving device and group vertical rod, the sliding unit established of group connects for corresponding slide rail and the slide of establishing, and described slide rail and slide respectively with described permanent seat and group vertical rod mutually group establish.
8. yarn cake grasping mechanism as claimed in claim 1, is characterized in that, described chuck is provided with jaw and jaw propulsion source, and described jaw and jaw propulsion source mutually group establish.
9. yarn cake grasping mechanism as claimed in claim 1, is characterized in that, the propulsion source of described driving device is air cylinder.
10. yarn cake grasping mechanism as claimed in claim 1, it is characterized in that, described support is at least provided with a convergence part, and both sides, described convergence part are connected with roof beam structure portion, the roof beam structure portion setting up in order to form most rows interval on described support, and in each roof beam structure portion respectively group be provided with one described in driving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320523364.9U CN203439702U (en) | 2013-08-26 | 2013-08-26 | Spinning yarn cake grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320523364.9U CN203439702U (en) | 2013-08-26 | 2013-08-26 | Spinning yarn cake grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203439702U true CN203439702U (en) | 2014-02-19 |
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ID=50090770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320523364.9U Expired - Fee Related CN203439702U (en) | 2013-08-26 | 2013-08-26 | Spinning yarn cake grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203439702U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105600427A (en) * | 2016-02-02 | 2016-05-25 | 机械科学研究总院先进制造技术研究中心 | Cheese clamping device |
| CN105855981A (en) * | 2015-01-18 | 2016-08-17 | 杭州三沃机器人有限公司 | Manipulator floating grabbing claw |
| CN113060353A (en) * | 2021-02-26 | 2021-07-02 | 深圳市华盛控科技有限公司 | Boxing equipment and boxing method thereof |
-
2013
- 2013-08-26 CN CN201320523364.9U patent/CN203439702U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855981A (en) * | 2015-01-18 | 2016-08-17 | 杭州三沃机器人有限公司 | Manipulator floating grabbing claw |
| CN105855981B (en) * | 2015-01-18 | 2018-09-25 | 杭州三奥智能科技有限公司 | A kind of manipulator floating graping chaw |
| CN105600427A (en) * | 2016-02-02 | 2016-05-25 | 机械科学研究总院先进制造技术研究中心 | Cheese clamping device |
| CN113060353A (en) * | 2021-02-26 | 2021-07-02 | 深圳市华盛控科技有限公司 | Boxing equipment and boxing method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140219 Termination date: 20170826 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |