CN204727196U - The intelligent digitalized specialized package industrial robot of chemical fibre - Google Patents
The intelligent digitalized specialized package industrial robot of chemical fibre Download PDFInfo
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- CN204727196U CN204727196U CN201520464409.9U CN201520464409U CN204727196U CN 204727196 U CN204727196 U CN 204727196U CN 201520464409 U CN201520464409 U CN 201520464409U CN 204727196 U CN204727196 U CN 204727196U
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Abstract
The utility model relates to the intelligent digitalized specialized package industrial robot of a kind of chemical fibre, one end of robot base is fixed on floor, other one end of robot base is connected with swinging strut, there is provided robot at the rotating mechanism of horizontal surface, simultaneously one end of swinging strut and robot base plate are connected and fixed by screw, one end of spinning cake catching robot is screwed on robot base plate, and the other end of spinning cake catching robot is connected with spinning cake dividing plate manipulator by screw.The utility model is enhanced productivity, owing to reducing the amplitude of fluctuation of the interlock of robot itself, demoted operation time energy consumption, while guarantee spinning cake product design, possible reduction production process thought factor and operating personal, realizes chemical fiber spinning cake stacking, the full-automation of packaging and high-quality.
Description
[technical field]
The utility model relates to chemical fibre technical field of automation, specifically, is the intelligent digitalized specialized package industrial robot of a kind of chemical fibre.
[background technology]
China is chemical fibre big country, but not chemical fibre power, from the output of chemical fibre, within 2014, China's chemical fiber industry reaches 5,400 ten thousand tons, wherein terylene output reaches 3,200 ten thousand tons, and the terylene in the whole world more than 70% is produced in China, in the face of annual so large-scale productive output, the logistics system of the advanced production of intelligent automaticization, packaging, management one continuous line is that enterprise promotes core value, promotes the only way which must be passed of the employment recruitment cost of overall industry; And it is well-known, textile industry is still labour concentrated industry in China, although along with development and the progress of technology, the application of automation equipment in textile industry is more and more extensive, but in this industry, still need a large amount of people to participate in, do not have full automatic packaging and working equipment at present, the packaging of chemical fiber spinning cake also has a certain impact to product design tool simultaneously, indirectly have impact on the product design of enterprise.Simultaneously along with the expanding day of chemical fiber factory product and the various of kind, packaging process is just increasing on the impact of tow quality, therefore enterprise is more and more stricter to process control requirements such as packaging and transports, and along with the production domesticization of fused mass directly spinning line and vast capacity polyester thread, therefore enterprise requires very urgent for the application at finite space and time, for enhancing productivity, too much manual operation can not meet the demands far away, therefore the automatic packaging realizing chemical fiber spinning cake is imperative, simultaneously for overall industry to intellectuality, Informatization Development has positive progradation.
The automatic packaging production logistics process of current China chemical fiber factory at present or based on hand-filling, after chemical fiber spinning cake rolls off the production line from spinning threadling or elasticizer, need manually silk car to be pushed to packing shop, on silk car, spinning cake information is by information table record made of paper.After the processes such as spinning cake detects in wait outward appearance, dyeing classification, class information is recorded in information table.The spinning cake that classification completes, by manually sorting vanning, joint sealing packing, code plate by information table, is finally transported to finished product reservoir area.The inadaptable large-scale production of this production logistics process, there is many shortcomings: densely populated place, labour intensity is large, inefficiency; Silk car holding time when waiting for outer inspection dyeing is oversize, and the turnover of silk car slowly, affects spinning cake production efficiency, and takies large stretch of place, cause utilization of area rate low; Product information reviews difficulty, affects quality.
Although traditional packaging industry development rapidly, the domestic and international packaging facilities for chemical fibre automation is less at present, and this mainly contains the impacts such as the influence factor of spinning cake in synthetic bag process of assembling and spinning cake pack environment, the quality of a usual chemical fiber spinning cake is at 10kg, and it is in packaging process, side spinning cake is easy to affect by incised wound, collision, touch etc., thus cause whole spinning cake Quality Down and be difficult to use, therefore traditional packaging is difficult to large for amount, that matter is heavy spinning cake and carries out meticulous packaging, packs therefore each manufacturing enterprise etc. simultaneously and brings difficulty simultaneously because the spinning cakes such as 4,9 in spinning cake packaging, stacking procedure are difficult to realize a people, the packaging process of current chemical fiber spinning cake has employing do mechanization operation, but it can only for the packaging of four spinning cakes or single spinning cake, and the spinning cake of large quality is packed, stacking be difficult to realize, simultaneously due in stacking procedure, mechanical arm amplitude of fluctuation is large, the requirement for machinery therefore brought, and the quality of spinning cake can not be excessive, and mechanical arm operation single at present, efficiency is low, therefore this patent is for current chemical fiber spinning cake stacking, the automatic degree existed in packaging process is low, the artificial demand caused is large, product design is difficult to ensure, and stacking, packaging process labour intensity is large, especially in the melt polyesters device of current vast capacity, the problems such as the efficiency that amount is large and bring is low, be there is by design the chemical fibre stacking of five degree of freedom interlocks, packaging full-automatic machine people, realize chemical fiber spinning cake stacking, the full-automation of packaging, realize the high efficiency of spinning cake packaging and the automation collection of information and mark simultaneously, realize automation and the informationization of whole flow process, ensure the full automaticity trace back process of fiber product quality and logistics.Thus being beneficial to follow-up materials stream informationization process, the automation realizing chemical fiber spinning cake, to the fusion of seat, packaging and information-based Logistics, improves degree of utilization and the production efficiency of factory building.
[utility model content]
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of chemical fibre intelligent digitalized specialized package industrial robot.
The purpose of this utility model is achieved through the following technical solutions:
The intelligent digitalized specialized package industrial robot of a kind of chemical fibre, by robot base, swinging strut, robot base plate, spinning cake catching robot, spinning cake dividing plate manipulator five part forms, one end of robot base is fixed on floor, other one end of robot base is connected with swinging strut, there is provided robot at the rotating mechanism of horizontal surface, simultaneously one end of swinging strut and robot base plate are connected and fixed by screw, one end of spinning cake catching robot is screwed on robot base plate, the other end of spinning cake catching robot is connected with spinning cake dividing plate manipulator by screw.
Described robot base plate plane is quadrangle.By robot base band swinging strut; in the overall center of gravity situation reducing machinery; ensure the stability of robot entirety; simultaneously by having Up/down base, protection swinging strut, not only can improve the stability of rotary course; on robot base plate, other mechanical components can also be installed simultaneously; avoid and directly install on selection support, and the narrow space occurred, be unfavorable for the situations such as the installation of equipment.
Described spinning cake catching robot comprises the first spinning cake catching robot and the second catching robot; And the first spinning cake catching robot and the second spinning cake catching robot have same structure, and the first spinning cake catching robot and the second spinning cake catching robot hold symmetrical, all comprise spinning cake manipulator base, spinning cake manipulator attachment spacers, spinning cake catching robot pillar stiffener, first is flexibly connected position, first portable bar, second is flexibly connected position, the second portable bar, 3rd is flexibly connected position, 4th portable bar, the 5th is flexibly connected position, the 5th portable bar, spinning cake captures plate base plate, and spinning cake captures plate.
Be described with regard to the first spinning cake catching robot below.
First spinning cake catching robot by spinning cake manipulator base, spinning cake manipulator attachment spacers, spinning cake catching robot pillar stiffener, first is flexibly connected position, first portable bar, second is flexibly connected position, the second portable bar, 3rd is flexibly connected position, 4th portable bar, the 5th is flexibly connected position, the 5th portable bar, spinning cake captures plate base plate, and spinning cake captures plate composition;
On one end stationary machines people base plate of described spinning cake manipulator base, other one end of spinning cake manipulator base is connected and fixed by screw by spinning cake manipulator attachment spacers and spinning cake catching robot pillar stiffener, first one end being flexibly connected position is connected by screw with spinning cake catching robot pillar stiffener, first other one end being flexibly connected position is connected with the first portable bar, first is flexibly connected 180 ° of rotations that vertical direction can be carried out in position, is flexibly connected the motion rotarily driving the first portable bar of position by first.
Second one end being flexibly connected position is connected with the first portable bar, and second other one end being flexibly connected position is connected with the second portable bar, and second is flexibly connected position can in vertical direction 180 ° rotation.
3rd be flexibly connected position one end be connected with the second portable bar, 3rd be flexibly connected position other one end be connected with the 3rd portable bar, 3rd flexible connection position can be carried out 360 ° with the second portable bar vertical plane surface and be rotated, thus drives the 3rd portable bar to carry out axial-rotation operation.
4th one end being flexibly connected position is connected with portable bar, and the 4th other one end being flexibly connected position is connected with the 4th portable bar, and the 4th is flexibly connected position can in vertical direction 180 ° rotation.Spinning cake captures plate and is fixedly connected on one piece by spinning cake crawl plate base plate and the 4th portable bar screw, thus is reached through the motion of the 4th portable bar and drives spinning cake to capture the motion of plate.Had the rotating machine arm of multiaxis by multiple component composition that can rotate freely rotation, improve the multi-angle of Robot actions, multi-faceted property, makes equipment have more purposes and applicability.
Described spinning cake captures plate and captures at hand seat by machinery, machinery captures hand and weighs bearing bar, weigh chucking system three parts composition, and spinning cake crawl plate is circular, and one end that home position captures at hand seat by screw and machinery is connected, one end that other one end of the plate of spinning cake crawl simultaneously captures hand weighing bearing bar by key screw machinery is fixed, and other one end that machinery crawl hand weighs bearing bar is connected with weighing chucking system by screw.
Described weighing chucking system includes the first spinning cake chucking system with four same structures, second spinning cake chucking system, 3rd spinning cake chucking system and the 4th spinning cake chucking system, and each spinning cake chucking system comprises spinning cake chuck pillar, spinning cake chuck pipe expansion joint, spinning cake chuck weight sensor and spinning cake chuck four major part; Spinning cake chuck pillar one end is connected to manipulator crawl hand and weighs on bar, and one end is connected with spinning cake chuck weight sensor in addition, is connected inside spinning cake chuck with spinning cake chuck weight sensor, and spinning cake pipe expansion joint is fixed in the middle of spinning cake chuck pillar.
The first chuck pillar in described weighing chucking system, the second chuck pillar, the 3rd chuck pillar, the 4th chuck pillar is screwed in machinery and captures the round section quarter place that hand weighs bearing bar.
Be specially:
First chuck pillar one end is screwed in machinery and captures on hand weighing bearing bar, other one end of first chuck pillar is connected with the first chuck weight sensor, be connected by screw with the first chuck weight sensor inside first chuck, the first chuck pipe expansion joint is screwed in machinery and captures on hand weighing bearing bar.Adopting and have movable pipe expansion joint, is the conversion that gripping system can carry out size, thus adapts to the spinning cake of different inner diameters size and the gripping work of yarn filaments cylinder, and structure design has more popularity.
Be circular arc outside the first described chuck, its radian is 30 ~ 45 °.Radian is not easily excessive, excessive, makes in spinning cake gripping process, and the spinning cake cylinder internal diameter of its gripping needs the gripping of larger ability, and too small, the stress in gripping process on silk barrel can be caused concentrated or excessive, affect fiber quality.
Adopt the design with four symmetrical structures, avoid the uneven of in gripping process stress, affect yarn quality, the design of symmetrical structure simultaneously improves spinning cake and is rotating the stability in transportation, avoid under normal stress effect, the situation of the outside impelling of spinning cake occurs.
Spinning cake dividing plate manipulator:
Described spinning cake dividing plate machinery handbag is containing the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator, and the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator have same structure, and the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator are symmetric, all comprise spinning cake dividing plate machinery at hand seat, spinning cake dividing plate manipulator attachment spacers, spinning cake dividing plate manipulator pillar stiffener, dividing plate manipulator first activity bit, dividing plate manipulator first portable bar, dividing plate manipulator second activity bit, dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit, dividing plate manipulator the 3rd portable bar, dividing plate catching robot base and dividing plate capture plate,
Be described with regard to the first spinning cake dividing plate manipulator below:
First spinning cake dividing plate manipulator is by spinning cake dividing plate machinery at hand seat, spinning cake dividing plate manipulator attachment spacers, spinning cake dividing plate manipulator pillar stiffener, dividing plate manipulator first activity bit, dividing plate manipulator first portable bar, dividing plate manipulator second activity bit, dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit, dividing plate manipulator the 3rd portable bar, dividing plate catching robot base and dividing plate capture plate composition;
In the first described dividing plate manipulator spinning cake dividing plate machinery at hand seat one end stationary machines people base plate on, other one end of the mechanical at hand seat of spinning cake dividing plate is connected and fixed by screw by spinning cake dividing plate manipulator attachment spacers and spinning cake dividing plate catching robot pillar stiffener, one end that first dividing plate manipulator first is flexibly connected position is connected by screw with spinning cake dividing plate catching robot pillar stiffener, and other one end that dividing plate manipulator first is flexibly connected position is connected with dividing plate manipulator first portable bar; Dividing plate manipulator first is flexibly connected 180 ° of rotations that vertical direction can be carried out in position, by the motion of the rotating band dividing plate machinery manual activities bar of activity bit; Dividing plate captures plate and captures plate base by dividing plate and to be fixed with dividing plate manipulator the 3rd portable bar and to be connected.
One end that dividing plate manipulator second is flexibly connected position is connected with dividing plate manipulator first portable bar, other one end that dividing plate manipulator second is flexibly connected position is connected with dividing plate manipulator second portable bar, and dividing plate manipulator second is flexibly connected position can in vertical direction 180 ° rotation.
One end that dividing plate manipulator the 3rd is flexibly connected position is connected with dividing plate manipulator second portable bar, other one end that dividing plate manipulator the 3rd is flexibly connected position is connected with dividing plate manipulator the 3rd portable bar, dividing plate manipulator the 3rd flexible connection position can be carried out 360 ° with dividing plate manipulator second portable bar vertical plane surface and be rotated, thus drives dividing plate manipulator the 3rd portable bar to carry out axial-rotation operation.
Dividing plate captures plate and captures plate base by dividing plate and to be fixed with dividing plate manipulator the 3rd portable bar and to be connected, thus is reached through the motion of the 3rd dividing plate manipulator portable bar and drives the motion of dividing plate crawl plate.
It is square that described dividing plate captures plate, and four angles of dividing plate crawl plate and center are distributed with the dividing plate grabbing device with same structure, and each dividing plate grabbing device captures plate base by dividing plate, dividing plate captures plate strut bar and dividing plate captures suction piece composition; One end that dividing plate captures plate strut bar captures plate base by screw and dividing plate and is fixed on dividing plate and captures on plate, and screw connecting partition crawl suction piece is passed through in other one end of dividing plate crawl plate strut bar; Dividing plate captures suction piece can form negative pressure, is reached capture the spinning cake dividing plate of paper shell, plastic foam by negative pressure.For paper shell and the plastic foam of lighter weight, negative pressure absorbing is adopted to capture, there is efficiency high, energy consumption is low, and dividing plate is drawn as corner adds center simultaneously, ensures stability and the accuracy of absorption, simultaneously can also by the location of corner location, spinning cake buttress is controlled, avoids dividing plate to draw single device and occur that dividing plate is drawn invalid and falls dividing plate, again draw the process of dividing plate.
The first described spinning cake catching robot and the second catching robot, the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator, occupy four limits of robot base plate respectively; The spinning cake catching robot and the spinning cake dividing plate manipulator that make to have same structure are symmetric, and improve the stability of system cloud gray model, not only can ensure that spinning cake weight takes the particularity of process, can improve the efficiency of operation simultaneously.
Compared with prior art, good effect of the present utility model is:
The utility model patent five degree of freedom interlock chemical fibre packaging Special industrial robots have the chemical fibre stacking of five degree of freedom interlocks by design, packaging full-automatic machine people, capture with two of symmetrical structure groups of spinning cakes, the equipment that dividing plate captures, build the robot that there is quick spinning cake and capture, enhance productivity, simultaneously owing to reducing the amplitude of fluctuation of the interlock of robot itself, demoted operation time energy consumption, while guarantee spinning cake product design, possible reduction production process thought factor and operating personal, realize chemical fiber spinning cake stacking, the full-automation of packaging and high-quality, adopt the device having and weigh with information record in spinning cake crawl process simultaneously, realize the high efficiency of spinning cake packaging and the automation collection of information and mark, realize automation and the informationization of whole flow process, ensure the full automaticity trace back process of fiber product quality and logistics.
[accompanying drawing explanation]
Fig. 1 is that base plate spinning cake manipulator of the present utility model is connected plan sketch with the crawl of spinning cake dividing plate;
Fig. 2 is spinning cake catching robot structural representation of the present utility model;
Fig. 3 is that spinning cake of the present utility model captures plate structure schematic diagram;
Fig. 4 is spinning cake gripping system architecture schematic diagram of the present utility model;
Fig. 5 is the spinning cake dividing plate manipulator structural representation of the utility model patent;
Fig. 6 is that dividing plate of the present utility model captures plate structure schematic diagram;
Being labeled as in accompanying drawing: 1 is robot base, 2 is swinging strut, 3 is robot base plate, 4 is spinning cake catching robot, 5 is spinning cake dividing plate manipulator, 401 is spinning cake manipulator base, 402 is spinning cake manipulator attachment spacers, 403 spinning cake catching robot pillar stiffeners, 404 is the first flexible connection position, 405 is the first portable bar, 406 is the second flexible connection position, 407 is the second portable bar, 408 is the 3rd flexible connection position, 409 is the 3rd portable bar, 410 is the 4th flexible connection position, 411 is the 5th portable bar, 412 is spinning cake crawl plate base plate, 413 spinning cakes capture plate, 4131 capture at hand seat for machinery, and 4132 is that machinery captures hand and weighs bearing bar, and 4133 for weighing chucking system, 3311 is the first chuck pillar, and 3321 is the first chuck pipe expansion joint, and 3331 is the first chuck pillar pad, and 3341 is the first chuck, 3312 is the second chuck pillar, 3313 is the 3rd chuck pillar, 3314 is the 4th chuck pillar, 501 is spinning cake dividing plate machinery at hand seat, and 502 is spinning cake dividing plate manipulator attachment spacers, 503 spinning cake dividing plate manipulator pillar stiffeners, 504 is dividing plate manipulator first activity bit, 505 is dividing plate manipulator first portable bar, 506 is dividing plate manipulator second activity bit, 507 is dividing plate manipulator second portable bar, and 508 is dividing plate manipulator the 3rd activity bit, and 509 is dividing plate manipulator the 3rd portable bar, 510 is dividing plate catching robot base, and 511 is dividing plate crawl plate, 4101 is dividing plate crawl plate base, and 4102 is that dividing plate captures plate strut bar, and 4103 is that dividing plate captures suction piece.
[detailed description of the invention]
The detailed description of the invention of the intelligent digitalized specialized package industrial robot of a kind of chemical fibre of the utility model is below provided.
Embodiment 1
Refer to accompanying drawing 1-6, the intelligent digitalized specialized package industrial robot of a kind of chemical fibre, by robot base 1, swinging strut 2, robot base plate 3, spinning cake catching robot 4, spinning cake dividing plate manipulator 5 five part forms, one end of robot base 1 is fixed on floor, other one end of robot base 1 is connected with swinging strut 2, there is provided robot at the rotating mechanism of horizontal surface, simultaneously one end of swinging strut 2 and robot base plate 3 are connected and fixed by screw, one end of spinning cake catching robot 4 is screwed on robot base plate 3, the other end of spinning cake catching robot 4 is connected with spinning cake dividing plate manipulator 5 by screw, wherein said robot base plate plane is quadrangle.By robot base band swinging strut; in the overall center of gravity situation reducing machinery; ensure the stability of robot entirety; simultaneously by having Up/down base, protection swinging strut, not only can improve the stability of rotary course; on robot base plate 3, other mechanical components can also be installed simultaneously; avoid and directly install on selection support, and the narrow space occurred, be unfavorable for the situations such as the installation of equipment.
Described spinning cake catching robot 4 comprises the first spinning cake catching robot and the second catching robot; And the first spinning cake catching robot and the second spinning cake catching robot have same structure, and the first spinning cake catching robot and the second spinning cake catching robot hold symmetrical, all comprise spinning cake manipulator base, spinning cake manipulator attachment spacers, spinning cake catching robot pillar stiffener, first is flexibly connected position, first portable bar, second is flexibly connected position, the second portable bar, 3rd is flexibly connected position, 4th portable bar, the 5th is flexibly connected position, the 5th portable bar, spinning cake captures plate base plate, and spinning cake captures plate.
Be described with regard to the first spinning cake catching robot below.
First spinning cake catching robot by spinning cake manipulator base 401, spinning cake manipulator attachment spacers 402, spinning cake catching robot pillar stiffener 403, first is flexibly connected position 404, first portable bar 405, second is flexibly connected position 406, second portable bar 407,3rd is flexibly connected position 408,4th portable bar the 409, five is flexibly connected position the 410, five portable bar 411, spinning cake captures plate base plate 412, and spinning cake captures plate 413 and forms;
On one end stationary machines people base plate 3 of described spinning cake manipulator base 401, other one end of spinning cake manipulator base 401 is connected and fixed by screw by spinning cake manipulator attachment spacers 402 and spinning cake catching robot pillar stiffener 403, first one end being flexibly connected position 404 is connected by screw with spinning cake catching robot pillar stiffener 403, first other one end being flexibly connected position 404 is connected with the first portable bar 405, first is flexibly connected 180 ° of rotations that vertical direction can be carried out in position 404, is flexibly connected the motion rotarily driving the first portable bar 405 of position by first.
Second one end being flexibly connected position 406 is connected with the first portable bar 405, and second other one end being flexibly connected position 406 is connected with the second portable bar 407, and second is flexibly connected position can in vertical direction 180 ° rotation.
3rd one end being flexibly connected 408 of position is connected with the second portable bar, 3rd other one end being flexibly connected 408 of position is connected with the 3rd portable bar 409,3rd flexible connection position can be carried out 360 ° with the second portable bar vertical plane surface and be rotated, thus drives the 3rd portable bar to carry out axial-rotation operation.
4th one end being flexibly connected position 410 is connected with portable bar, and the 4th other one end being flexibly connected position 410 is connected with the 4th portable bar, and the 4th is flexibly connected position can in vertical direction 180 ° rotation.Spinning cake captures plate and is fixedly connected on one piece by spinning cake crawl plate base plate and the 4th portable bar screw, thus is reached through the motion of the 4th portable bar and drives spinning cake to capture the motion of plate 413.Had the rotating machine arm of multiaxis by multiple component composition that can rotate freely rotation, improve the multi-angle of Robot actions, multi-faceted property, makes equipment have more purposes and applicability.
Described spinning cake captures plate 413 and captures at hand seat 4131 by machinery, machinery captures hand and weighs bearing bar 4132, weigh chucking system 4133 three parts composition, and spinning cake crawl plate 413 is circular, and one end that home position captures at hand seat 4131 by screw and machinery is connected, one end that other one end of the plate 413 of spinning cake crawl simultaneously captures hand weighing bearing bar 4132 by key screw machinery is fixed, and other one end that machinery crawl hand weighs bearing bar 4132 is connected with weighing chucking system 4133 by screw.
Described weighing chucking system 4133 includes the first spinning cake chucking system with four same structures, second spinning cake chucking system, 3rd spinning cake chucking system and the 4th spinning cake chucking system, and each spinning cake chucking system comprises spinning cake chuck pillar, spinning cake chuck pipe expansion joint, spinning cake chuck weight sensor and spinning cake chuck four major part; Spinning cake chuck pillar one end is connected to manipulator crawl hand and weighs on bar, and one end is connected with spinning cake chuck weight sensor in addition, is connected inside spinning cake chuck with spinning cake chuck weight sensor, and spinning cake pipe expansion joint is fixed in the middle of spinning cake chuck pillar.
The first chuck pillar 3311, second chuck pillar the 3312, three chuck pillar the 3313, four chuck pillar 3314 in described weighing chucking system 4133 is screwed in 3232 machineries and captures the round section quarter place that hand weighs bearing bar.
Be specially:
First chuck pillar 3311 one end is screwed in 3232 machineries and captures on hand weighing bearing bar, other one end of first chuck pillar 3311 is connected with the first chuck weight sensor 3331, be connected by screw with the first chuck weight sensor 3331 inside first chuck 3341, the first chuck pipe expansion joint 3321 is screwed in 3232 machineries and captures on hand weighing bearing bar.Adopting and have movable pipe expansion joint, is the conversion that gripping system can carry out size, thus adapts to the spinning cake of different inner diameters size and the gripping work of yarn filaments cylinder, and structure design has more popularity.
Be circular arc outside the first described chuck 3341, its radian is 30 ~ 45 °.Radian is not easily excessive, excessive, makes in spinning cake gripping process, and the spinning cake cylinder internal diameter of its gripping needs the gripping of larger ability, and too small, the stress in gripping process on silk barrel can be caused concentrated or excessive, affect fiber quality.
Adopt the design with four symmetrical structures, avoid the uneven of in gripping process stress, affect yarn quality, the design of symmetrical structure simultaneously improves spinning cake and is rotating the stability in transportation, avoid under normal stress effect, the situation of the outside impelling of spinning cake occurs.
Spinning cake dividing plate manipulator:
Described spinning cake dividing plate manipulator 5 comprises the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator, and the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator have same structure, and the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator are symmetric, all comprise spinning cake dividing plate machinery at hand seat, spinning cake dividing plate manipulator attachment spacers, spinning cake dividing plate manipulator pillar stiffener, dividing plate manipulator first activity bit, dividing plate manipulator first portable bar, dividing plate manipulator second activity bit, dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit, dividing plate manipulator the 3rd portable bar, dividing plate catching robot base and dividing plate capture plate,
Be described with regard to the first spinning cake dividing plate manipulator below:
First spinning cake dividing plate manipulator is by spinning cake dividing plate machinery at hand seat 501, spinning cake dividing plate manipulator attachment spacers 502, spinning cake dividing plate manipulator pillar stiffener 503, dividing plate manipulator first activity bit 504, dividing plate manipulator first portable bar 505, dividing plate manipulator second activity bit 506, dividing plate manipulator second portable bar 507, dividing plate manipulator the 3rd activity bit 508, dividing plate manipulator the 3rd portable bar 509, dividing plate catching robot base 510 and dividing plate capture plate 511 and form;
In the first described dividing plate manipulator spinning cake dividing plate machinery at hand seat 501 one end stationary machines people base plate 3 on, other one end of the mechanical at hand seat 501 of spinning cake dividing plate is connected and fixed by screw by spinning cake dividing plate manipulator attachment spacers 502 and spinning cake dividing plate catching robot pillar stiffener 503, one end that first dividing plate manipulator first is flexibly connected position 504 is connected by screw with spinning cake dividing plate catching robot pillar stiffener 503, and other one end that dividing plate manipulator first is flexibly connected position 504 is connected with dividing plate manipulator first portable bar 505; Dividing plate manipulator first is flexibly connected 180 ° of rotations that vertical direction can be carried out in position, by the motion of the rotating band dividing plate machinery manual activities bar of activity bit; Dividing plate captures plate 511 and captures plate base 510 by dividing plate and to be fixed with dividing plate manipulator the 3rd portable bar 509 and to be connected.
One end that dividing plate manipulator second is flexibly connected position 506 is connected with dividing plate manipulator first portable bar, other one end that dividing plate manipulator second is flexibly connected position 506 is connected with dividing plate manipulator second portable bar 507, and dividing plate manipulator second is flexibly connected position can in vertical direction 180 ° rotation.
One end that dividing plate manipulator the 3rd is flexibly connected position 508 is connected with dividing plate manipulator second portable bar, other one end that dividing plate manipulator the 3rd is flexibly connected position 508 is connected with dividing plate manipulator the 3rd portable bar 509, dividing plate manipulator the 3rd flexible connection position can be carried out 360 ° with dividing plate manipulator second portable bar vertical plane surface and be rotated, thus drives dividing plate manipulator the 3rd portable bar to carry out axial-rotation operation.
Dividing plate captures plate 511 and captures plate base 510 by dividing plate and to be fixed with dividing plate manipulator the 3rd portable bar 509 and to be connected, thus is reached through the motion of the 3rd dividing plate manipulator portable bar and drives the motion of dividing plate crawl plate.
It is square that described dividing plate captures plate, and four angles of dividing plate crawl plate and center are distributed with the dividing plate grabbing device with same structure, and each dividing plate grabbing device captures plate base 5101 by dividing plate, dividing plate captures plate strut bar 5102 and dividing plate crawl suction piece 5103 forms; One end that dividing plate captures plate strut bar 5102 captures plate base 5101 by screw and dividing plate and is fixed on dividing plate and captures on plate 510, and screw connecting partition crawl suction piece 5103 is passed through in other one end of dividing plate crawl plate strut bar 5102; Dividing plate captures suction piece 5013 can form negative pressure, is reached capture the spinning cake dividing plate of paper shell, plastic foam by negative pressure.For paper shell and the plastic foam of lighter weight, negative pressure absorbing is adopted to capture, there is efficiency high, energy consumption is low, and dividing plate is drawn as corner adds center simultaneously, ensures stability and the accuracy of absorption, simultaneously can also by the location of corner location, spinning cake buttress is controlled, avoids dividing plate to draw single device and occur that dividing plate is drawn invalid and falls dividing plate, again draw the process of dividing plate.
The first described spinning cake catching robot and the second catching robot, the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator, occupy four limits of robot base plate respectively; The spinning cake catching robot and the spinning cake dividing plate manipulator that make to have same structure are symmetric, and improve the stability of system cloud gray model, not only can ensure that spinning cake weight takes the particularity of process, can improve the efficiency of operation simultaneously.
Principle of work: first by the effect of external motor, swinging strut is rotated, then the first spinning cake catching robot and the second catching robot and the first spinning cake dividing plate manipulator and the second spinning cake dividing plate manipulator is driven, then dividing plate manipulator first activity bit in the first spinning cake dividing plate manipulator drives dividing plate manipulator first portable bar, then dividing plate manipulator second activity bit drives dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit drives dividing plate manipulator the 3rd portable bar simultaneously, when dividing plate captures plate and paper shell, plastic foam dividing plate is parallel and dividing plate captures suction piece and paper shell, during plastic foam baffle contacts, dividing plate captures suction piece and forms negative pressure, the paper shell of lighter weight, plastic foam dividing plate is absorbed and fixed on the first spinning cake catching robot, then dividing plate manipulator first activity bit drives dividing plate manipulator first portable bar, then dividing plate manipulator second activity bit drives dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit drives dividing plate manipulator the 3rd portable bar simultaneously, dividing plate is separated from dividing plate buttress, swinging strut rotates 90 ° simultaneously, and then repeat dividing plate manipulator second activity bit drive dividing plate manipulator second portable bar, dividing plate manipulator the 3rd activity bit drives the operation of dividing plate manipulator the 3rd portable bar simultaneously, and reduce negative pressure, dividing plate is separated in the robot, prevent in desired location, simultaneously first in the first spinning cake catching robot is flexibly connected dynamic first portable bar of bit strip at this moment, and second is flexibly connected dynamic second portable bar of bit strip, 3rd is flexibly connected dynamic 4th portable bar of bit strip, and the 5th is flexibly connected dynamic 5th portable bar of bit strip, the spinning cake machinery crawl hand movable brace rod captured on plate is made to extend into the silk cylinder neutrality of spinning cake, spinning cake gripping pipe expansion joint simultaneously in spinning cake gripping system carries out fore and aft motion, then machinery captures hand movable brace rod outward movment, and first now in the first spinning cake catching robot is flexibly connected dynamic first portable bar of bit strip, and second is flexibly connected dynamic second portable bar of bit strip, 3rd is flexibly connected dynamic 4th portable bar of bit strip, and the 5th is flexibly connected the dynamic 5th portable bar interlock of bit strip, spinning cake is raised, under the induction of the quality LOAD CELLS then in spinning cake gripping system, the quality of spinning cake is collected, and then be transmitted as control center, its physical space coordinates is indicated, then machinery crawl hand movable brace rod moves side outward, and first in the first spinning cake catching robot is flexibly connected dynamic first portable bar of bit strip, and second is flexibly connected dynamic second portable bar of bit strip, 3rd is flexibly connected dynamic 4th portable bar of bit strip, and the 5th is flexibly connected dynamic 5th portable bar of bit strip, swinging strut rotates 90 ° simultaneously, then when spinning cake and dividing plate parallel contact, machinery captures hand movable brace rod and draws close toward center, put down spinning cake, realize spinning cake, the whole process of dividing plate automatic piling, then the second spinning cake dividing plate manipulator and the second catching robot repeat the whole workflow that above operation realizes robot.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, without departing from the concept of the premise utility; can also make some improvements and modifications, these improvements and modifications also should be considered as in protection domain of the present utility model.
Claims (2)
1. the intelligent digitalized specialized package industrial robot of chemical fibre, by robot base, swinging strut, robot base plate, spinning cake catching robot, spinning cake dividing plate manipulator five part forms, it is characterized in that, one end of robot base is fixed on floor, other one end of robot base is connected with swinging strut, there is provided robot at the rotating mechanism of horizontal surface, simultaneously one end of swinging strut and robot base plate are connected and fixed by screw, one end of spinning cake catching robot is screwed on robot base plate, the other end of spinning cake catching robot is connected with spinning cake dividing plate manipulator by screw.
2. the intelligent digitalized specialized package industrial robot of a kind of chemical fibre as claimed in claim 1, is characterized in that, described robot base plate plane is quadrangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520464409.9U CN204727196U (en) | 2015-07-01 | 2015-07-01 | The intelligent digitalized specialized package industrial robot of chemical fibre |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520464409.9U CN204727196U (en) | 2015-07-01 | 2015-07-01 | The intelligent digitalized specialized package industrial robot of chemical fibre |
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| CN204727196U true CN204727196U (en) | 2015-10-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545250A (en) * | 2018-04-23 | 2018-09-18 | 河南浩德科技有限公司 | A kind of stacking machine |
| CN115258257A (en) * | 2022-05-23 | 2022-11-01 | 北方夜视科技(南京)研究院有限公司 | Automatic collection device for micro-channel plate multifilament |
-
2015
- 2015-07-01 CN CN201520464409.9U patent/CN204727196U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545250A (en) * | 2018-04-23 | 2018-09-18 | 河南浩德科技有限公司 | A kind of stacking machine |
| CN115258257A (en) * | 2022-05-23 | 2022-11-01 | 北方夜视科技(南京)研究院有限公司 | Automatic collection device for micro-channel plate multifilament |
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