CN208071875U - Tube capture apparatus - Google Patents
Tube capture apparatus Download PDFInfo
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- CN208071875U CN208071875U CN201820447283.8U CN201820447283U CN208071875U CN 208071875 U CN208071875 U CN 208071875U CN 201820447283 U CN201820447283 U CN 201820447283U CN 208071875 U CN208071875 U CN 208071875U
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- grasping mechanism
- tube
- slide plate
- sliding
- capture apparatus
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Abstract
The utility model is related to a kind of tube capture apparatus, during use, first pass through location information and type information that position acquisition mechanism obtains each tube arranged side by side, then the position compensation mechanism is slided according to information above, realize position compensation, so that it is corresponding with corresponding first grasping mechanism or the second grasping mechanism for crawl product, to realize that permutation captures, improve crawl efficiency.And, the characteristics of being weaved based on tube in textile industry, by the way that the first grasping mechanism and the second grasping mechanism are arranged alternately, so that the microcephaly that the tube capture apparatus can adapt to permutation tube is whole upward, or the modes of emplacement of major part microcephaly alternately upward, expand the scope of application of the tube capture apparatus.
Description
Technical field
The utility model is related to a kind of fixtures, more particularly to a kind of tube capture apparatus.
Background technology
With the continuous development of automation industry, certain process is completed by machine and has become development trend.
Especially in production line, certain action is completed using machine, can either ensure efficiency, can also improve machining accuracy.
And fixture is to ensure that machine can normally complete the important equipment of process.It can to produce and process by using for fixture
In transportation process can efficiently complete.Especially in textile industry, the dismantling of spindle with to pick and place be a cumbersome process, one
As the handling process up and down of spindle is realized by corresponding fixture, and general fixture working efficiency is relatively low.
Invention content
Based on this, it is necessary to provide a kind of tube capture apparatus, ensure that the while of capturing efficiency expands the scope of application.
Its technical solution is as follows：
A kind of tube capture apparatus, including installation slide plate, position acquisition mechanism, multiple spaced first grasping mechanisms
The multiple position compensation mechanisms being located at side by side on installation slide plate, are equipped with the second gripper between the first adjacent grasping mechanism
Structure, one end of the position compensation mechanism are connect with the installation slide plate slides, the other end of the position compensation mechanism and institute
The first grasping mechanism or the connection of the second grasping mechanism are stated, energy is equipped on first grasping mechanism and second grasping mechanism
Enough across the second crawl section of the microcephaly of yarn bobbin, first grasping mechanism, which is equipped with, to pass through the major part first of yarn bobbin grab
Portion is taken, the second crawl section that first crawl section is located at is outside one end of position compensation mechanism, first crawl section
Diameter is more than the diameter of the microcephaly of yarn bobbin, and the position acquisition mechanism is used to obtain the location information of each tube placed side by side
And corresponding first grasping mechanism or second are given according to location information and type information by type information, the position compensation mechanism
Grasping mechanism position compensation so that first grasping mechanism or second grasping mechanism and corresponding tube are corresponding.
Said program provides a kind of tube capture apparatus, is mainly obtained by position acquisition mechanism placed side by side each
The location information and type information of a tube, the position compensation mechanism being then located at side by side on installation slide plate believe according to above-mentioned position
Breath and type information do corresponding position compensation so that be connected to the position compensation mechanism other end the first grasping mechanism or
The second grasping mechanism of person is corresponding with corresponding tube, convenient for the primary crawl process for realizing multiple tubes arranged side by side, improves
Capture efficiency.And in the textile industry, the features of shape based on tube, the modes of emplacement of permutation tube are only possible to be all small
Head-up or by major part microcephaly alternating placed in a manner of upward.Therefore, by by the first grasping mechanism and the second grasping mechanism
The mode being arranged alternately, first grasping mechanism had both been equipped with the second crawl section of enough microcephalies across yarn bobbin, also first
Crawl section is equipped with enough across the first crawl section of the major part of yarn bobbin, second gripper close to one end of position compensation mechanism
Structure is equipped with enough across the second crawl section of microcephaly of yarn bobbin so that the tube capture apparatus disclosure satisfy that tube in textile industry
Modes of emplacement, expand the scope of application, while realizing the crawl process of permutation tube, improve crawl efficiency.Specifically, it is using
In the process, if permutation tube is placed using all small head-up modes, when each tube and the first grasping mechanism or the
After two grasping mechanisms correspond to, the tube capture apparatus is moved down so that first grasping mechanism and the second grasping mechanism
Second crawl section is stretched into corresponding tube, realizes crawl process.When permutation tube is in such a way that major part microcephaly replaces upward
When placement, the tube capture apparatus is moved down so that the first crawl section of the first grasping mechanism passes through the major part of yarn bobbin to stretch
Enter in yarn bobbin, the second crawl section of the second grasping mechanism corresponding with small head-up tube also passes through corresponding tube at this time
The microcephaly of pipe stretches into yarn bobbin, then implements crawl process.Moreover, the first crawl section based on first grasping mechanism
Outer diameter is more than the diameter of yarn bobbin microcephaly, and the first grasping mechanism and the second grasping mechanism all during use is to synchronize down
It moves, so only can make described grab using first grasping mechanism and the alternatively distributed mode of the second grasping mechanism
Taking equipment can adapt to two kinds of placement forms of tube in textile industry.
Further, the position acquisition mechanism is connected to the side of the installation slide plate, described to install the another of slide plate
Side is equipped with the sucking disc mechanism for drawing the partition board between tube layer and tube layer, and the position compensation mechanism is mounted on the peace
The bottom surface of slide plate is filled, the top surface of the installation slide plate is equipped with support column.
Further, the position compensation mechanism includes the first sliding unit and the second sliding unit, second sliding
Unit is connected between the first sliding unit and the first grasping mechanism or the second grasping mechanism, first sliding unit with it is described
Slide plate slides connection is installed, second sliding unit is slidably connected with first grasping mechanism or the second grasping mechanism, institute
The glide direction that the first sliding unit is stated relative to the installation slide plate is first direction, and second sliding unit is relative to institute
The glide direction for stating the first grasping mechanism or the second grasping mechanism is second direction, and the first direction is in the second direction
Angle is vertically arranged.
Further, first sliding unit includes base board and two support plates being oppositely arranged, two support plates
One end connect with second sliding unit, the other end of two support plates is connect with the base board, formed accommodating chamber,
It is equipped with harmonic speed reducer, partition panel and the first driving servo in the accommodating chamber successively along the direction far from the base board,
Side of the base board far from the support plate is equipped with gear and sliding block, and the harmonic speed reducer is connected to first driving
Between servo and the gear, the side that the installation slide plate is connect with the position compensation mechanism is equipped with sliding rail and rack, institute
Sliding block is stated on the sliding rail, the gear is engaged with the rack.
Further, the sliding block is two, and is respectively distributed to the both sides of the gear, and the installation slide plate is equipped with
Two and the matched sliding rail of the sliding block, the sliding rail and the rack are disposed longitudinally on the installation slide plate.
Further, second sliding unit includes the second driving servo and slide unit module being connected with each other, and described the
One grasping mechanism or the second grasping mechanism are connected on the sliding panel of the slide unit module, on the slide unit module with the sliding
The opposite side of plate is first side, and first sliding unit is connected in the first side.
Further, the position acquisition mechanism includes driving motor, transmission mechanism, belt straight line module and list of taking pictures
Member, the belt transmission module are connect with the installation slide plate, and are parallel to the installation slide plate setting, and the transmission mechanism connects
It is connected between driving motor and belt straight line module, the module sliding panel of the photographing unit and the belt straight line module connects
It connects.
Further, the photographing unit includes camera fixed plate and camera, one end of the camera fixed plate with it is described
Module sliding panel connects, and the other end of the camera fixed plate is connect with the camera, and the other end of the camera is equipped with camera
The periphery of light source, the camera is equipped with camera shield.
Further, the sucking disc mechanism includes connecting plate, cylinder, vacuum sponge sucker and laser displacement sensor, institute
The one end for stating connecting plate is connect with the installation slide plate, and the other end of the connecting plate is connected on the lateral wall of the cylinder,
The output end of the cylinder is connect with the vacuum sponge sucker and the laser displacement sensor, the laser displacement sensor
Positioned at the side of the vacuum sponge sucker, for detecting the distance between the partition board and the vacuum sponge sucker.
Further, the sucking disc mechanism further includes rebound, the output end of the side wall of the rebound and the cylinder
Connection, the vacuum sponge sucker is located at the other side of the rebound, between the rebound and the vacuum sponge sucker
Equipped with multiple spring buffer bars, the laser displacement sensor is connect with the rebound.
Description of the drawings
Fig. 1 is the structural schematic diagram of the tube capture apparatus described in the present embodiment；
Fig. 2 is the structural schematic diagram at another visual angle of tube capture apparatus described in the present embodiment；
Fig. 3 is the structural schematic diagram of the second grasping mechanism described in the present embodiment；
Fig. 4 is the structural schematic diagram of the position acquisition mechanism described in the present embodiment；
Fig. 5 is the structural scheme of mechanism of the sucking disc mechanism described in the present embodiment.
Reference sign：
10, tube capture apparatus, 11, installation slide plate, 111, sliding rail, 112, rack, 12, position acquisition mechanism, 121, drive
Dynamic motor, 122, transmission mechanism, 123, belt straight line module, 1231, module sliding panel, 124, photographing unit, 1241, camera it is solid
Fixed board, 1242, camera light source, 1243, camera shield, 13, position compensation mechanism, the 131, first sliding unit, 1311, pedestal
Plate, 1312, support plate, 1313, harmonic speed reducer, 1314, partition panel, the 1315, first driving servo, 1316, gear, 1317,
Sliding block, the 132, second sliding unit, the 1321, second driving servo, 1322, slide unit module, 1323, sliding panel, the 14, first crawl
Mechanism, the 15, second grasping mechanism, 16, sucking disc mechanism, 161, connecting plate, 162, cylinder, 163, vacuum sponge sucker, 164, swash
Optical displacement sensor, 165, rebound, 166, spring buffer bar, 17, support column.
Specific implementation mode
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that making new to this practicality
The disclosure of type understands more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes, it is not offered as being unique embodiment.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein packet
Include any and all combinations of one or more relevant Listed Items.
As shown in Figure 1, a kind of tube capture apparatus 10 is provided in one embodiment, including installation slide plate 11, position
Obtain mechanism 12, multiple spaced first grasping mechanisms 14 and the multiple position compensation machines being located at side by side on installation slide plate 11
Structure 13, between the first adjacent grasping mechanism 14 be equipped with the second grasping mechanism 15, one end of the position compensation mechanism 13 with
The installation slide plate 11 is slidably connected, from the other end and first grasping mechanism 14 or the second of the position compensation mechanism 13
Grasping mechanism 15 connects, and yarn bobbin can be passed through by being equipped on first grasping mechanism 14 and second grasping mechanism 15
The second crawl section of microcephaly, first grasping mechanism 14 is equipped with the first crawl section of the major part that can pass through yarn bobbin, described
The second crawl section that first crawl section is located at is more than yarn close to one end of position compensation mechanism 12, the outer diameter of first crawl section
The diameter of the microcephaly of bobbin, the position acquisition mechanism 12 are used to obtain the location information and model of each tube placed side by side
Information, the position compensation mechanism 13 give corresponding first grasping mechanism 14 or the second according to location information and type information and grab
Take 15 position compensation of mechanism so that first grasping mechanism 14 or second grasping mechanism 15 and corresponding tube pair
It answers.
Said program provide tube capture apparatus 10 by installation slide plate 11 on multiple position compensation mechanisms 13 are set,
After position acquisition mechanism 12 obtains the location information and type information of each tube placed side by side, each position compensation mechanism
13 will do corresponding position compensation according to above-mentioned location information and type information so that be connected in position compensation mechanism 13
One grasping mechanism 14 or the second grasping mechanism 15 are moved to suitable position, to realize the crawl process of permutation tube simultaneously,
Improve crawl efficiency.Moreover, the first crawl section of first grasping mechanism 14 can capture big head-up tube, described the
Second crawl section of one grasping mechanism 14 can capture small head-up tube, and second grasping mechanism 15 is merely able to capture small
Head-up tube.And the outer diameter of the first crawl section in first grasping mechanism 14 is more than the diameter of yarn bobbin microcephaly, because
This first crawl section can not be stretched into the microcephaly of yarn bobbin, and the first grasping mechanism 14 in the tube capture apparatus 10
To be located at same level height with the second grasping mechanism 15, i.e., it is identical at a distance from each corresponding tube, so under entirety
When moving tube capture apparatus, it can only expire in such a way that the first grasping mechanism 14 and the second grasping mechanism 15 are alternately arranged
First crawl section of the first grasping mechanism 14 of foot is stretched into the major part of yarn bobbin, while the second crawl section of the second grasping mechanism 15
It can extend into the microcephaly of yarn bobbin, realize crawl process.To adapt in textile industry, tube puts feature, in setting institute
When stating the first grasping mechanism 14 and the second grasping mechanism 15, alternately put using the first grasping mechanism 14 and the second grasping mechanism 15
Mode so that the needs of tube capture apparatus 10 can either meet while capture permutation small head-up tube also can
Enough crawls are big head-up to expand the tube with the small permutation tube for head-up replacing and placing while raising captures efficiency
The use scope of capture apparatus 10.
Tube capture apparatus 10 described in said program, in use, the position that the position acquisition mechanism 12 obtains
Confidence ceases and type information can be compared with corresponding parameter preset, to judge model and the position of each tube, so that
After each position compensation mechanism 13 is moved to suitable position, each tube can be corresponding with the grasping mechanism of corresponding model, waits for
Further capture process.In said program, the depth of first grasping mechanism 14 stretched into tube is different, can grab
The size of the yarn bobbin taken is then different.Specifically, it is more to stretch into the part in tube for the first grasping mechanism 14 so that the first crawl
When portion's (the second grasping mechanism 15 is without this structure) stretches into yarn bobbin, then first grasping mechanism 14 can capture greatly head-up
Tube.When the part that first grasping mechanism 14 stretches into is less, then only the second grasping mechanism stretches into yarn bobbin, this
When be mainly used for capturing small head-up tube.
Position acquisition mechanism 12 described in said program is mainly used for obtaining the location information and type information of tube,
It can be connected on the installation slide plate 11, can also be connected in other support members, as long as it can realize location information
With the acquisition of type information, and the position compensation mechanism 13 can do corresponding position according to location information and type information
Compensation.
Further, as depicted in figs. 1 and 2, in one embodiment, the position acquisition mechanism 12 is connected to the peace
The side of slide plate 11 is filled, the other side of the installation slide plate 11 is equipped with the suction for drawing the partition board between tube layer and tube layer
Disc mechanism 16, the position compensation mechanism 13 are mounted on the bottom surface of the installation slide plate 11, and the top surface of the installation slide plate 11 is set
There is support column 17.
To improve the whole performance of the tube capture apparatus 10, the position acquisition mechanism 12 is arranged described
The side of slide plate 11 is installed, and the sucking disc mechanism 16 is set in the other side of the installation slide plate 11.It is first sharp during use
The partition board between tube layer and tube layer is picked up with the sucking disc mechanism 16, then moves integrally the tube capture apparatus
10, permutation tube is scanned using the position acquisition mechanism 12, location information and type information is obtained, finally mends the position
It repays mechanism 13 to move with type information according to the positional information so that big head-up tube and the first grasping mechanism 14 are right
It answers.Then 10 entirety of the tube capture apparatus is moved down by the support column 17, implements crawl process.
The position compensation mechanism 13 mainly drives first grasping mechanism 14 by the sliding on different directions
Or second grasping mechanism 15 is moved to suitable position.Further specifically, described as shown in figure 3, in one embodiment
Position compensation mechanism 13 includes the first sliding unit 131 and the second sliding unit 132, and second sliding unit 132 is connected to
Between first sliding unit 131 and the first grasping mechanism 14 or the second grasping mechanism 15, first sliding unit 131 with it is described
Installation slide plate 11 is slidably connected, and second sliding unit 132 is slided with first grasping mechanism, 14 or second grasping mechanism 15
Dynamic connection, first sliding unit 131 are first direction relative to the glide direction of the installation slide plate 11, and described second slides
Moving cell 132 is second direction relative to the glide direction of first grasping mechanism, 14 or second grasping mechanism 15, described the
One direction in angle or is vertically arranged with the second direction.It is during use, then opposite by first sliding unit 131
In the sliding of the installation slide plate 11 and first grasping mechanism, 14 or second grasping mechanism 15 relative to second sliding
First grasping mechanism, 14 or second grasping mechanism 15 is moved to suitable position by the sliding of unit 132.
Further specifically, as shown in figure 3, in one embodiment, first sliding unit 131 includes base board
1311 and two support plates 1312 being oppositely arranged, one end of two support plates 1312 connect with second sliding unit 132,
The other end of two support plates 1312 is connect with the base board 1311, forms accommodating chamber, along far from institute in the accommodating chamber
It states and is equipped with harmonic speed reducer 1313, the driving servo 1315 of partition panel 1314 and first on the direction of base board 1311 successively, it is described
Side of the base board 1311 far from the support plate 1312 is equipped with gear 1316 and sliding block 1317, and the harmonic speed reducer 1313 connects
It is connected between the first driving servo 1315 and the gear 1316, the installation slide plate 11 and the position compensation mechanism 13
The side of connection be equipped with sliding rail 111 and rack 112, the sliding block 1317 be mounted on the sliding rail 111 on, the gear 1316 with
The rack 112 engages.
During use, drive servo 1315 that the harmonic speed reducer 1313 is driven to operate by described first, it is described humorous
Wave retarder 1313 drives the gear 1316 to rotate again, by engaging between the gear 1316 and the rack 112, with
And the sliding between sliding block 1317 and the sliding rail 111, to realize that the position compensation mechanism 13 is slided relative to the installation
The sliding of plate 11.Moreover, passing through the synergistic effect of first servo-drive 1315 and the harmonic speed reducer 1313 so that whole
A position compensation process is more accurate, improves the operating accuracy of the tube capture apparatus 10.
Further, the first sliding unit 131 in said program and the second sliding unit 132 are mainly by two sides
Upward slides to realize the position compensation of the first grasping mechanism 14 and the second grasping mechanism 15, realizes accurately crawl process,
As long as and first sliding unit 131 and second sliding unit 132 can realize object above by sliding.
Specifically, in one embodiment, as shown in figure 3, the sliding block 1317 is two, and it is respectively distributed to the gear 1316
Both sides, set on the installation slide plate 11 there are two with 1317 matched sliding rail 111 of the sliding block, the sliding rail 111 and the tooth
Item 112 is disposed longitudinally on the installation slide plate 11.By the way that two sliding blocks 1317 are arranged, and further by the sliding rail
111 are arranged in parallel with the rack 112 so that the sliding process of first sliding unit 131 is more flexible.
Further specifically, in one embodiment, as shown in figure 3, second sliding unit 132 includes being connected with each other
The second driving servo 1321 and slide unit module 1322, first grasping mechanism, 14 or second grasping mechanism 15 is connected to described
On the sliding panel 1323 of slide unit module 1322, the side opposite with the sliding panel 1323 is first on the slide unit module 1322
Side, first sliding unit 131 are connected in the first side.Specifically, when first sliding unit 131 according to
When above-mentioned concrete structure setting, the first side is then connect with the support plate 1312, realizes the branch of the second sliding unit 132
Support.
It is further had been pointed out in previous embodiment, the position acquisition mechanism 12 is mainly used for obtaining the position of permutation tube
Confidence ceases and type information.Specifically, as shown in figure 4, in one embodiment, the position acquisition mechanism 12 includes driving electricity
Machine 121, transmission mechanism 122, belt straight line module 123 and photographing unit 124, the belt transmission module and the installation slide plate
11 connections, and be parallel to the installation slide plate 11 and be arranged, the transmission mechanism 122 is connected to driving motor 121 and belt straight line
Between module 123, the photographing unit 124 is connect with the module sliding panel 1231 of the belt straight line module 123.Use process
In, the driving motor 121 passes motion to belt straight line module 123 by the transmission mechanism 122, then belt straight line
The module sliding panel 1231 of module 123 takes the movement of the photographing unit 124 to again, realizes the process of taking pictures of permutation tube.Moreover,
To improve the accuracy of the location information and type information, and the difficulty of reduction data processing, by the belt transmission mould
Group is parallel to the installation slide plate 11 and is arranged.
Further specifically, in one embodiment, to further increase take pictures precision and the institute of the photographing unit 124
The accurate reliability of the data of acquisition, as shown in figure 4, the photographing unit 124 includes camera fixed plate 1241 and camera, it is described
One end of camera fixed plate 1241 is connect with the module sliding panel 1231, the other end of the camera fixed plate 1241 with it is described
Camera connects, and the other end of the camera is equipped with camera light source 1242, and the periphery of the camera is equipped with camera shield 1243.It takes pictures
Unit 124 needs the data of quick obtaining permutation tube during the work time, therefore the light of photo environment and stability have
High requirement, by the way that the camera light source 1242 is arranged in one end of the camera so that the camera is taken pictures the light in range
Line is consistent, improves the accuracy of data, while also reducing dependence of the grasping mechanism to external environment.
Further, in one embodiment, as shown in figure 5, the sucking disc mechanism 16 includes connecting plate 161, cylinder
162, vacuum sponge sucker 163 and laser displacement sensor 164, one end of the connecting plate 161 connect with the installation slide plate 11
Connect, the other end of the connecting plate 161 is connected on the lateral wall of the cylinder 162, the output end of the cylinder 162 with it is described
Vacuum sponge sucker 163 and the laser displacement sensor 164 connect, and the laser displacement sensor 164 is located at the vacuum
The side of sponge sucker 163, for detecting the distance between the partition board and the vacuum sponge sucker 163.During use,
Draw the partition board by the vacuum sponge sucker 163, and by be further arranged the laser displacement sensor 164 come
Detect the distance between the vacuum sponge sucker 163 and described partition board so that the vacuum sponge sucker 163 can be more accurate
It is really reliable to draw partition board.
Further, it is its in avoiding the sucker from being reduced to tube capture apparatus 10 during drawing the partition board
The impact of his component, as shown in figure 5, in one embodiment, rebound 165 is further set in the sucking disc mechanism 16,
The side wall of the rebound 165 is connect with the output end of the cylinder 162, and the vacuum sponge sucker 163 is located at the transition
The other side of plate 165 is equipped with multiple spring buffer bars 166, institute between the rebound 165 and the vacuum sponge sucker 163
Laser displacement sensor 164 is stated to connect with the rebound 165.The vacuum sponge sucker 163 during drawing partition board,
The spring buffer bar 166 can play preferable cushioning effect to the vacuum sponge sucker 163.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of tube capture apparatus, which is characterized in that including installation slide plate, position acquisition mechanism, multiple spaced the
One grasping mechanism and the multiple position compensation mechanisms being located at side by side on installation slide plate, are equipped between the first adjacent grasping mechanism
Second grasping mechanism, one end of the position compensation mechanism are connect with the installation slide plate slides, the position compensation mechanism
The other end is connect with first grasping mechanism or the second grasping mechanism, first grasping mechanism and second grasping mechanism
On be equipped with the second crawl section of the microcephaly that can pass through yarn bobbin, first grasping mechanism, which is equipped with, can pass through yarn bobbin
First crawl section of major part, the second crawl section that first crawl section is located at is close to one end of position compensation mechanism, and described
The outer diameter of one crawl section is more than the diameter of the microcephaly of yarn bobbin, and the position acquisition mechanism is for obtaining each yarn placed side by side
The location information and type information of cylinder, the position compensation mechanism gives corresponding first according to location information and type information and grabs
Take mechanism or the second grasping mechanism position compensation so that first grasping mechanism or second grasping mechanism with it is corresponding
Tube corresponds to.
2. tube capture apparatus according to claim 1, which is characterized in that the position acquisition mechanism is connected to the peace
The side of slide plate is filled, the other side of the installation slide plate is equipped with the sucker machine for drawing the partition board between tube layer and tube layer
Structure, the position compensation mechanism are mounted on the bottom surface of the installation slide plate, and the top surface of the installation slide plate is equipped with support column.
3. tube capture apparatus according to claim 1, which is characterized in that the position compensation mechanism includes the first sliding
Unit and the second sliding unit, second sliding unit are connected to the first sliding unit and the first grasping mechanism or the second crawl
Between mechanism, first sliding unit is connect with the installation slide plate slides, and second sliding unit is grabbed with described first
Mechanism or the second grasping mechanism is taken to be slidably connected, first sliding unit is the relative to the glide direction of the installation slide plate
One direction, second sliding unit are second party relative to the glide direction of first grasping mechanism or the second grasping mechanism
To the first direction in angle or is vertically arranged with the second direction.
4. tube capture apparatus according to claim 3, which is characterized in that first sliding unit include base board and
Two support plates being oppositely arranged, one end of two support plates are connect with second sliding unit, two support plates it is another
End is connect with the base board, forms accommodating chamber, is equipped with successively along the direction far from the base board in the accommodating chamber
Harmonic speed reducer, partition panel and the first driving servo, side of the base board far from the support plate are equipped with gear and sliding block,
The harmonic speed reducer is connected between the first driving servo and the gear, the installation slide plate and the position compensation
The side of mechanism connection is equipped with sliding rail and rack, and the sliding block is mounted on the sliding rail, and the gear is engaged with the rack.
5. tube capture apparatus according to claim 4, which is characterized in that the sliding block is two, and is respectively distributed to
The both sides of the gear, set on the installation slide plate there are two with the matched sliding rail of the sliding block, the sliding rail and the rack
It is disposed longitudinally on the installation slide plate.
6. tube capture apparatus according to claim 3, which is characterized in that second sliding unit includes being connected with each other
The second driving servo and slide unit module, first grasping mechanism or the second grasping mechanism are connected to the cunning of the slide unit module
On movable plate, the side opposite with the sliding panel is first side on the slide unit module, and first sliding unit is connected to
In the first side.
7. tube capture apparatus according to any one of claims 1 to 6, which is characterized in that position acquisition mechanism packet
Driving motor, transmission mechanism, belt straight line module and photographing unit are included, the belt transmission module connects with the installation slide plate
It connects, and is parallel to the installation slide plate setting, the transmission mechanism is connected between driving motor and belt straight line module, described
Photographing unit is connect with the module sliding panel of the belt straight line module.
8. tube capture apparatus according to claim 7, which is characterized in that the photographing unit include camera fixed plate and
Camera, one end of the camera fixed plate are connect with the module sliding panel, the other end and the phase of the camera fixed plate
Machine connects, and the other end of the camera is equipped with camera light source, and the periphery of the camera is equipped with camera shield.
9. tube capture apparatus according to claim 2, which is characterized in that the sucking disc mechanism include connecting plate, cylinder,
Vacuum sponge sucker and laser displacement sensor, one end of the connecting plate are connect with the installation slide plate, the connecting plate
The other end is connected on the lateral wall of the cylinder, the output end of the cylinder and the vacuum sponge sucker and the laser position
Displacement sensor connects, and the laser displacement sensor is located at the side of the vacuum sponge sucker, for detect the partition board and
The distance between described vacuum sponge sucker.
10. tube capture apparatus according to claim 9, which is characterized in that the sucking disc mechanism further includes rebound, institute
The side wall for stating rebound is connect with the output end of the cylinder, and the vacuum sponge sucker is located at the other side of the rebound,
Multiple spring buffer bars, the laser displacement sensor and the mistake are equipped between the rebound and the vacuum sponge sucker
Cab apron connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820447283.8U CN208071875U (en) | 2018-03-29 | 2018-03-29 | Tube capture apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820447283.8U CN208071875U (en) | 2018-03-29 | 2018-03-29 | Tube capture apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN208071875U true CN208071875U (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820447283.8U Withdrawn - After Issue CN208071875U (en) | 2018-03-29 | 2018-03-29 | Tube capture apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286095A (en) * | 2018-03-29 | 2018-07-17 | 广州盛原成自动化科技有限公司 | Tube capture apparatus |
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2018
- 2018-03-29 CN CN201820447283.8U patent/CN208071875U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286095A (en) * | 2018-03-29 | 2018-07-17 | 广州盛原成自动化科技有限公司 | Tube capture apparatus |
| CN108286095B (en) * | 2018-03-29 | 2023-07-07 | 广州盛原成自动化科技有限公司 | Yarn cylinder grabbing equipment |
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