CN210122421U

CN210122421U - A manipulator and cone winder for cone winder snatchs and puts in cop

Info

Publication number: CN210122421U
Application number: CN201920273304.3U
Authority: CN
Inventors: 王仁粮; 赵为勇; 陈山; 徐稳根; 陈银; 王讲
Original assignee: TONGLING SOBONE INTELLIGENT EQUIPMENT Co Ltd
Current assignee: TONGLING SOBONE INTELLIGENT EQUIPMENT Co Ltd
Priority date: 2019-03-04
Filing date: 2019-03-04
Publication date: 2020-03-03
Anticipated expiration: 2029-03-04

Abstract

The utility model discloses a manipulator and cone winder that is used for the cone winder to snatch and put in cop to improve work efficiency. The manipulator of the embodiment comprises a first driving device, a second driving device and a finger assembly, wherein the second driving device is connected with the first driving device, and the first driving device drives the second driving device and the finger assembly to realize lifting and rotating; the finger assembly is connected with a second driving device, and the second driving device realizes the clamping and the loosening of the finger assembly.

Description

A manipulator and cone winder for cone winder snatchs and puts in cop

Technical Field

The utility model belongs to the cone winding field particularly, relates to a manipulator and cone winder that is used for the cone winder to snatch and put in cop.

Background

A yarn storage is arranged in the bobbin winder. The cop is transported to the side of the yarn storehouse on the transport line. During operation, the cop on the transfer chain needs to be put into the empty storehouse position of yarn storehouse. In the prior art, manual pulling and inserting are generally adopted. The worker takes the cop out of the tray and inserts the cop into an empty magazine position of the yarn magazine. Therefore, the manual pulling and inserting is carried out, and the working efficiency is low.

Disclosure of Invention

The utility model discloses the technical problem that will solve is: the manipulator for grabbing and releasing the bobbin yarn by the bobbin winder and the bobbin winder are provided, so that the working efficiency is improved.

In order to solve the technical problem, the embodiment of the utility model provides an adopt following technical scheme:

on one hand, the manipulator for grabbing and throwing the bobbin yarn in the bobbin winder comprises a first driving device, a second driving device and a finger assembly, wherein the second driving device is connected with the first driving device, and the first driving device drives the second driving device and the finger assembly to realize lifting and rotating; the finger assembly is connected with a second driving device, and the second driving device realizes the clamping and the loosening of the finger assembly.

As a preferred example, the first driving device comprises a first power source, a cylinder barrel, a guide piece and a telescopic rod; the cylinder barrel is positioned above the first power source, and a shell of the cylinder barrel is connected with a shell of the first power source; the guide piece and the telescopic rod are respectively positioned in the cylinder barrel; the moving rod of the first power source is fixedly connected with the telescopic rod; the guide piece is matched with the telescopic rod, so that the telescopic rod can rotate.

As a preferred example, the guide part comprises a guide pin, a limit groove is arranged in the telescopic rod, one end of the guide pin is positioned in the limit groove, and the limit groove is longitudinally provided with a curve section; the other end of the guide pin is fixedly connected with the cylinder barrel.

As a preferred example, the guide piece comprises a boss, the boss is fixedly connected to the inner wall of the cylinder barrel, a limiting groove is formed in the telescopic rod, one end of the boss is located in the limiting groove, and a curve section is longitudinally arranged on the limiting groove.

As a preferred example, the guide piece comprises a protrusion which is fixedly connected to the telescopic rod, the inner wall of the cylinder barrel is provided with a limiting groove, one end of the protrusion is matched with the limiting groove, and the limiting groove is provided with a curve section along the longitudinal direction.

As a preferred example, the second driving device comprises a second power source, a bracket and a fork, wherein a shell of the second power source is fixedly connected with the bracket, and the bracket is fixedly connected with the telescopic rod; the moving rod of the second power source is fixedly connected with one end of the fork piece.

Preferably, the finger assembly comprises a first finger and a second finger; the first finger and the second finger are respectively connected with the bracket in a rotating way; the free end of the first finger is opposite to the free end of the second finger; the connecting end of the first finger and the connecting end of the second finger are respectively connected with the fork in a sliding manner.

As a preferred example, the first finger is provided with a first hole, the second finger is provided with a second hole, the fork is respectively connected with the first finger and the second finger through a connecting piece, and the connecting piece penetrates through the first hole and the second hole.

Preferably, the connecting piece is a positioning pin or a boss, and the boss is located on the fork piece.

Preferably, the second driving device further comprises a first connecting rod and a second connecting rod, the connecting end of the first finger is rotatably connected with the fork through the first connecting rod, and the connecting end of the second finger is rotatably connected with the fork through the second connecting rod.

As a preferred example, the housing of the first power source and the cylinder are of an integral structure, and the motion rod and the telescopic rod of the first power source are of an integral structure.

The embodiment of the utility model provides a second aspect still provides a cone winder that contains any one of above-mentioned manipulator, including yarn storehouse and manipulator, manipulator and yarn storehouse one-to-one set up, the manipulator is located by the yarn storehouse.

Compared with the prior art, the utility model discloses a manipulator and cone winder for the cone winder snatchs and puts in cop to improve work efficiency. When the bobbin winder operates, a full bobbin is thrown into an empty storage position by the manipulator. In the embodiment, the moving route of the manipulator is reasonably set, so that the full bobbin can be successfully put into the empty storage position. In this embodiment, the first driving device operates to realize that the second driving device and the finger assembly rotate during the ascending process, that is, the second driving device and the finger assembly also move in the ascending process during the rotation, so that the full bobbin does not generate position interference with other components during the moving process.

Drawings

Fig. 1 is a structural elevation view of an embodiment of the present invention;

fig. 2 is a structural side view of an embodiment of the present invention;

FIG. 3 is a sectional view A-A of FIG. 2;

FIG. 4 is a schematic view of a finger assembly in a gripping position according to an embodiment of the present invention;

FIG. 5 is a schematic view of an embodiment of the present invention with the finger assembly in an open position;

fig. 6 is a schematic structural view of the telescopic rod in the embodiment of the present invention.

The figure shows that: the device comprises a first driving device 1, a second driving device 2, a finger assembly 3, a first power source 101, a cylinder 102, a guide 103, an expansion link 104, a limit groove 1041, a second power source 201, a bracket 202, a fork 203, a first connecting rod 204, a second connecting rod 205, a first finger 301, a second finger 302, a first hole 3011, a second hole 3021 and a rotation point 4.

Detailed Description

The technical solution of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the utility model provides a manipulator for cone winder snatchs and puts in cop, includes first drive arrangement 1, second drive arrangement 2 and finger subassembly 3. The second driving device 2 is connected with the first driving device 1, and the first driving device 1 drives the second driving device 2 and the finger assembly 3 to lift and rotate. The finger assembly 3 is connected to a second drive means 2, the second drive means 2 effecting clamping and unclamping of the finger assembly 3.

When the bobbin winder operates, a full bobbin is thrown into an empty storage position by the manipulator. Since there are many components of the bobbin winder, the full bobbin has a certain length, and the manipulator itself has a certain volume, when the full bobbin is dropped to the empty magazine, the manipulator or the full bobbin easily interferes with peripheral components. In the embodiment, the moving route of the manipulator is reasonably set, so that the full bobbin can be successfully put into the empty storage position. In this embodiment, the first driving device 1 is operated to rotate the second driving device 2 and the finger assembly 3 during the ascending process, that is, the second driving device and the finger assembly move in the ascending process, so that the full bobbin does not interfere with other parts during the moving process.

The first drive means 1 effects a simultaneous rotation of the finger assemblies 3 during the ascent. For example, the full bobbin may be pulled out from the tray by first raising the full bobbin by a distance, and then the full bobbin may be rotated while raising the full bobbin so that the full bobbin is positioned above the empty space.

As a preferred example, as shown in fig. 2, the first driving device 1 includes a first power source 101, a cylinder 102, a guide 103, and an expansion link 104. The cylinder 102 is located above the first power source 101, and a housing of the cylinder 102 is connected to a housing of the first power source 101. The guide 103 and the telescopic rod 104 are respectively located inside the cylinder 102. The moving rod of the first power source 101 is fixedly connected with the telescopic rod 104. The guide 103 is adapted to the telescopic rod 104 so that the telescopic rod 104 is rotatable. Preferably, the first power source 101 is a cylinder, a hydraulic cylinder, an electric module, or a linear motor.

In operation, the motion bar of the first power source 101 is moved up and down. When the moving rod of the first power source 101 moves upward, the telescopic rod 104 is driven to move upward. The guide 103 is adapted to the telescopic rod 104. When the telescopic rod 104 moves upward, the telescopic rod 104 is rotated while being lifted up due to the guide 103. At this time, the moving rod of the first power source 101 is also rotated accordingly. The finger assembly 3 is connected to the telescopic rod 104, so that when the telescopic rod 104 rotates, the finger assembly 3 also rotates correspondingly. At this time, the finger assembly 3 is rotated while being lifted. When the moving rod of the first power source 101 moves downward, the telescopic rod 104 is driven to move downward. The guide 103 is adapted to the telescopic rod 104. When the telescopic rod 104 moves downwards, the telescopic rod 104 rotates while descending due to the guide member 103. The finger assembly 3 is connected to the telescopic rod 104, so that when the telescopic rod 104 rotates, the finger assembly 3 also rotates correspondingly. At this time, the finger assembly 3 is rotated while being lowered.

In the preferred embodiment, the guide member 103 and the telescopic rod 104 are adapted to rotate while being lifted. The guide member 103 and the telescopic rod 104 may be adapted to have various structures as long as they can perform a rotation function while being lifted.

As a first preferred example, the guide member 103 includes a guide pin. As shown in fig. 6, a limit slot 1041 is provided in the telescopic rod 104. One end of the guide pin is located in the limiting groove, and the limiting groove 1041 is provided with a curve section along the longitudinal direction. The other end of the guide pin is connected to the cylinder 102.

In this preferred embodiment, the position of the guide pin is fixed during operation. The telescopic rod 104 moves up and down with the moving rod of the first power source 101. When the curved section of the limit slot 1041 moves to the position of the guide pin, the telescopic rod 104 rotates until the curved section moves out of the guide pin. For example, the limit groove 1041 is divided into two sections, the upper section is a straight line, and the lower section is a curved line. Thus, when the telescopic rod 104 is raised, it moves linearly first, then rises and rotates. For another example, the limit groove 1041 is divided into three sections, the upper section is a straight line, the middle section is a curve, and the lower section is a straight line. Thus, when the telescopic rod 104 is raised, it moves linearly first, then rises and rotates, and finally moves linearly.

As a second preferred example, the guiding element 103 includes a boss, the boss is fixedly connected to the inner wall of the cylinder 102, a limiting slot 1041 is provided in the telescopic rod 104, one end of the boss is located in the limiting slot 1041, and the limiting slot 1041 is provided with a curve section along the longitudinal direction.

In this preferred embodiment, the position of the boss is fixed during operation. The telescopic rod 104 moves up and down with the moving rod of the first power source 101. When the curved section of the limit slot 1041 moves to the boss position, the telescopic rod 104 rotates until the curved section moves out of the boss. The sectional arrangement of the limit groove 1041 can be seen in the first preferred example.

As a third preferred example, the guide 103 includes a projection. The protrusion is fixedly connected to the telescopic rod 104, the inner wall of the cylinder 102 is provided with a limiting groove, one end of the protrusion is matched with the limiting groove, and the limiting groove 1041 is provided with a curve segment along the longitudinal direction.

In this preferred embodiment, the projection moves with the telescoping rod 104 during operation. The limiting groove is arranged on the inner wall of the cylinder 102. The telescopic rod 104 moves up and down with the moving rod of the first power source 101. When the protrusion moves to the curved section of the limit slot 1041, the expansion link 104 rotates until the protrusion moves out of the curved section. For example, the limit groove 1041 is divided into two sections, the upper section is a straight line, and the lower section is a curved line. Thus, when the extendable rod 104 is raised, it moves linearly first and then also rotates while being raised. For another example, the limit groove 1041 is divided into three sections, the upper section is a straight line, the middle section is a curve, and the lower section is a straight line. Thus, when the telescopic rod 104 is raised, it moves linearly first, then rises and rotates, and finally moves linearly.

The second drive means 2 is primarily intended to effect clamping and unclamping of the finger assembly 3. When the finger component 3 is positioned beside the full bobbin, the second driving device 2 drives the finger component 3 to clamp tightly, and the full bobbin is clamped. When the finger assembly 3 clamps the full bobbin to the upper part of the empty storage position, the second driving device 2 drives the finger assembly 3 to loosen, and the full bobbin falls into the empty storage position.

As a preferred example, as shown in fig. 2, the second driving device 2 includes a second power source 201, a bracket 202, and a fork 203. The housing of the second power source 201 is fixedly connected to the bracket 202, and the bracket 202 is fixedly connected to the telescopic rod 104. The motion bar of the second power source 201 is fixedly connected to one end of the yoke 203. In the preferred embodiment, the second power source 201 and the support 202 move with the extension pole 104. When the telescoping rod 104 is raised and rotated, the carriage 202 is also raised and rotated simultaneously. The fork 203 moves with the motion bar of the second power source 201. Preferably, the second power source 201 is a cylinder, a hydraulic cylinder, an electric module, or a linear motor. The extension pole 104 and the bracket 202 may be made as a single piece.

As a preferred example, as shown in fig. 3 to 5, the finger assembly 3 includes a first finger 301 and a second finger 302. The first finger 301 and the second finger 302 are rotatably connected to the stand 202, respectively. The free end of the first finger 301 is opposite the free end of the second finger 302. The connecting end of the first finger 301 and the connecting end of the second finger 302 are slidably connected to the fork 203, respectively.

The free end of the first finger 301 and the free end of the second finger 302 are used to grip and release a full bobbin. The connecting end of the first finger 301 and the connecting end of the second finger 302 are slidably connected to the fork 203, respectively. When the moving rod of the second power source 201 moves the fork 203, the fork 203 rotates the first finger 301 and the second finger 302 around the rotation point 4. The pivot point 4 is the connection point between the first finger 301 and the support 202, and is also the connection point between the second finger 302 and the support 202. For example, when the moving rod of the second power source 201 extends, the fork 203 drives the first finger 301 and the second finger 302 to move away from each other around the rotation point, i.e. the function of releasing the full bobbin is realized. When the moving rod of the second power source 201 retracts, the fork 203 drives the first finger 301 and the second finger 302 to move around the rotation point in opposite directions, so that the function of clamping the full bobbin is realized.

In the preferred embodiment, the connection end of the first finger 301 and the connection end of the second finger 302 are slidably connected to the fork 203. This can be achieved in a number of ways. Two preferred solutions are provided in the present application.

First preferred embodiment: the first finger 301 is provided with a first hole 3011, and the second finger 302 is provided with a second hole 3021. The fork 203 is connected to the first finger 301 and the second finger 302 by a connecting member, which passes through the first hole 3011 and the second hole 3021.

In this preferred embodiment, the first hole 3011 and the second hole 3021 may be kidney-shaped holes. Preferably, the connecting member is a positioning pin or a boss. When the connector is a boss, the boss is located on fork 203. The connecting piece is fixedly connected with the fork 203. The connector passes through the first hole 3011 and the second hole 3021. The link is movable in the first hole 3011 and the second hole 3021.

Second preferred embodiment: the second drive means 2 further comprise a first link 204 and a second link 205. The connecting end of the first finger 301 is pivotally connected by a first link 204 and a fork 203. The connecting end of the second finger 302 is pivotally connected to the fork 203 via the second link 205.

In the preferred embodiment, two ends of the first link 204 are respectively connected with the connecting end of the first finger 301 and the fork 203 in a rotating manner. The two ends of the second connecting rod 205 are respectively connected with the connecting end of the second finger 302 and the fork 203 in a rotating way. When the fork 203 is moved, the free end of the first finger 301 moves towards or away from the free end of the second finger 302.

Preferably, the housing of the first power source 101 and the cylinder 102 are an integral structure, and the moving rod of the first power source 101 and the telescopic rod 104 are an integral structure. The motion bar may be a piston rod of a hydraulic or pneumatic cylinder, or a push rod of an electric cylinder. The housing may be an electric cylinder, a hydraulic cylinder or a cylinder barrel of a pneumatic cylinder.

The embodiment of the utility model provides a cone winder is still provided, including yarn storehouse and manipulator, manipulator and yarn storehouse one-to-one set up, the manipulator is located by the yarn storehouse. The manipulator adopts the manipulator with the structure of the embodiment.

In the bobbin winder with the structure, the mechanical arms and the yarn storehouses are arranged in a one-to-one correspondence mode. This ensures that the operation is carried out properly, in contrast to a winder provided with only one robot. When one of the manipulators breaks down, the work of other manipulators is not influenced. Simultaneously, this embodiment, manipulator and yarn storehouse one-to-one set up, have avoided the reciprocating motion of manipulator among the prior art, have improved work efficiency.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. The manipulator for grabbing and throwing the bobbin yarn in the bobbin winder is characterized by comprising a first driving device (1), a second driving device (2) and a finger assembly (3), wherein the second driving device (2) is connected with the first driving device (1), and the first driving device (1) drives the second driving device (2) and the finger assembly (3) to lift and rotate; the finger component (3) is connected with the second driving device (2), and the second driving device (2) realizes the clamping and the loosening of the finger component (3).

2. The manipulator for the bobbin yarn gripping and launching by a winder according to claim 1, characterised in that said first driving means (1) comprise a first power source (101), a cylinder (102), a guide (103) and a telescopic rod (104); the cylinder barrel (102) is positioned above the first power source (101), and a shell of the cylinder barrel (102) is connected with a shell of the first power source (101); the guide piece (103) and the telescopic rod (104) are respectively positioned in the cylinder barrel (102); a moving rod of the first power source (101) is fixedly connected with the telescopic rod (104); the guide piece (103) is matched with the telescopic rod (104) so that the telescopic rod (104) can rotate.

3. The manipulator for bobbin yarn gripping and launching by a winder according to claim 2, characterised in that the guide (103) comprises a guide pin, the telescopic rod (104) is provided with a limit slot (1041) therein, one end of the guide pin is located in the limit slot, and the limit slot (1041) is provided with a curved section in the longitudinal direction; the other end of the guide pin is fixedly connected with the cylinder barrel (102).

4. The manipulator for grabbing and releasing a cop in a winder according to claim 2, wherein the guide member (103) comprises a boss fixedly connected to the inner wall of the cylinder (102), the telescopic rod (104) is provided with a limit groove (1041), one end of the boss is located in the limit groove (1041), and the limit groove (1041) is provided with a curved section in the longitudinal direction.

5. The manipulator for the bobbin yarn gripping and launching of a winder according to claim 2, characterized in that the guide (103) comprises a protrusion fixedly connected to the telescopic rod (104), the inner wall of the cylinder (102) is provided with a limiting groove, one end of the protrusion is adapted to the limiting groove, and the limiting groove is provided with a curved section in the longitudinal direction.

6. Manipulator for the bobbin yarn gripping and launching by a winder according to claim 2, characterised in that said second driving means (2) comprise a second power source (201), a carriage (202) and a fork (203),

a shell of the second power source (201) is fixedly connected with the bracket (202), and the bracket (202) is fixedly connected with the telescopic rod (104); the moving rod of the second power source (201) is fixedly connected with one end of the fork piece (203).

7. Manipulator for the bobbin yarn gripping and launching by a winder according to claim 6, characterised in that said finger assembly (3) comprises a first finger (301) and a second finger (302); the first finger (301) and the second finger (302) are respectively connected with the bracket (202) in a rotating way; the free end of the first finger (301) is opposite to the free end of the second finger (302); the connecting end of the first finger (301) and the connecting end of the second finger (302) are respectively connected with the fork piece (203) in a sliding mode.

8. Manipulator for the grasping and delivering of cop in a winder according to claim 7, characterised in that said first finger (301) is provided with a first hole (3011) and said second finger (302) is provided with a second hole (3021), and in that the fork (203) is connected to the first finger (301) and to the second finger (302) by means of a connecting element, said connecting element passing through the first hole (3011) and through the second hole (3021).

9. The manipulator for grasping and delivering a cop in a winder according to claim 8, wherein the connecting member is a positioning pin or a boss, the boss being located on the fork.

10. Manipulator for the bobbin yarn gripping and launching by a winder according to claim 7, characterised in that said second actuation means (2) further comprise a first link (204) and a second link (205), the coupling end of said first finger (301) being rotatably connected by means of the first link (204) and the fork (203), and the coupling end of said second finger (302) being rotatably connected by means of the second link (205) and the fork (203).

11. The manipulator for the bobbin yarn gripping and launching of a winder according to claim 2, characterized in that the housing of the first power source (101) is integral with the cylinder (102) and the moving rod of the first power source (101) is integral with the telescopic rod (104).

12. A winder comprising a manipulator according to any one of claims 1 to 11, comprising a yarn magazine and manipulators, the manipulators and the yarn magazine being arranged in one-to-one correspondence, the manipulators being located next to the yarn magazine.