CN210763062U - Bobbin yarn feeding manipulator - Google Patents
Bobbin yarn feeding manipulator Download PDFInfo
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- CN210763062U CN210763062U CN201921613602.9U CN201921613602U CN210763062U CN 210763062 U CN210763062 U CN 210763062U CN 201921613602 U CN201921613602 U CN 201921613602U CN 210763062 U CN210763062 U CN 210763062U
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Abstract
The utility model discloses a section of thick bamboo yarn material loading manipulator, this manipulator is including snatching end and actuating arm. The grabbing end comprises a grabbing arm connecting arm, a lifting cylinder and a grabbing hand, the grabbing hand comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are respectively hinged with the grabbing arm connecting arm and are driven to rotate by the lifting cylinder, and the bottom of the first clamping jaw and the bottom of the second clamping jaw are driven to clamp the end and the end to be matched with each other to take and place the bobbin yarn. When the amount of weft yarn on a certain bobbin yarn on the weft yarn bobbin creel is reduced to the limit amount and needs to be replaced, the mechanical arm grabs the bobbin yarn in the loading box and places the bobbin yarn on the weft yarn bobbin creel. It can be seen that, the utility model provides a this section of thick bamboo yarn material loading manipulator can use in the workshop of weaving, realizes changing the section of thick bamboo yarn intelligently.
Description
Technical Field
The utility model relates to the technical field of weaving, in particular to section of thick bamboo yarn material loading manipulator.
Background
In the prior art, the operation of replacing the bobbin yarn on the weft yarn bobbin creel in a weaving workshop is mainly manually completed, the weft yarn residual condition on the bobbin yarn is observed manually, and when the weft yarn is used up, a new bobbin yarn needs to be manually taken and replaced on the weft yarn bobbin creel.
Because there is not sufficient space to store a large amount of cheese in a full yarn state in the weaving workshop, thus need the manual work to go to the warehouse constantly and transport and get new cheese and change it to the woof bobbin creel on, need the manual work to transport the bobbin of using up the woof to its storage position at the same time, this kind of operation of changing the cheese back and forth through the manual mode, response time is long, production efficiency is low, especially weaving the mill obviously on a large scale, so, the change mode of traditional manual transportation cheese can't satisfy the efficient production technology requirement of high quality.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a section of thick bamboo yarn material loading manipulator can use in the workshop of weaving, realizes changing the section of thick bamboo yarn intelligently.
In order to achieve the above object, the utility model provides a following technical scheme:
a bobbin yarn feeding manipulator comprises a grabbing end and a driving arm, wherein the grabbing end comprises a grabbing arm connecting arm, a lifting cylinder and a grabbing hand, and the grabbing hand comprises a first clamping jaw and a second clamping jaw;
the first clamping jaw and the second clamping jaw are respectively hinged with the gripper connecting arm and driven to rotate by the lifting cylinder so as to drive the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw to be matched with each other to take and place the cone yarns.
Preferably, in the bobbin yarn feeding manipulator, a first strip-shaped hole is formed in the gripper connecting arm, a sliding member is sleeved in the first strip-shaped hole, and a driving end of the lifting cylinder is connected with the sliding member and can drive the sliding member to move back and forth in the first strip-shaped hole along the length direction of the first strip-shaped hole;
a second strip-shaped hole is formed in the top end of the first clamping jaw and sleeved on the sliding piece;
a third strip-shaped hole is formed in the top end of the second clamping jaw and sleeved on the sliding piece;
when the sliding piece moves back and forth in the first strip-shaped hole along the length direction of the first strip-shaped hole, the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw are matched to take and place the cone yarn.
Preferably, in the bobbin yarn feeding manipulator, the gripper connecting arm is provided with two connecting plates, and the two connecting plates are respectively provided with one first strip-shaped hole;
the first clamping jaw comprises two first side beams and a first hinged beam which is used for being hinged with the two connecting plates, the top ends of the two first side beams are respectively provided with one second strip-shaped hole, and the two second strip-shaped holes are respectively sleeved at the two ends of the sliding part;
the second clamping jaw comprises two second side beams and a second hinged beam which is used for being hinged with the two connecting plates, the top ends of the two second side beams are respectively provided with a third strip-shaped hole, and the two third strip-shaped holes are respectively sleeved at the two ends of the sliding part;
the distance between the first hinged beam and the second strip-shaped hole is larger than zero and equal to the distance between the second hinged beam and the third strip-shaped hole.
Preferably, in the above bobbin yarn feeding manipulator, the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw are both provided with an arc-shaped cross beam, and an opening of the arc-shaped cross beam faces to the bobbin yarn and is matched with the side wall of the bobbin yarn in a full yarn state.
Preferably, in above-mentioned section of thick bamboo yarn material loading manipulator, the actuating arm includes base, rotatory lower support arm, well lower connecting arm, well upper connecting arm, the rotatory pillar of going up that connects gradually, wherein:
the rotary lower arm is arranged on the base and can be driven by a first driving device to do rotary motion in a first plane;
one end of the middle lower connecting arm is hinged with the rotary lower arm, and a hinged shaft of the middle lower connecting arm is a first hinged shaft;
the other end of the middle lower connecting arm is hinged with one end of the middle upper connecting arm, and a hinged shaft of the middle lower connecting arm is a second hinged shaft;
the rotary upper support column is arranged at the other end of the middle upper connecting arm and can be driven by a second driving device to do rotary motion in a second plane;
the gripper connecting arm is hinged with the rotary upper support column, and a hinged shaft of the gripper connecting arm is a third hinged shaft.
Preferably, in the above bobbin yarn feeding manipulator, a loading box for loading a plurality of bobbin yarns is further included, and one end of the driving arm is the gripping end, and the other end is mounted on the loading box.
Preferably, in the bobbin yarn feeding manipulator, the loading box is a trolley which can be manually moved to a preset feeding position near the loom;
or, the loading box is an AGV transport vehicle, and the AGV transport vehicle can move to the preset loading position near the weaving machine according to the preset path.
Preferably, in the bobbin yarn feeding manipulator, the AGV transport vehicle includes a vehicle body for reloading and loading the bobbin yarn, and a driving wheel, a universal wheel and an autonomous navigation system, wherein the autonomous navigation system can control the AGV transport vehicle to move on the preset path;
or the AGV transport vehicle moves horizontally through the sky rail device, moves vertically through the lifting device and is controlled by the autonomous navigation system to move on the preset path.
Preferably, in the above bobbin yarn feeding manipulator, a plurality of loading bobbins adapted to the maximum diameter of the bobbin yarn in a full yarn state are arranged side by side on the loading box, and a plurality of bobbin yarns can be loaded in each loading bobbin in an axial direction.
Preferably, in the above bobbin yarn feeding manipulator, one end of the driving arm is connected to the gripping end, and the other end is fixedly installed on the ground near the weft bobbin creel and the loom.
In the production process, when the weft yarn amount on a certain bobbin yarn on a weft yarn bobbin creel (used for supplying yarn to a weaving machine) is reduced to the limit amount and needs to be replaced, the mechanical arm grabs the bobbin yarn in the loading box and places the bobbin yarn on the weft yarn bobbin creel.
According to the above technical scheme, the utility model provides a section of thick bamboo yarn material loading manipulator can use in the workshop of weaving, realizes changing the section of thick bamboo yarn intelligently. And because the mechanical arm can automatically change the yarn of the loom needing to change the cone yarn at the first time, the waiting time of the whole loom is favorably shortened, and the production efficiency is improved.
Further, the utility model provides a section of thick bamboo yarn material loading manipulator sets up on loading the case, and the loading case sets up to handcart or AGV transport vechicle to convenient transportation and trade the yarn.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first isometric view of a cheese loading manipulator provided in a first embodiment of the present invention;
fig. 2 is a second axial view of a bobbin yarn feeding manipulator according to a first embodiment of the present invention;
fig. 3 is a front view of a cheese feeding manipulator provided in a first embodiment of the present invention;
fig. 4 is a schematic view of the working state of the bobbin yarn feeding manipulator provided in the first embodiment of the present invention when grabbing bobbin yarn in the loading box;
fig. 5 is a schematic view of the working state of the bobbin yarn feeding manipulator according to the first embodiment of the present invention when the bobbin yarn feeding manipulator places the bobbin yarn on the weft yarn bobbin creel;
fig. 6 is a schematic view of an operating state of a cheese feeding manipulator according to a second embodiment of the present invention;
fig. 7 is a schematic view of an operating state of a cheese feeding manipulator according to a third embodiment of the present invention.
Wherein:
100-a recovery box, 101-a driving device (comprising a battery pack, a hydraulic device, a control cabinet and the like),
102-driving wheel, 103-universal wheel, 104-loading box, 107-bobbin yarn,
110-base, 111-rotating lower arm, 112-middle lower connecting arm, 113-middle upper connecting arm,
114-rotating the upper arm, 115-gripper connecting arm, 116-gripper,
117-lift cylinder, 118-slide,
401-sky rail device, 402-lifting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
First embodiment
Referring to fig. 1 to 5, fig. 1 is a first isometric view of a cheese feeding manipulator according to a first embodiment of the present invention; fig. 2 is a second axial view of a bobbin yarn feeding manipulator according to a first embodiment of the present invention; fig. 3 is a front view of a cheese feeding manipulator provided in a first embodiment of the present invention; fig. 4 is a schematic view of the working state of the bobbin yarn feeding manipulator provided in the first embodiment of the present invention when grabbing bobbin yarn in the loading box; fig. 5 is a schematic view of the working state of the bobbin yarn feeding manipulator according to the first embodiment of the present invention when the bobbin yarn feeding manipulator places the bobbin yarn on the weft bobbin creel.
The utility model discloses a first concrete embodiment provides a section of thick bamboo yarn material loading manipulator, manipulator for short. The robot includes a grasping end and a drive arm. The gripping end comprises a gripper connecting arm 115, a lifting cylinder 117 and a gripper 116, the gripper 116 comprising a first jaw and a second jaw. The first claw and the second claw are respectively hinged with the claw connecting arm 115 and driven to rotate by the lifting cylinder 117, so that the bottom clamping end of the first claw and the bottom clamping end of the second claw are driven to cooperatively take and place the cone yarn 107 (namely, the claw 116 is driven to open and close to take and place the cone yarn 107).
Wherein, the cooperation of the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw for taking and placing the cone yarn 107 means that: when the hand grip 116 is opened, the yarn package 107 can be inserted into the hand grip 116; when the gripper 116 is closed, the bobbin yarn 107 can be gripped; the gripper 116 opens again and the package 107 can be lowered.
In the production process, when the amount of weft yarn on a certain package 107 on a weft yarn package (for supplying yarn to the loom) is reduced to the limit amount and needs to be replaced, the manipulator grabs the package 107 in the loading box and places it on the weft yarn package.
It is therefore clear that the utility model provides a section of thick bamboo yarn material loading manipulator, can use in the workshop of weaving, realize changing the section of thick bamboo yarn intelligently. And because the mechanical arm can automatically change the yarn of the loom needing to change the cone yarn at the first time, the waiting time of the whole loom is favorably shortened, and the production efficiency is improved.
Specifically, as shown in fig. 1 to 3, a first strip-shaped hole is formed in the gripper connecting arm 115, a sliding member 118 is sleeved in the first strip-shaped hole, a driving end of the lifting cylinder 117 is connected with the sliding member 118, and the sliding member 118 can be driven to move back and forth in the first strip-shaped hole along the length direction of the first strip-shaped hole; a second strip-shaped hole is formed in the top end of the first clamping jaw, and the first clamping jaw is sleeved on the sliding piece 118 through the second strip-shaped hole; the top end of the second jaw is provided with a third strip-shaped hole, and the second jaw is sleeved on the sliding piece 118 through the third strip-shaped hole. When the sliding member 118 moves back and forth in the first bar-shaped hole along the length direction of the first bar-shaped hole, the bottom gripping end of the first claw and the bottom gripping end of the second claw cooperate to take and place the package yarn 107 (i.e., the package yarn 107 is taken and placed by the opening and closing action of the gripper 116).
Specifically, a screw hole is provided in the middle of the sliding member 118, and the driving end of the lift cylinder 117 is fixedly connected to the sliding member 118 through the screw hole.
Specifically, as shown in fig. 1 to 2, two connecting plates are arranged on the gripper connecting arm 115, and a first strip-shaped hole is respectively arranged on each of the two connecting plates; the first clamping jaw comprises two first side beams and a first hinged beam a for being hinged with the two connecting plates, the top ends of the two first side beams are respectively provided with a second strip-shaped hole, and the two second strip-shaped holes are respectively sleeved at the two ends of the sliding part 118; the second jaw comprises two second side beams and a second hinged beam b for being hinged with the two connecting plates, the top ends of the two second side beams are respectively provided with a third strip-shaped hole, and the two third strip-shaped holes are respectively sleeved at the two ends of the sliding part 118. And the distance between the first hinged beam a and the second strip-shaped hole is greater than zero and equal to the distance between the second hinged beam b and the third strip-shaped hole.
Preferably, as shown in fig. 1 to 4, the first jaw and the second jaw are identical in structure.
The first side beam is a first V-shaped structural beam, the first hinged beam a is close to or positioned at a folding angle of the first V-shaped structural beam, and the second strip-shaped hole and the bottom clamping end of the first clamping jaw are respectively positioned at two ends of the first V-shaped structural beam; the second side beam is a second V-shaped structural beam, the second hinged beam b is close to or positioned at a folding angle of the second V-shaped structural beam, and the bottom clamping ends of the third strip-shaped hole and the second clamping jaw are respectively positioned at two ends of the second V-shaped structural beam.
The bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw are respectively provided with two arc-shaped cross beams side by side, and the openings of the arc-shaped cross beams face inwards (namely, the openings face towards the clamped cheese 107) and are matched with the side wall of the cheese 107 in a full yarn state.
The opening depth of the arc-shaped cross beam of the clamping end at the bottom of the first clamping jaw and the opening depth of the arc-shaped cross beam of the clamping end at the bottom of the second clamping jaw are both smaller than or equal to the radius of the empty bobbin yarn shaft, so that the manipulator can clamp the bobbin yarn in a full yarn state and can also clamp the empty bobbin yarn shaft.
However, in other embodiments, the bottom of the first jaw and the bottom of the second jaw may be provided with one arc-shaped cross beam or more arc-shaped cross beams side by side; alternatively, in other embodiments, the bottom gripping end of the first jaw and the bottom gripping end of the second jaw are both arc-shaped plates, the openings of which face the package yarn 107 and are adapted to the side wall of the package yarn 107 in the full yarn state. The utility model discloses press from both sides the bottom of getting end and second jack catch and get the concrete structure of end and do not specifically prescribe a limit to the bottom of first jack catch.
Specifically, as shown in fig. 1 to fig. 3, the manipulator according to the first embodiment of the present invention further includes a base 110, a lower rotating arm 111, a lower middle connecting arm 112, an upper middle connecting arm 113, and an upper rotating pillar 114, which are connected in sequence.
Wherein: the rotary lower support arm 111 is arranged on the base 110 and can be driven by a first driving device to rotate in a first plane; one end of the middle lower connecting arm 112 is hinged with the rotary lower support arm 111, and the hinged shaft of the middle lower connecting arm is a first hinged shaft; the other end of the middle lower connecting arm 112 is hinged with one end of the middle upper connecting arm 113, and the hinged shaft of the middle lower connecting arm is a second hinged shaft; a rotating upper strut 114 is mounted at the other end of the upper connecting arm 113 and is capable of being driven by a second drive means to perform a rotational movement in a second plane; the gripper connecting arm 115 is hinged to the rotating upper post 114, and the hinge axis thereof is a third hinge axis. The term "hinged" or "pinned" in this paragraph. Therefore, the manipulator can control the gripper 116 to move to different preset positions and can also control the gripper 116 to face different preset angles so as to conveniently take and place the yarns 107 at different positions and in different orientations.
Specifically, as shown in fig. 3, the robot arm is moved and rotated by a driving device 101, and the driving device 101 is disposed at (or near) the bottom of the base 110. The driving device 101 includes a battery pack, a hydraulic device, a control cabinet, and the like.
Specifically, when the weft amount of each of the bobbins 107 on the weft creel (for supplying the loom) is reduced to the limit amount (to become an empty bobbin shaft) or not is detected by the sensor, a feeding signal is sent to the robot to start the yarn changing process.
For example:
the weft yarn bobbin creel is provided with the sensor, the sensor is a displacement sensor, the displacement sensor can measure the distance between the displacement sensor and the side wall of the bobbin yarn corresponding to the position of the weft yarn bobbin creel, and when the distance measured by the displacement sensor reaches a preset distance value, the manipulator is controlled to start a yarn changing process.
The displacement sensor can monitor in real time according to the change of the distance between the displacement sensor and the cheese, and when the yarn on the cheese is not left (less than a limit amount) and is more, the distance is set as an alarm distance, so that a material taking signal is sent out, and the manipulator is controlled to start a yarn changing process.
Preferably, the "yarn changing process" as described hereinbefore comprises: the mechanical arm takes away the empty bobbin yarn shaft on the weft yarn bobbin creel and places the empty bobbin yarn shaft in the recovery box; the robot grips the package 107 on the loading box and places it on the weft creel.
Further, the utility model discloses a section of thick bamboo yarn material loading manipulator that provides in the first embodiment, including the manipulator body and loading case 104, the manipulator body is including snatching end and actuating arm, and the actuating arm setting is on loading case 104. Further, since the plurality of bobbins 107 can be loaded in the loading box 104 and stopped near the loom, the operation of frequently carrying the bobbins can be replaced with manual work, and the labor cost can be reduced.
Specifically, the loading compartment 104 may be a cart or an AGV (Automated guided vehicle). If the loading box 104 is a trolley, the material taking signal is an acoustic signal, an optical signal or an acousto-optic signal to prompt a worker to push the trolley to a preset loading position, and then the yarn changing process is started; if the loading box 104 is an AGV (automatic guided vehicle), the dispatching system receives the material taking signals, the AGV is sequentially controlled to automatically move to a preset feeding position, and the yarn changing process is started. (the term "preset loading position" as used herein means a preset fixed position close to the loom and the weft bobbin creel, and when the loading box moves to the preset position, the manipulator can conveniently grab the empty bobbin shaft on the weft bobbin creel and place the bobbin yarn in a full yarn state on the weft bobbin creel.)
The AGV transporting vehicle is provided with an autonomous navigation control software and hardware system (namely an autonomous navigation system) and a plurality of AGV automatic scheduling control software and hardware systems (namely a scheduling system) and a wireless communication system, can give an alarm to a loom needing to replace the cheese in advance, can respond in time, and can be replaced at the first time, so that the waiting time of the whole machine is shortened, the labor cost is reduced, and the production efficiency is improved.
It should be noted that: the relative position between the weft yarn bobbin creel and the weaving machine and the position of each bobbin yarn on the weft yarn bobbin creel are debugged, and the positions of the bobbin yarns of the same variety and the same color on the weft yarn bobbin creel among different weaving machines are the same and correspond to each grabbing point of the manipulator.
In summary, the preferred working procedure of the cheese feeding manipulator provided by the first embodiment of the present invention is as follows (refer to fig. 4 and 5):
a certain bobbin yarn shortage on a weft yarn bobbin creel arranged close to a loom, assuming that the loom number is A8B6H number, and the bobbin yarn number is A8B6H-B1 number;
the method comprises the steps that a displacement sensor senses that the yarn of the bobbin yarn of A8B6H-B1 is about to be used up, a material taking signal is sent → a dispatching system orders an idle AGV to be replaced before receiving the signal, the AGV arrives at the weaving machine of A8B6H → a manipulator firstly takes down an empty bobbin yarn shaft of A8B6H-B1 and puts the empty bobbin yarn shaft into a recovery box of the AGV, the manipulator grabs the bobbin yarn in a full yarn state from the AGV, the manipulator picks up the bobbin yarn in the full yarn state (the bobbin yarn also has the number of the manipulator, the stored bobbin yarn corresponds to the type of the bobbin yarn of A8B 6H-B1), the manipulator puts the bobbin yarn in the full yarn state into the position of A8B6H-B1 → the manipulator takes back, and the AGV finishes replacing task and returns.
Preferably, the loading box 104 is provided with a plurality of loading barrels, and each loading barrel is loaded with a plurality of bobbins in a full yarn state. Therefore, in the above workflow, while the third to last step is performed, there is another action: after the mechanical arm takes away the section of thick bamboo yarn of full yarn state from loading a section of thick bamboo, the liftout device of loading bobbin base portion jacks up remaining section of thick bamboo yarn to guarantee that the section of thick bamboo yarn of top exposes all the time and loads outside the top of a section of thick bamboo, the manipulator of being convenient for snatchs next time.
Specifically, the AGV transport includes a vehicle body for loading a package 107, and a driving wheel 102, a universal wheel 103, and an autonomous navigation system capable of controlling the AGV transport to move on a preset path. For example, see the first and second channel schemes shown in fig. 7 (the solid rectangles are looms).
Specifically, the AGV transport vehicle performs landmark identification according to the path planning to reach different positions of the weaving machine, the navigation mode may be magnetic stripe navigation, laser navigation, identification navigation, and the like, and the navigation mode is not limited.
Second embodiment
Referring to fig. 6, fig. 6 is a schematic view of a working state of a cheese feeding manipulator according to a second embodiment of the present invention.
The utility model discloses a section of thick bamboo yarn material loading manipulator is provided in the second embodiment, this section of thick bamboo yarn material loading manipulator and the utility model discloses the difference of the section of thick bamboo yarn material loading manipulator that provides in the first embodiment only lies in: the loading bin 104 is an AGV transport that moves horizontally by a head rail device 401, vertically by a lifting device 402, and is controlled by an autonomous navigation system to move on a preset path.
Furthermore, with the utility model discloses the section of thick bamboo yarn material loading manipulator that provides in the first embodiment is the same, the utility model discloses in the section of thick bamboo yarn material loading manipulator that provides in the second embodiment: the manipulator is mounted on the loading box 104, and when the loading box 104 moves to a preset loading position near the loom according to a preset path, the manipulator can conveniently take an empty bobbin shaft on the weft bobbin creel and place the empty bobbin shaft in the recovery box, and can also conveniently grab a bobbin in the loading box 104 in a full yarn state and place the bobbin in the weft bobbin creel.
Third embodiment
Referring to fig. 7, fig. 7 is a schematic view of a working state of a cheese feeding manipulator according to a third embodiment of the present invention.
The utility model discloses a section of thick bamboo yarn material loading manipulator is provided in the third embodiment, this section of thick bamboo yarn material loading manipulator and the utility model discloses the difference of the section of thick bamboo yarn material loading manipulator that provides in the first embodiment only lies in: the mechanical arm is fixedly arranged on the ground and is close to the weft yarn bobbin creel and the weaving machine.
Specifically, one manipulator and a weft bobbin creel are mounted on each loom in a weaving shop. And transports the package through the loading box 104. The loading bin 104 may be a cart or an AGV transport, and if the loading bin 104 is a cart, the cart can be manually moved to a preset loading position near the loom; if the loading box 104 is an AGV transport, the AGV transport moves to a preset loading position near the loom according to a preset path. (the structure and the transportation of the loading box 104 can be referred to the first embodiment of the present invention or the second embodiment of the present invention.)
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The bobbin yarn feeding manipulator is characterized by comprising a grabbing end and a driving arm, wherein the grabbing end comprises a grabbing hand connecting arm (115), a lifting cylinder (117) and a grabbing hand (116), and the grabbing hand (116) comprises a first clamping jaw and a second clamping jaw;
the first clamping jaw and the second clamping jaw are hinged to the gripper connecting arm (115) respectively and driven to rotate by the lifting cylinder (117) so as to drive the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw to be matched with each other to take and place the cone yarn (107).
2. The cheese feeding manipulator as claimed in claim 1, wherein the gripper connecting arm (115) is provided with a first strip-shaped hole, a sliding member (118) is sleeved in the first strip-shaped hole, and a driving end of the lifting cylinder (117) is connected with the sliding member (118) and can drive the sliding member (118) to move back and forth in the first strip-shaped hole along the length direction of the first strip-shaped hole;
a second strip-shaped hole is formed in the top end of the first clamping jaw and sleeved on the sliding piece (118);
a third strip-shaped hole is formed in the top end of the second clamping jaw and sleeved on the sliding piece (118);
when the sliding piece (118) moves back and forth in the first strip-shaped hole along the length direction of the first strip-shaped hole, the bottom clamping end of the first clamping jaw and the bottom clamping end of the second clamping jaw are matched to take and place the cone yarn (107).
3. The cheese feeding manipulator according to claim 2, wherein said gripper connecting arm (115) is provided with two connecting plates, each of said two connecting plates being provided with one of said first holes;
the first clamping jaw comprises two first side beams and a first hinged beam hinged with the two connecting plates, the top ends of the two first side beams are respectively provided with a second strip-shaped hole, and the two second strip-shaped holes are respectively sleeved at two ends of the sliding part (118);
the second clamping jaw comprises two second side beams and a second hinged beam hinged with the two connecting plates, the top ends of the two second side beams are respectively provided with a third strip-shaped hole, and the two third strip-shaped holes are respectively sleeved at two ends of the sliding part (118);
the distance between the first hinged beam and the second strip-shaped hole is larger than zero and equal to the distance between the second hinged beam and the third strip-shaped hole.
4. The cheese feeding manipulator according to claim 3, wherein the bottom gripping end of the first jaw and the bottom gripping end of the second jaw are each provided with an arc-shaped cross beam, the opening of which is facing the cheese (107) and is adapted to the side wall of the cheese (107) in the full yarn state.
5. A cheese feeding manipulator according to claim 1, characterized in that it comprises a base (110), a lower rotating arm (111), a lower middle connecting arm (112), an upper middle connecting arm (113), an upper rotating pillar (114), connected in sequence, wherein:
the rotary lower support arm (111) is arranged on the base (110) and can be driven by a first driving device to rotate in a first plane;
one end of the middle lower connecting arm (112) is hinged with the rotary lower support arm (111), and a hinged shaft of the middle lower connecting arm is a first hinged shaft;
the other end of the middle lower connecting arm (112) is hinged with one end of the middle upper connecting arm (113), and a hinged shaft of the middle lower connecting arm is a second hinged shaft;
the rotary upper strut (114) is arranged at the other end of the middle upper connecting arm (113) and can be driven by a second driving device to do rotary motion in a second plane;
the hand grip connecting arm (115) is hinged with the rotary upper strut (114), and a hinged shaft of the hand grip connecting arm is a third hinged shaft.
6. The cheese feeding manipulator according to claim 1, further comprising a loading box (104) for loading a plurality of said cheeses (107), one end of said driving arm being said gripping end and the other end being mounted on said loading box (104).
7. A cheese feeding manipulator according to claim 6, characterized in that said loading box (104) is a trolley that can be manually moved to a preset feeding position near the loom;
or the loading box (104) is an AGV transport vehicle which can move to a preset loading position near the weaving machine according to a preset path.
8. The bobbin yarn feeding manipulator according to claim 7, wherein the AGV transport vehicle includes a vehicle body for transshipment loading the bobbin yarn (107), and a driving wheel (102), a universal wheel (103), and an autonomous navigation system capable of controlling the AGV transport vehicle to move on the preset path;
or the AGV transport vehicle moves horizontally through a sky rail device (401), moves vertically through a lifting device (402) and moves on the preset path under the control of an autonomous navigation system.
9. Cone yarn feeding manipulator according to any one of claims 6 to 8, characterized in that a plurality of loading drums (106) adapted to the maximum diameter of the cone yarn (107) in full yarn state are arranged side by side on the loading box (104), each loading drum (106) being axially loadable with a plurality of cone yarns (107).
10. A cop loading manipulator according to claim 1, wherein the driving arm has one end connected to the gripping end and the other end fixedly mounted on the ground adjacent to the weft creel and the loom.
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| CN201921613602.9U CN210763062U (en) | 2019-09-25 | 2019-09-25 | Bobbin yarn feeding manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906666A (en) * | 2022-06-21 | 2022-08-16 | 张家港扬子纺纱有限公司 | Bobbin feeding method for two-for-one twister, bobbin feeding machine and computer storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906666A (en) * | 2022-06-21 | 2022-08-16 | 张家港扬子纺纱有限公司 | Bobbin feeding method for two-for-one twister, bobbin feeding machine and computer storage medium |
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