CN211056403U

CN211056403U - Automatic yarn hanging robot and gripper

Info

Publication number: CN211056403U
Application number: CN201920896343.9U
Authority: CN
Inventors: 吕自贵; 徐玉海; 戴丽
Original assignee: Institute of Intelligent Manufacturing Technology JITRI
Current assignee: Anhui Jicui Zhizao Robot Technology Co.,Ltd.
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2020-07-21
Anticipated expiration: 2029-06-14

Abstract

The utility model discloses an automatic yarn hanging robot and gripper, which comprises a groove, a track is fixedly connected in the groove, creels are arranged on both sides of the groove, the bottom of the same end of each creel is movably connected with a hinge, and a yarn hanging robot is connected on the track, the utility model fully utilizes the roadway space of a goods shelf, reduces the occupied area, the yarn hanging robot and the track are placed in the middle position of the creels and are settled below the ground, the gap between the chassis of the robot and the ground is reduced, the track is settled below the ground, the track can be prevented from blocking other equipment to walk, inconvenience is brought to the passage, the yarn hanging robot is simple, the technical principle is mature and stable, the mechanical design and control cost is low, the industrialization or production design can be realized, the yarn hanging robot adopts a movable chassis truss structure, the principle design of a three-coordinate robot is matched, the grabbing and the installation can be quickly realized, the motor module structure technology is mature, the design cost can be effectively reduced.

Description

Automatic yarn hanging robot and gripper

Technical Field

The utility model relates to an automatic change and hang yarn robot and hand claw, in particular to automatic change and hang yarn robot and hand claw belongs to and prevents to hang yarn corollary equipment technical field.

Background

The trade of weaving is woven from the yarn book to the spinning finished cloth needs a series of numerous and diverse process flows, including hanging yarn, rolling yarn, pickling, boiling hot dyeing, weave yarn etc., wherein hanging yarn still is a process flow that needs a large amount of manual works, need the workman to utilize the handheld yarn book of ladder of ascending a height to put the hanging of rolling up yarn one by one and install on the creel and draw out yarn again, and repetitive work, efficiency is lower, and along with constantly increasing of recruitment cost, the manufacturing cost of enterprise has also been increased to a large amount of workers of hanging yarn process, and draw out the workshop high temperature throughout the year, close on with the pickling workshop, there are a large amount of acid and sulfur gas ions in the air, influence human health, for solving foretell technical problem, the utility model provides an automatic yarn hanging robot and paw.

SUMMERY OF THE UTILITY MODEL

For solving the defect of a large number of workers in the yarn hanging process existing in the prior art, the utility model provides an automatic yarn hanging robot and gripper.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to an automatic change and hang yarn robot and hand claw, which comprises a groove, fixedly connected with track in the recess, the creel has all been established on the both sides of recess, the bottom swing joint of the same one end of creel has the hinge, be connected with on the track and hang yarn robot, be connected with connection structure on the yarn robot of hanging.

As a preferred technical scheme, the yarn hanging robot includes the crossbeam, the equal fixedly connected with sky rail leading wheel in both ends top that the crossbeam kept away from each other, be connected with the stand on the position that the sky rail leading wheel was kept away from to the crossbeam, two swing joint has the robot X axle between the relative both sides of stand, the bottom swing joint of robot X axle has the robot Y axle, the bottom swing joint of robot Y axle has the robot Z axle, the bottom fixedly connected with chassis structure of stand.

As a preferred technical scheme of the utility model, fixedly connected with silica gel pad on one side of chassis structure, the yarn wheel has been placed on one side of silica gel pad, the fixedly connected with bottom end rail in the middle of one side of silica gel pad is kept away from to the chassis structure, driving motor has been established to the one end of chassis structure, driving motor is close to the one end fixedly connected with drive wheel that traveles of bottom end rail, the ground rail leading wheel has been established to the opposite side of chassis structure.

As a preferred technical scheme of the utility model, connection structure includes the fixed bolster, the fixed bolster is "ten" style of calligraphy structure, fixedly connected with visual system in the middle of one side of fixed bolster, the opposite side of fixed bolster is connected with hand claw X axle rotating electrical machines, one side swing joint of hand claw X axle rotating electrical machines has hand claw Y axle rotating electrical machines, equal fixedly connected with hand claw structure on four ends of fixed bolster.

As a preferred technical scheme, the hand claw structure includes the hand claw motor, the one end fixedly connected with axle sleeve of hand claw motor, the one end fixedly connected with fixing base of hand claw motor is kept away from to the axle sleeve, the lead screw shaft has been established in the middle of one side of fixing base, fixing base fixed connection is passed through on the front end of axle sleeve to lead screw shaft bottom, the one end swing joint that the axle sleeve was kept away from to the lead screw shaft has the removal seat, swing joint has the connecting rod between the both sides that removal seat and fixing base are relative, swing joint has the backup pad between the connecting rod, fixedly connected with protective pad on the outer wall of backup pad.

The utility model discloses the beneficial effect who reaches is:

the space of a goods shelf roadway is fully utilized, the occupied area is reduced, a yarn hanging robot and a rail are placed in the middle of a creel and settled below the ground, the ground clearance of a chassis of the robot is reduced, the rail is settled below the ground, the rail can be prevented from blocking other equipment to walk, and inconvenience is brought to passing.

The yarn hanging robot is simple, mature and stable in technical principle, low in mechanical design and control cost and capable of achieving industrialization or production design, adopts a movable truss chassis structure, is matched with the principle design of a three-coordinate robot, can rapidly achieve grabbing and installation, is mature in motor module structure technology, and can effectively reduce design cost.

The gripper is simple in design structure, low in cost, time-saving and high in efficiency, an inner supporting structure is adopted in the gripper design, the lever principle is used for tensioning, the performance is stable and reliable, 4 or even a plurality of yarn rolls can be grabbed and installed at one time under the automatic working condition, and the yarn roll installation efficiency is greatly improved.

Fourthly, the automation degree is high, the performance is stable and reliable, and the labor cost can be effectively reduced. The automatic yarn hanging robot only needs a worker to place a yarn roll on a chassis of the yarn hanging robot, the robot can automatically run to a specified position according to trajectory planning, then yarn hanging is carried out under the visual auxiliary condition, the yarn hanging robot remembers the position where yarn hanging is carried out last time, the robot directly runs to the memory position to carry out yarn hanging when waiting for next yarn hanging, and a workshop only needs to leave 1-2 workers to carry out spinning work.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the layout of the present invention, partially viewed from the top;

FIG. 2 is a schematic structural view of the front plane of the yarn hanging robot of the present invention;

FIG. 3 is a schematic side view of the yarn hanging robot of the present invention;

FIG. 4 is a schematic view of the three-dimensional structure of the paw structure of the present invention

In the figure: 1. a groove; 2. a track; 3. a creel; 4. a chain; 5. a yarn hanging robot; 51. a cross beam; 52. a head rail guide wheel; 53. a column; 54. an X-axis of the robot; 55. a robot Z-axis; 56. a robot Y-axis; 57. a chassis structure; 571. a silica gel pad; 572. a drive motor; 573. a running drive wheel; 574. a ground rail guide wheel; 6. a connecting structure; 61. a gripper structure; 611. a gripper motor; 612. a shaft sleeve; 613. a fixed seat; 614. a screw shaft; 615. a movable seat; 616. a connecting rod; 617. a support plate; 618. a protective liner; 62. a vision system; 63. a gripper X-axis rotating motor; 64. a gripper Y-axis rotating motor; 65. and fixing the bracket.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Examples

As shown in fig. 1-4, an automatic yarn hanging robot and a gripper comprise a groove 1, wherein a track 2 is fixedly connected in the groove 1, yarn creels 3 are respectively arranged on two sides of the groove 1, the bottoms of the same ends of the yarn creels 3 are movably connected with a chain 4, a yarn hanging robot 5 is connected on the track 2, and a connecting structure 6 is connected on the yarn hanging robot 5.

The yarn hanging robot 5 comprises a cross beam 51, the tops of two ends, far away from each other, of the cross beam 51 are fixedly connected with a sky rail guide wheel 52, the position, far away from the sky rail guide wheel 52, of the cross beam 51 is connected with an upright column 53, a robot X-axis 54 is movably connected between two opposite sides of the two upright columns 53, the bottom of the robot X-axis 54 is movably connected with a robot Y-axis 56, the bottom of the robot Y-axis 56 is movably connected with a robot Z-axis 55, the bottom end of the upright column 53 is fixedly connected with a chassis structure 57, a silica gel pad 571 is fixedly connected on one side of the chassis structure 57, a yarn wheel is placed on one side of the silica gel pad 571, a lower cross beam is fixedly connected in the middle of one side, far away from the silica gel pad 571, of the chassis structure 57, a driving motor 572 is arranged at one end of the driving motor 572, close to the lower cross, the connecting structure 6 comprises a fixed support 65, the fixed support 65 is a cross-shaped structure, a vision system 62 is fixedly connected in the middle of one side of the fixed support 65, a paw X-axis rotating motor 63 is connected to the other side of the fixed support 65, a paw Y-axis rotating motor 64 is movably connected to one side of the paw X-axis rotating motor 63, paw structures 61 are fixedly connected to four ends of the fixed support 65, each paw structure 61 comprises a paw motor 611, a shaft sleeve 612 is fixedly connected to one end of the paw motor 611, a fixed seat 613 is fixedly connected to one end, away from the paw motor 611, of the shaft sleeve 612, a screw shaft 614 is arranged in the middle of one side of the fixed seat 613, the bottom end of the screw shaft 614 is fixedly connected to the front end of the shaft sleeve 612 through a fixed seat 613, a moving seat 615 is movably connected to one end, away from the shaft sleeve 612, a connecting rod 616 is movably connected between, a supporting plate 617 is movably connected between the connecting rods 616, and a protective pad 618 is fixedly connected to the outer wall of the supporting plate 617.

Specifically, a head rail guide wheel 52 is fixedly connected to both ends of a cross beam 51 far away from each other, the head rail guide wheel 52 can ensure that the yarn hanging robot 5 can walk on the track 2, the head rail needs to be designed to be fixed above in order to prevent heeling, the head rail guide wheel 52 is movably connected in the head rail and plays a role of guiding, the cross beam 51 is arranged to be supported on the top of the yarn hanging robot 5 to support two upright posts 53, the stability of the yarn hanging robot 5 per se can be effectively improved, the two upright posts 53 are respectively and fixedly connected to the bottoms of the two ends of the cross beam 51 far away from each other through the top ends, a coordinate robot is movably connected between the two upright posts 53 and is movably connected to the two upright posts 53 through an X-axis 54 of the robot, a silica gel pad is arranged, a yarn roll is arranged on the silica gel pad 571 to prevent the yarn from being scratched and napped, the silica gel pad 571 is fixedly connected to a chassis structure 57, the lower cross beam is fixed in the middle of the bottom of the chassis structure 57, the driving motor 572 is arranged at one end of the lower cross beam, the driving wheel 573 is fixedly connected to one end of the driving motor 572 close to the lower cross beam, the driving wheel 573 is fixedly connected to the lower cross beam, the ground rail guide wheel 574 is fixedly connected to the other end of the lower cross beam, the ground rail guide wheel 574 is movably connected to the track 2, the driving wheel 573 is powered by the driving motor 572, and therefore the yarn hanging robot 5 is driven to move by the driving wheel 573, and the yarn hanging robot 5 can smoothly move along the track 2.

Secondly, a robot X-axis 54 is movably connected to the bottom of a robot Y-axis 56, a robot Z-axis 55 is movably connected to one side of the robot X-axis 54 far away from the robot Y-axis 56, a paw X-axis rotating motor 63 is movably connected to the bottom of the robot Z-axis 55, a paw Y-axis rotating motor 64 is movably connected to one side of the paw X-axis rotating motor 63, and a connecting structure 6 is fixedly connected to one end of the paw Y-axis rotating motor 64, so that the connecting structure 6 can be driven to move along the X-coordinate direction through the robot X-axis 54, the robot Y-axis 56 drives the paw to move along the Y-coordinate direction, the robot Z-axis 55 can drive the movable paw to move along the Z-coordinate direction, the paw X-axis rotating motor 63 can drive the connecting structure 6 to rotate along the X-axis, the yarn roll installation direction is reversed, the grabbing installation is carried out, the paw Y-axis rotating motor 64 can drive the movable connecting structure 6 to rotate along the Y-axis, and (5) finely adjusting the installation angles of the four paws and adjusting the installation distance.

And three gripper structures 61 are arranged in four, are respectively and fixedly connected to the four ends of the connecting structure 6, are fixedly connected with a vision system 62 in the middle of the connecting structure 6, and can prevent the detection of the installation position and distance through the vision system 62, so that the yarn roll is prevented from being misaligned.

Fourthly, through gripper motor 611, can be through servo or step motor, the driving motor axle is rotatory to drive lead screw axle 614 and rotate, thereby drive and remove seat 615 and rise and tightly or open and shut, equal swing joint has connecting rod 616 on fixing base 613 and the relative both sides of removal seat 615, swing joint has backup pad 617 between connecting rod 616, and fixedly connected with protective pad 618, fixing base 613 on backup pad 617 outer wall: fixed bolster that the hand claw opened and shut, main atress part, connecting rod 616: the supporting and stretching function is realized, the supporting plate 617 is dead against the inner wall of the yarn roll, and the anti-skid liner: prevent that the yardage roll from sliding, rotating, keep fixed position, flexible structure also prevents scratch yardage roll inner wall, backup pad 617: and the connecting rod 616 is movably connected with the back through a pin shaft and is tightly attached to the inner wall of the yarn roll to prevent the yarn roll from sliding.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic change and hang yarn robot and hand claw, its characterized in that, includes recess (1), fixedly connected with track (2) in recess (1), creel (3) have all been established on the both sides of recess (1), the bottom swing joint of the same one end of creel (3) has hinge (4), be connected with on track (2) and hang yarn robot (5), be connected with connection structure (6) on hanging yarn robot (5).

2. The automatic yarn hanging robot and gripper according to claim 1, wherein the yarn hanging robot (5) comprises a cross beam (51), the tops of two ends of the cross beam (51) far away from each other are fixedly connected with a sky rail guide wheel (52), the position of the cross beam (51) far away from the sky rail guide wheel (52) is connected with a stand column (53), two opposite sides of the stand column (53) are movably connected with a robot X shaft (54), the bottom of the robot X shaft (54) is movably connected with a robot Y shaft (56), the bottom of the robot Y shaft (56) is movably connected with a robot Z shaft (55), and the bottom of the stand column (53) is fixedly connected with a chassis structure (57).

3. The automatic yarn hanging robot and gripper as claimed in claim 2, wherein a silicone pad (571) is fixedly connected to one side of the chassis structure (57), a yarn wheel is placed on one side of the silicone pad (571), a lower beam is fixedly connected to the middle of one side of the chassis structure (57) far away from the silicone pad (571), a driving motor (572) is arranged at one end of the chassis structure (57), a driving wheel (573) is fixedly connected to one end of the driving motor (572) close to the lower beam, and a ground rail guide wheel (574) is arranged at the other side of the chassis structure (57).

4. The automatic yarn hanging robot and the gripper as claimed in claim 1, wherein the connecting structure (6) comprises a fixing support (65), the fixing support (65) is in a cross-shaped structure, a vision system (62) is fixedly connected to the middle of one side of the fixing support (65), a gripper X-axis rotating motor (63) is connected to the other side of the fixing support (65), a gripper Y-axis rotating motor (64) is movably connected to one side of the gripper X-axis rotating motor (63), and gripper structures (61) are fixedly connected to four ends of the fixing support (65).

5. The automatic yarn hanging robot and gripper as claimed in claim 4, the paw structure (61) comprises a paw motor (611), one end of the paw motor (611) is fixedly connected with a shaft sleeve (612), one end of the shaft sleeve (612) far away from the paw motor (611) is fixedly connected with a fixed seat (613), a screw shaft (614) is arranged in the middle of one side of the fixed seat (613), the bottom end of the screw shaft (614) is fixedly connected to the front end of the shaft sleeve (612) through the fixed seat (613), one end of the screw shaft (614) far away from the shaft sleeve (612) is movably connected with a movable seat (615), a connecting rod (616) is movably connected between two opposite sides of the movable seat (615) and the fixed seat (613), a supporting plate (617) is movably connected between the connecting rods (616), and a protective liner (618) is fixedly connected to the outer wall of the supporting plate (617).