CN214030799U - Full-automatic hanging scaffold grabbing mechanism - Google Patents

Abstract

The utility model discloses a full-automatic platform sling snatchs mechanism, including the base, locate the end of a thread processing apparatus of base one end, locate the hoisting accessory of the base other end, the base is equipped with the manipulator position circle, and one side of manipulator position circle is equipped with grabbing device, and grabbing device is including the clamping jaw board that can snatch the dish utensil. The utility model provides a full-automatic platform sling snatchs mechanism collection empty dish and rights, the end of a thread line tail is handled and the dish utensil shifts in an organic whole, when using this full-automatic platform sling to snatch the mechanism, the manipulator position circle is used for connecting the manipulator, utilize the clamping jaw board to snatch the dish utensil of slope or toppling over, snatch the completion back when the dish utensil, the manipulator drives this full-automatic platform sling snatchs the whole 90 degrees that overturn of mechanism, make the dish utensil place upright, utilize end of a thread processing apparatus to handle the dish utensil end of a thread line and the end of a thread of full dish, and shift with the dish utensil of realizing the dish utensil of full dish and empty dish through the dish utensil of hoisting, degree of automation is high, satisfy the demand of high-speed production.

Description

Full-automatic hanging scaffold grabbing mechanism

Technical Field

The utility model relates to an enameled wire manufacture equipment, more specifically relates to full-automatic platform sling snatchs mechanism.

Background

The enameled wire is composed of an internal wire and a coating wrapping the wire, and the wire needs to be wound on a wire coil through a winding and arranging device in the production process of the enameled wire. When the winding of a wire coil is finished, the wire coil with full coils needs to be timely and quickly transferred away so as to be replaced with an empty coil in time.

At present, the switching and transferring of full disks or empty disks are operated by pure manual work, and some disks are grabbed by arranging a manipulator on a conveying line. Some defects were found by use: firstly, empty trays are scattered on the object placing table, some empty trays can be inclined or toppled over, accurate and quick grabbing cannot be achieved, generally, after manual righting is needed, the empty trays are grabbed by a manipulator, and the working efficiency is reduced; secondly, before the empty reel is wound, one end of the thread head is generally fixed in the thread catcher and then wound, so that the thread head needs to be separated after the reel is full, the thread head becomes a free end after slipping, the wound thread surface is easy to scratch, and the thread tail also becomes a free end after being cut off, and the wound thread surface is scratched; thirdly, the existing wire coil transferring manipulator grabs from the outer side of the wire coil, so that the wire coil transferring manipulator is unstable in grabbing, often needs manual correction, has a complex structure and occupies a large space; fourthly, the application range of the equipment is small, and the parts of the equipment need to be replaced for the discs with different sizes, so that the cost is high.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a collect empty dish rightting, end of a thread line tail is handled and dish utensil shifts in full-automatic platform sling of an organic whole snatchs mechanism, is applicable to the dish utensil of multiple specification, and the dish utensil is hoisted stably, and degree of automation is high, satisfies the demand of high-speed production.

According to the utility model discloses an aspect provides a full-automatic platform sling snatchs mechanism, and it includes the base, locates the end of a thread processing apparatus of base one end, locates the hoisting accessory of the base other end, and the base is equipped with the manipulator position circle, and one side of manipulator position circle is equipped with grabbing device, and grabbing device is including the clamping jaw board that can snatch the dish utensil. Therefore, when the full-automatic hanging scaffold grabbing mechanism is used, the manipulator positioning ring is used for connecting a manipulator, the full-automatic hanging scaffold grabbing mechanism enables trays to be placed vertically, the thread head and the thread tail of the full trays are processed, and the trays of the full trays and the trays of the empty trays are transferred by hoisting the trays; the grabbing device is positioned above the plate tool of the empty plate, then the grabbing device integrally descends, the clamping jaw plate is used for grabbing the inclined or toppled plate tool, and after the plate tool is grabbed, the mechanical arm drives the full-automatic hanging plate grabbing mechanism to integrally overturn for 90 degrees, so that the plate tool is vertically placed, and the clamping jaw plate loosens the plate tool; when the reel is fully wound, the manipulator drives the full-automatic hanging scaffold grabbing mechanism to integrally turn and move, so that the thread end processing device is close to the full reel, and the thread end processing device processes the thread end and the thread tail, so that the thread end and the thread tail are prevented from freely scattering, and the wound thread surface is not scratched; and then, the positions of the wire head processing device and the hoisting device are transferred, the hoisting device is utilized to realize the switching transfer of the empty tray and the full tray, the centralization of the empty tray, the wire head and tail processing of the full tray and the switching transfer of the full tray and the empty tray are realized, and the requirement of high-speed production is met.

In some embodiments, the gripping device further includes a clamping jaw pull rod shaft and a clamping jaw fixing sleeve, the clamping jaw fixing sleeve is disposed outside the clamping jaw pull rod shaft, the clamping jaw plates are arranged in pairs and connected to the clamping jaw pull rod shaft through a clamping jaw connecting plate, the clamping jaw pull rod shaft is connected to a clamping jaw driving device, and the clamping jaw driving device drives the clamping jaw pull rod shaft to extend and retract so as to open or close the clamping jaw plates arranged in pairs. Therefore, when an empty disc needs to be grabbed, the grabbing device is located above the empty disc, then the grabbing device integrally descends, the clamping jaw plates arranged in pairs are located on two sides of the toppled or inclined disc, the clamping jaw driving device acts on the clamping jaw pull rod shaft to enable the clamping jaw pull rod shaft to retract inwards relative to the clamping jaw fixing sleeve, the clamping jaw pull rod shaft pulls one end of the clamping jaw connecting plate back, the two clamping jaw plates close the grabbing disc inwards, the disc is horizontal, and after the disc is grabbed, the full-automatic hanging disc grabbing mechanism is integrally turned over by 90 degrees to enable the disc to be placed vertically; when the disc tool needs to be loosened, the clamping jaw driving device acts on the clamping jaw pull rod shaft to enable the clamping jaw pull rod shaft to stretch out relative to the clamping jaw fixing sleeve, the clamping jaw pull rod shaft pushes one end of the clamping jaw connecting plate forward, and the two clamping jaw plates are opened outwards to loosen the disc tool, so that a mechanical arm can conveniently grab the disc tool in the later period, and full-automatic operation can be realized.

In some embodiments, the gripping device further comprises a gripping disk seat, the gripping jaw driving device comprises a gripping disk motor, a gripping disk driving gear and a gripping disk gear, the gripping disk motor is mounted on the gripping disk seat, an output shaft of the gripping disk motor is connected to the gripping disk driving gear, the gripping disk driving gear is meshed with the gripping disk gear, the gripping jaw pull rod shaft is connected with the gripping disk gear through threads, and the gripping disk gear is rotatably mounted on the gripping disk seat. Therefore, the disc grabbing motor drives the disc grabbing driving gear to rotate, the disc grabbing gear is in meshing transmission with the disc grabbing driving gear, the clamping jaw pull rod shaft moves forwards or backwards relative to the disc grabbing gear, when the clamping jaw pull rod shaft moves forwards, the two clamping jaw plates are opened, and when the clamping jaw pull rod shaft moves backwards, the two clamping jaw plates are closed.

In some embodiments, the hoisting device comprises a hoisting disc shaft, a control shaft and a hinge block assembly, the hoisting disc shaft is of a hollow structure, the control shaft is arranged in the hoisting disc shaft, the hinge block assembly is symmetrically arranged relative to the control shaft, the hinge block assembly is rotatably connected to the hoisting disc shaft through a positioning pin, one end of the hinge block assembly can be movably hinged to the control shaft, a notch part for unfolding or retracting the hinge block assembly is arranged on the outer wall of the hoisting disc shaft, the control shaft is connected with a control shaft driving part to realize the up-and-down movement of the control shaft relative to the hoisting disc shaft and drive the unfolding or retracting of the hinge block assembly, a fixing sleeve is sleeved on the upper portion of the hoisting disc shaft, and the fixing sleeve is connected to the base. Therefore, when the disc tool needs to be lifted, the disc shaft is inserted into the central hole of the disc tool from the upper part, the control shaft driving part drives the control shaft to enable the control shaft to move upwards relative to the disc shaft, the control shaft drives one end of the hinged block assembly to move upwards, meanwhile, the hinged block assembly rotates around the positioning pin, the other end of the hinged block assembly turns downwards at the notch part, is unfolded and extends out of the outer wall of the disc shaft, and hooks the lower surface of the top surface of the disc tool from the central hole of the disc tool; when the disc tool needs to be loosened, the control shaft driving piece drives the control shaft to enable the control shaft to move downwards relative to the hanging disc shaft, the control shaft drives one end of the hinged block assembly to move downwards, meanwhile, the hinged block assembly rotates around the positioning pin, and the other end of the hinged block assembly turns upwards and retracts in the gap part; the lifting device is compact in structure, small in occupied space and stable in the transferring process, the lifting disc is lifted from the inside rather than the grabbing disc from the outside, the hinged block assemblies are unfolded and retracted through mechanical driving of the control shaft in a contact mode, and the hinged block assemblies are unfolded and retracted in place.

In some embodiments, the platform sling axle is provided with three sections of external diameters with different sizes, the corresponding control axle is also provided with three sections of external diameters with different sizes, the three sections of external diameters are sequentially called as an upper hinged section, a middle hinged section and a lower hinged section, the hinged block assembly comprises upper hinged blocks, middle hinged blocks and lower hinged blocks which are all arranged in pairs, two sides of the upper hinged section are provided with notches for the upper hinged blocks to be connected, the middle hinged section is provided with an accommodating port for the middle hinged blocks to be accommodated, the lower hinged section is provided with an avoiding portion for accommodating the lower hinged blocks, the avoiding portion is provided with a guide pin, and the end portion of the lower hinged block is provided with an installation groove matched with the guide pin. Therefore, according to the aperture of the middle hole of the disc tool with different specifications, the outer diameter of the hanging disc shaft is designed in a three-section step mode, correspondingly, the control shaft is also provided with three sections of hinged sections, and the hinged block assemblies are also provided with three pairs, so that the universality of the equipment is improved; because the lower extreme external diameter of hanging scaffold axle is littleer and smaller, the installation space of articulated block subassembly is limited, and when articulated block subassembly need expand or retract, go up articulated block, well articulated block and can rotate in notch, holding the mouth, articulated block can be followed the uide pin rotation in dodging the portion down.

In some embodiments, the control shaft is connected with a rotating nut through threads, the rotating nut is sleeved with a nut seat, a first bearing is arranged between the nut seat and the rotating nut, the nut seat is installed on the upper portion of the hanging disc shaft, the rotating nut is connected with a control shaft driving piece, the control shaft driving piece is erected on the nut seat through a seat cover, and the lower end of the fixed sleeve is provided with a lower cover plate of the fixed sleeve. Therefore, the control shaft driving piece drives the rotating nut to rotate, the rotating nut is in threaded transmission with the control shaft, and the control shaft moves up and down.

In some embodiments, the control shaft driving member is a servo motor, the control shaft is provided with a vertical guide groove, a limit pin penetrates through the guide groove, and two ends of the limit pin are mounted on the hanging disc shaft. Therefore, when the rotary nut is driven to rotate by the servo motor, the guide groove moves up and down relative to the limiting pin in the process that the control shaft moves up and down, so that the guide effect is achieved, the control shaft can be prevented from rotating in the moving process, the limiting pin ensures that the control shaft does not rotate, and the control shaft can only move up and down in the rotary nut due to the threaded connection between the rotary nut and the control shaft; when the servo motor drives the rotating nut to rotate clockwise, the control shaft moves upwards, the hinged block assembly turns downwards at the notch part, expands and extends out of the outer wall of the hanging disc shaft, and the disc can be hung; when the servo motor drives the rotary nut to rotate anticlockwise, the control shaft moves downwards, the hinged block assembly turns upwards at the notch part and retracts into the wall of the hanging scaffold shaft, and the disc tool is loosened.

In some embodiments, the control shaft driving part is an air cylinder, the control shaft driving part is installed at the top of the hanging plate shaft, a piston rod of the control shaft driving part is connected with the top of the control shaft, a fixing sleeve is sleeved on the upper portion of the hanging plate shaft, a lower cover plate of the fixing sleeve is arranged at the lower end of the fixing sleeve, and a cylinder body of the control shaft driving part is located in the fixing sleeve. Therefore, when the cylinder is used as a driving part of the control shaft, the control shaft moves up and down relative to the hanging disc shaft through the extension and retraction of a piston rod of the cylinder; when a piston rod of the air cylinder extends out, the control shaft moves downwards, the hinged block assembly turns upwards at the notch part and retracts into the wall of the hanging scaffold shaft, and the disc is loosened; when the piston rod of the cylinder retracts, the control shaft moves upwards, the hinged block assembly turns downwards at the notch part, extends out of the outer wall of the hanging disc shaft and can hang the disc.

In some embodiments, the fixed sleeve lower cover plate is connected with a pressure plate fixing plate, the hanging scaffold shaft is sleeved with a scaffold pressing plate, and the scaffold pressing plate is connected below the pressure plate fixing plate in a lifting manner. Therefore, the distance between the plate pressing plate and the pressing plate fixing plate can be lengthened or shortened, when the hinged block assembly is unfolded to hook the top surface of the plate, the position of the plate pressing plate is lowered, the plate pressing plate is abutted to the upper surface of the plate, the plate can be prevented from deviating to one side in the hoisting process, the plate can be prevented from shaking, and the stability of the plate after being hoisted is ensured.

In some embodiments, two ends of the pressing plate of the plate tool are respectively connected with a pressing plate screw rod and a pressing plate guide rod, the pressing plate screw rod is connected with a pressing plate gear through threads, the pressing plate gear is installed on a pressing plate fixing plate through a pressing plate gear seat, a second bearing is arranged between the pressing plate gear and the pressing plate gear seat, a pressing plate motor is installed on the pressing plate fixing plate, an output shaft of the pressing plate motor is connected with a pressing plate driving gear, and the pressing plate driving gear is meshed with the pressing plate gear. Therefore, the pressure plate motor drives the pressure plate driving gear to rotate, the pressure plate gear is in meshing transmission with the pressure plate driving gear, and the pressure plate lead screw moves upwards or downwards relative to the pressure plate gear; when the pressure plate screw rod moves downwards, the position of the pressure plate of the disc tool is driven to descend, and the pressure plate of the disc tool is abutted against the upper surface of the disc tool; when the pressure plate lead screw moves upwards, the pressure plate of the disc tool is driven to rise, and the pressure plate of the disc tool is far away from the upper surface of the disc tool.

In some embodiments, the platen fixing plate is connected with a platen cylinder, and a piston rod of the platen cylinder is connected with the platen. Therefore, the position of the plate pressing plate is controlled to move by the extension and contraction of the piston rod of the pressure plate cylinder, when the piston rod of the pressure plate cylinder extends out, the position of the plate pressing plate descends, the plate pressing plate abuts against the upper surface of the plate, and when the piston rod of the pressure plate cylinder retracts, the plate pressing plate resets.

In some embodiments, the thread end processing device comprises a substrate, a thread-releasing center, a thread blocking block, a thread hooking portion and a thread pressing portion, wherein the thread-releasing center is movably connected to the substrate in a lifting mode, the thread hooking portion is rotatably connected to the substrate and located on the outer side of the thread-releasing center, the thread blocking block is located between the thread-releasing center and the thread hooking portion and can move left and right relative to the thread-releasing center, the thread pressing portion can extend or retract relative to the thread hooking portion, and the substrate is connected to the base.

In some embodiments, the thread blocking block is connected with a screw rod through threads, the screw rod is a positive and negative screw rod, the thread blocking block is provided with two thread blocking blocks, the two thread blocking blocks are respectively arranged on a positive tooth and a negative tooth of the screw rod, a screw rod support is arranged below the base plate, the screw rod penetrates through the screw rod support and is connected with a thread blocking screw gear, the thread blocking screw gear is meshed with a thread blocking screw driving gear, the center of the thread blocking screw driving gear is connected with a thread blocking motor, the thread blocking motor is installed on the screw rod support, a thread blocking limiting plate is installed on the screw rod support, and the upper side wall of the thread blocking block is abutted against the thread blocking limiting plate. Therefore, the thread blocking motor drives the thread blocking screw driving gear, the thread blocking screw gear is in meshed transmission with the thread blocking screw driving gear, the screw rotates along with the thread blocking screw gear, and the thread blocking block is abutted against the thread blocking limiting plate and is in threaded connection with the screw; when the wire blocking motor rotates reversely, the wire blocking block moves along the screw rod to realize resetting through the combination of gear meshing and thread transmission; receive winding and arranging line device for improving work efficiency, generally set up two dish utensil receipts line positions at least, each catches the line ware opening direction different, consequently, through setting up positive and negative tooth screw rod, two stop line pieces can move to both sides along the screw rod, no matter what side of the opening direction orientation of catching the line ware, stop line piece all can contact the end of a thread and release it and catch the line ware.

In some embodiments, the wire releasing center is connected with a wire releasing lower pressing plate, two ends of the wire releasing lower pressing plate are provided with wire releasing pressing rods, the wire releasing pressing rods penetrate through the substrate and are connected with a wire releasing upper pressing plate, a pressing rod bearing seat is sleeved outside the wire releasing pressing rods, a linear sliding bearing is arranged between the pressing rod bearing seat and the wire releasing pressing rods, the pressing rod bearing seat is mounted on the substrate, and the wire releasing upper pressing plate is connected with a wire releasing driving piece. Therefore, the off-line driving piece acts on the off-line upper pressing plate, the off-line pressing rod moves up and down relative to the substrate along with the lifting of the off-line upper pressing plate, the off-line lower pressing plate drives the off-line tip to move up and down to control the line catching device, and the linear sliding bearing can guarantee the stable lifting of the off-line pressing rod.

In some embodiments, the wire-off driving member includes a wire-off motor, a wire-off driving gear and a wire-off gear, the wire-off motor is mounted on the substrate, an output shaft of the wire-off motor is connected to the wire-off driving gear, the wire-off driving gear is meshed with the wire-off gear, a wire-off lead screw is connected to the center of the wire-off gear through a thread, a wire-off lead screw bearing seat is sleeved outside the wire-off lead screw, and a third bearing is arranged between the wire-off lead screw bearing seat and the wire-off lead screw. Therefore, the wire-off motor drives the wire-off driving gear to rotate, the wire-off gear is in meshing transmission with the wire-off driving gear, the wire-off lead screw does up-and-down lifting movement relative to the wire-off gear, when the wire-off lead screw descends, the wire-off top props against the wire catching device, the wire end is convenient to loosen and the wire is off, and the bearing can ensure the stable lifting of the wire-off lead screw.

In some embodiments, the off-line driving member is a cylinder, the off-line driving member is mounted on the substrate through a cylinder seat, and a piston rod of the off-line driving member is connected with the off-line upper pressing plate. Therefore, when the cylinder is used as a wire-off driving part, the lifting of the wire-off upper pressing plate is controlled through the piston rod of the cylinder, when the piston rod of the cylinder extends out, the wire-off upper pressing plate moves upwards, the wire-off pressing rod moves upwards relative to the substrate, and the wire-off lower pressing plate drives the wire-off tip to move upwards; when a piston rod of the cylinder retracts, the thread-off pressing plate drives the thread-off tip to move downwards, and the thread-off tip props against the thread catcher to loosen the thread end.

In some embodiments, a line hooking support plate is arranged below the substrate, a line hooking driving device is mounted on the line hooking support plate, the line hooking driving device is connected with a line hooking seat, the line hooking part is of an integral structure and is integrally in a hook shape, the line hooking part comprises a hook end and a blocking end, a mounting end is arranged between the hook end and the blocking end, and the mounting end of the line hooking part is fixed on the line hooking seat. Therefore, when the thread blocking block pushes the thread end, the thread hooking driving device is started, the hook end arranged on the thread hooking seat rotates, the hook end hooks the thread end, and the blocking end can limit the position of the hooked thread end and ensure that the hooked thread end is tilted upwards.

In some embodiments, the wire hooking driving device adopts a motor or a steering cylinder, and the wire hooking base is connected to an output shaft of the motor or a rotating arm of the steering cylinder.

In some embodiments, the pressing line part is made of a rubber band in a belt shape, two ends of the pressing line part are respectively connected with a pressing line driving device, the tail end of the pressing line driving device is installed below the substrate through a pressing line bracket, and the pressing line driving device drives the pressing line part to extend or retract. From this, line ball drive arrangement starts, and the drive rubber band is drawn close towards full dish one side, and the end of a thread after the rubber band will collude pushes down and makes the end of a thread upwarp, and after the end of a thread is cutting off, the end of a thread is caught by the end of a thread of upwarping, and the end of a thread can not fish tail winding line surface with the end of a thread fixed back.

In some embodiments, the line pressing driving device adopts an electric push rod or an air cylinder, and the line pressing part is connected to a push rod part of the electric push rod or a piston rod of the air cylinder.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model has the advantages of science and reasonability and compact structure, through the mode of gear transmission combined with screw thread mutual rotation or the mode of cylinder control, the clamping jaw pull rod shaft is realized to move forwards or backwards, thereby controlling the clamping jaw plate to be closed or opened, realizing the grabbing or loosening of the tray tool which is not upright, after the tray tool is grabbed, the full-automatic hanging tray grabbing mechanism is integrally overturned through the manipulator, so that the tray tool is vertically placed, and the next procedure of accurately grabbing the tray tool is facilitated; the lifting activity of the thread-off center is realized by combining a gear transmission mode with a thread mutual rotation mode or an air cylinder control mode, the thread-off center acts on the thread catcher to loosen the thread end, the thread blocking plate is controlled to move towards two sides by the positive and negative screw rods to push the thread end in a contact type mechanical mode, meanwhile, the thread hooking driving device drives the thread hooking part to hook the thread end upwards to ensure that the thread end is separated from the thread catcher and is in an upwards tilted shape, the thread pressing driving device drives the rubber band to bend and upwards tilt the thread end so as to hook the thread tail, and the thread end and the thread tail cannot scratch the wound thread surface after being fixed; the hanging scaffold shaft is inserted into the central hole of the disc tool, the control shaft driving part drives the rotary nut to rotate, the control shaft does not rotate due to the limiting pin but rotates mutually by utilizing the screw thread between the rotary nut and the control shaft to realize the up-and-down movement of the control shaft, or the air cylinder is utilized to control the up-and-down movement of the control shaft, the control shaft contact type mechanical drive hinge block assembly rotates to realize the expansion or retraction of the hinge block assembly, and the hinge block assembly hooks the top surface of the disc tool from the central hole of the disc tool; the lifting of the plate pressing plate is realized by combining gear transmission with a thread mutual rotation mode or an air cylinder control mode, the plate pressing plate can press the upper surface of the plate, and the lifting stability of the plate is ensured; this full-automatic platform sling snatchs mechanism collects empty dish and rights, end of a thread line tail processing and dish utensil and shifts in an organic whole, through setting up many to articulated block assembly, is applicable to the dish utensil of multiple specification, has improved the commonality of equipment, has avoided the trouble that the accessory was changed, and the dish utensil is hoisted stably, and degree of automation is high, has improved work efficiency, satisfies the demand of high-speed production.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of a fully automatic platform sling gripping mechanism according to the present invention;

FIG. 2 is a schematic perspective view of FIG. 1 at another angle;

FIG. 3 is a front view of FIG. 1;

FIG. 4 is a schematic perspective view of the grasping device;

FIG. 5 is a schematic perspective view of the alternate angle of FIG. 4;

FIG. 6 is a front view of FIG. 4;

FIG. 7 is a schematic view showing the connection of the thread end processing device, the lifting device, the platen fixing plate and the platen pressing plate;

FIG. 8 is a schematic perspective view of the alternate angle of FIG. 7;

FIG. 9 is a top view of FIG. 7;

FIG. 10 is a front view of FIG. 7;

FIG. 11 is a cross-sectional view A-A of FIG. 10;

FIG. 12 is a side view of FIG. 7;

FIG. 13 is a cross-sectional view B-B of FIG. 12 with the hinge block assembly in an expanded configuration;

FIG. 14 is a cross-sectional view D-D of FIG. 12;

FIG. 15 is a cross-sectional view C-C of FIG. 12;

FIG. 16 is a schematic view showing a connection structure of the lifting device, the platen fixing plate and the platen pressing plate;

FIG. 17 is a schematic view of the structure of FIG. 16 from another perspective;

FIG. 18 is a side view of FIG. 16;

FIG. 19 is a cross-sectional view E-E of FIG. 18, showing the hinge block assembly in a retracted state;

FIG. 20 is a schematic structural view of the hanger shaft, wherein FIG. 20-1 is a perspective view of the hanger shaft, and FIGS. 20-2, 20-3 and 20-4 are schematic structural views of the interior of the hanger shaft at different angles;

FIG. 21 is a schematic structural view of a control shaft, wherein FIG. 21-1 is a perspective view of the control shaft, and FIGS. 21-2 and 21-3 are schematic structural views of the control shaft at different angles;

fig. 22 is a schematic perspective view of the thread end processing device;

FIG. 23 is a perspective view of FIG. 22 from another perspective;

FIG. 24 is a front view of FIG. 22;

FIG. 25 is a side view of FIG. 22;

FIG. 26 is a cross-sectional view F-F of FIG. 25;

fig. 27 is a schematic structural view of a gripping device according to another embodiment of the fully automatic platform sling gripping mechanism of the present invention;

fig. 28 is a schematic structural view of a thread end processing device according to another embodiment of the fully automatic hanging scaffold grabbing mechanism of the present invention;

fig. 29 is a schematic view of a connection structure of a hoisting device, a platen fixing plate and a plate tool platen according to another embodiment of the fully automatic hanging scaffold grabbing mechanism of the present invention;

fig. 30 is a schematic view before wire end processing and a schematic view after wire end bending in the case of performing the wire end processing of the enamel wire.

Detailed Description

The present invention will be further described with reference to the following embodiments.

As shown in fig. 1, the utility model provides a mechanism is snatched to full-automatic platform sling of an embodiment is used for making the dish utensil of empting or slope right, lifts up the dish utensil and shifts with the dish utensil of the dish utensil that realizes full dish and the dish utensil of empty dish, at this in-process, in order to prevent full winding line damage, handles end of a thread and end of a thread. The adopted control mode is mainly a mode of mutual rotation through cylinder control or gear transmission combined with threads.

Example 1

As shown in fig. 1 to 3, an embodiment's a full-automatic platform sling snatchs mechanism, including base 1, locate the end of a thread processing apparatus of 2 one ends of base, locate the hoisting device of the 1 other end of base, base 1 is equipped with manipulator position circle 10, and one side of manipulator position circle 10 is equipped with grabbing device 2, and grabbing device 2 is used for connecting the manipulator including the clamping jaw board 21 that can snatch the dish utensil, manipulator position circle 10, realizes that this full-automatic platform sling snatchs whole upset, the removal of mechanism. Grab the dish utensil of getting empty dish through clamping jaw board 21, the manipulator drives this full-automatic platform sling and snatchs the whole 90 degrees of overturning of mechanism, make the dish utensil upright place, make end of a thread processing apparatus be close to full dish, end of a thread processing apparatus handles end of a thread and end of a thread, avoid end of a thread and end of a thread free fall, can not fish tail winding line surface, transfer the position of end of a thread processing apparatus and hoisting device, through hoisting the dish utensil in order to realize the dish utensil of full dish and the dish utensil of empty dish shifts, this full-automatic platform sling snatchs the mechanism and has realized the centering of empty dish, the end of a thread line tail of full dish is handled, the switching of full dish and empty dish shifts, satisfy the demand of high-speed production.

As shown in fig. 4 and 5, the gripping device 2 further includes a clamping jaw pull rod shaft 22 and a clamping jaw fixing sleeve 23, the clamping jaw pull rod shaft 22 is sleeved with the clamping jaw fixing sleeve 23, and two clamping jaw plates 21 are provided and are arranged in pairs. The two jaw plates 21 are connected to the jaw lever shaft 22 by a jaw connection plate 211. Specifically, the paired jaw plates 21 are arranged in a crossed manner, and are movably hinged to the upper end of the jaw fixing sleeve 23 through the jaw fixing shaft 212, one end of the jaw connecting plate 211 is hinged to the jaw plate 21, and the other end of the jaw connecting plate 211 is hinged to the jaw pull rod shaft 22. Limiting grooves 231 are formed in the two sides of the outer wall of the clamping jaw fixing sleeve 23. The tail end of the clamping jaw pull rod shaft 22 is connected with a clamping jaw driving device 24, and the clamping jaw driving device 24 drives the clamping jaw pull rod shaft 22 to stretch and contract so as to open or close the clamping jaw plates 21 arranged in pairs.

As shown in fig. 6, in the present embodiment, the jaw driving device 24 includes a disk gripping motor 241, a disk gripping driving gear 242, and a disk gripping gear 243. The tray grabbing motor 241 is fixedly installed on a tray grabbing seat 25, and the bottom of the tray grabbing seat 25 is connected to the base 1. An output shaft of the gripping disk motor 241 penetrates through the top of the gripping disk seat 25 and is connected with a gripping disk driving gear 242, the gripping disk driving gear 242 is meshed with a gripping disk gear 243, and the clamping jaw pull rod shaft 22 is connected with the center of the gripping disk gear 243 through threads. The disk grabbing gear 243 is rotatably mounted on the disk grabbing seat 25, the upper end and the lower end between the disk grabbing seat 25 and the disk grabbing gear 243 are both provided with a fourth bearing 244, a gasket 2442 is mounted between the two fourth bearings 244, and the bottom of the lower end fourth bearing 244 is provided with a bearing cover plate 2441. A disc-grabbing gear cover 245 is arranged outside the disc-grabbing driving gear 242 and the disc-grabbing gear 243, and the clamping jaw fixing sleeve 23 is fixedly arranged on the disc-grabbing gear cover 245 through screws. The gripper disc motor 241 drives the gripper disc driving gear 242 to rotate, the gripper disc gear 243 is in meshing transmission with the gripper disc driving gear 242, the gripper bar shaft 22 moves forwards or backwards relative to the gripper disc gear 243, when the gripper bar shaft 22 moves forwards, the two gripper plates 21 are opened, and when the gripper bar shaft 22 moves backwards, the two gripper plates 21 are closed.

A fourth bearing 244 is provided between the disk catching holder 25 and the disk catching gear 243 to facilitate smooth rotation of the disk catching gear 243. The clamping jaw fixing sleeve 23 and the clamping jaw fixing shaft 212 are compactly installed, and related transmission parts are covered and protected, so that the service life of the equipment is prolonged.

As shown in fig. 7 to 13, the lifting device includes the hanging plate shaft 3, the control shaft 4, and the hinge block assembly 40. The hanging plate shaft 3 is of a hollow structure, the control shaft 4 is located in the hanging plate shaft 3, the hinge block assemblies 40 are symmetrically arranged relative to the control shaft 4, the hinge block assemblies 40 are rotatably connected to the hanging plate shaft 3 through positioning pins 404, one ends of the hinge block assemblies 40 can be movably hinged to the control shaft 4, notch portions 31 for unfolding or retracting the hinge block assemblies 40 are arranged on the outer wall of the hanging plate shaft 3, and the control shaft 4 is connected with a control shaft driving piece 44 so as to enable the control shaft 4 to move up and down relative to the hanging plate shaft 3 and drive the hinge block assemblies 40 to unfold or retract.

As shown in fig. 21 and 23, the thread end processing device includes a base plate 50, a thread take-off center 5, a thread blocking block 6, a thread hooking portion 7 and a thread pressing portion 8. The wire-off center 5 is movably connected below the base plate 50 in a lifting manner, and the base plate 50 is fixed on the base 1 through bolts. The hooking part 7 is rotatably connected to the base plate 50, and the hooking part 7 is located outside the wire release tip 5 (i.e., on the side away from the lifting device). The thread blocking block 6 is positioned between the thread removing tip 5 and the thread hooking part 7, and the thread blocking block 6 can move left and right relative to the thread removing tip 5. The wire pressing part 8 can move in an extending or retracting way relative to the wire hooking part 7.

As shown in fig. 11, the fixing sleeve 30 is of a hollow structure, the upper portion of the hanging scaffold shaft 3 is sleeved in the fixing sleeve 30, the lower end surface of the fixing sleeve 30 is connected with a fixing sleeve lower cover plate 301 in a covering manner through a bolt, and the fixing sleeve lower cover plate 301 and the upper end edge of the hanging scaffold shaft 3 can be provided with a guide post 3011 (shown in fig. 16) for positioning. The upper end surface of the fixing sleeve 30 is connected to the lower surface of the base 1 by bolts.

As shown in fig. 8 and 30, after the disc is fully wound, the position of the thread releasing tip 5 is lowered to act on the thread catcher 100, the thread blocking block 6 moves and pushes the thread end between the thread catcher 100 and the disc, meanwhile, the thread hooking part 7 hooks the thread end to enable the thread end to slip from the thread catcher 100, the thread pressing part 8 extends out to press the thread end on the surface of the full disc, so that the thread end is tilted upwards to hook the thread tail, and the thread end and the thread tail are fixed without scratching the wound thread surface. Then, the positions of the wire end processing device and the hoisting device are adjusted, when the disc is required to be hoisted, the hoisting disc shaft 3 is inserted into the central hole of the disc from the upper part, the control shaft driving part 44 drives the control shaft 4 to enable the control shaft 4 to move upwards relative to the hoisting disc shaft 3, the control shaft 4 drives one end of the hinge block assembly 40 to move upwards, meanwhile, the hinge block assembly 40 rotates around the positioning pin 404, the other end of the hinge block assembly 40 turns downwards and unfolds at the notch part 31, extends out of the outer wall of the hoisting disc shaft 3, and hooks the lower surface of the top surface of the disc from the central hole of the disc; when the plate needs to be loosened, the control shaft driving part 44 drives the control shaft 4 to move the control shaft 4 downward relative to the plate hanger shaft 3, the control shaft 4 drives one end of the hinge block assembly 40 to move downward, meanwhile, the hinge block assembly 40 rotates around the positioning pin 404, the other end of the hinge block assembly 40 turns upward and retracts in the notch part 31, the full-automatic plate hanger grabbing mechanism moves upward integrally, and the plate hanger shaft 3 is separated from the plate.

The fully-automatic hanging scaffold grabbing mechanism is compact in structure, the thread end is mechanically pushed out of the thread catcher 100 through the movable thread blocking block 6, the thread end can be guaranteed to be separated from the thread catcher 100, the tray is hoisted from the inside, occupied space is small, the tray is hoisted from the inside more stably than the tray which is grabbed from the outside in the transferring process, the unfolding and retraction of the hinge block assembly 40 are mechanically driven in a contact mode through the control shaft 4, and the unfolding and retraction of the hinge block assembly 40 are guaranteed to be in place.

The common discs have different specifications, and the aperture of the central hole of the disc is generally 100mm, 45mm and 30mm, so that in order to provide the universality of the equipment, the hanging disc shaft 3 is provided with three sections of outer diameters (shown in figure 20) with different sizes from top to bottom. Correspondingly, the control shaft 4 is also provided with three sections of different outer diameters, which are referred to as an upper hinge section 41, a middle hinge section 42 and a lower hinge section 43 (as shown in fig. 21). As shown in fig. 12, the hinge block assembly 40 is also provided with three pairs, referred to as an upper hinge block 401, a middle hinge block 402, and a lower hinge block 403. As shown in fig. 21, two sides of the upper hinge section 41 are provided with notches 411 for the connection of the upper hinge block 401, the middle hinge section 42 is provided with an accommodating opening 421 for the middle hinge block 402 to accommodate, and the lower hinge section 43 is provided with an avoiding portion 431 for the lower hinge block 403 to accommodate. As shown in fig. 18 and 19, the escape portion 431 is fixedly mounted with a guide pin 4311, and an end portion of the lower hinge block 403 is provided with a mounting groove 4031 engaged with the guide pin 4311. According to the aperture of the middle hole of the disc tool with different specifications, the outer diameter of the hanging disc shaft 3 is designed in a three-section step mode, correspondingly, the control shaft 4 is also provided with three hinged sections, and the hinged block assemblies 40 are also provided with three pairs, so that the universality of the hanging disc grabbing mechanism is improved. Because the outer diameter of the lower end of the hanging plate shaft 3 is smaller and smaller, and the installation space of the hinge block assembly 40 is limited, the design requirement of the connection structure of the hinge block assembly 40 with the control shaft 3 and the hanging plate shaft 4 is very high, when the hinge block assembly 40 needs to be unfolded or retracted, the upper hinge block 401 and the middle hinge block 402 can rotate in the notch 411 and the accommodating opening 421, and the lower hinge block 403 can rotate along the guide pin 4311 in the avoiding portion 431.

In this embodiment, the outer diameters of three sections of the hanging scaffold shaft 3 are 99mm, 44mm and 29mm in sequence, when the hinge block assembly 40 extends out, the upper hinge block 401 protrudes the hanging scaffold shaft 3 by 10.5mm, the middle hinge block 402 protrudes the hanging scaffold shaft 3 by 7.5mm, and the lower hinge block 403 protrudes the hanging scaffold shaft 3 by 7 mm. When the hinge block assembly 40 is retracted, the upper, middle, and lower hinge blocks 401, 402, 403 are fully retracted into the cutout portion 31 of the platform shaft 3. In practical application, the outer diameter of the hanging scaffold shaft 3 and the size of the hinge block assembly 40 protruding from the hanging scaffold shaft 3 can be adjusted according to the size specification of the disc tool.

Specific mounting structure of the control shaft 4 and the control shaft driver 44: as shown in fig. 12 and 13, the control shaft 4 has an external thread at an upper portion thereof, the swivel nut 45 is provided with an internal thread to be engaged with the external thread of the control shaft 4, and the control shaft 4 is threadedly coupled to the swivel nut 45. A nut seat 46 is sleeved outside the rotating nut 45, first bearings 47 are respectively installed at the upper end and the lower end between the nut seat 46 and the rotating nut 45, a nut bearing washer 48 is installed between the upper first bearing 47 and the lower first bearing 47, and the nut seat 46 is installed on the upper portion of the hanging disc shaft 3 through bolts. The top of the rotating nut 45 is connected with a control shaft driving piece 44, the control shaft driving piece 44 is erected on the nut seat 46 through a seat cover 49, and the seat cover 49 and the nut seat 46 are fixed through bolts. The upper part of the hanging disc shaft 3 is arranged in the fixed sleeve 2.

In this embodiment, as shown in fig. 12, 13 and 19, the control shaft driving member 44 adopts a servo motor 44A, the control shaft 4 is provided with a vertical guide groove 422, a limit pin 4221 penetrates through the guide groove 422, and two ends of the limit pin 4221 are fixedly mounted on the hanging plate shaft 3. When the servo motor 44A drives the swivel nut 45 to rotate, the swivel nut 45 and the control shaft 4 are in threaded connection, and the control shaft 4 is limited by the limit pin 4221 in the moving process of the control shaft 4, the limit pin 4221 ensures that the control shaft 4 does not rotate, the limit pin 4221 simultaneously plays a guiding role, so that the guide groove 422 moves up and down relative to the limit pin 4221, the control shaft 4 can be prevented from rotating in the moving process, and the control shaft 4 can only move up and down in the swivel nut 45. When the servo motor 44A drives the rotating nut 45 to rotate clockwise, the control shaft 4 moves upward, the hinged block assembly 4 turns downward at the notch portion 31, extends out of the outer wall of the hanging plate shaft 3, and the hanging plate can be hung. When the servo motor 44A drives the rotating nut 45 to rotate counterclockwise, the control shaft 4 moves downward, the hinge block assembly 40 turns upward in the notch 31 and retracts into the wall of the hanging scaffold shaft 3, and the plate is released.

As shown in fig. 16 and 17, a pressure plate fixing plate 90 is fitted around the fixing cover 2, and the pressure plate fixing plate 90 is fixed to the fixing cover lower cover plate 301 by bolts. The hanging disc shaft 3 is sleeved with a disc pressing plate 9, and the disc pressing plate 9 can be movably connected below the pressing disc fixing plate 90 in a lifting mode. When the plate is not required to be hoisted, the plate pressing plate 9 is positioned above the hinge block assembly 4. The distance between the disk presser 9 and the platen fixing plate 90 can be made longer or shorter. When the hinged block component 4 is unfolded to hook the top surface of the plate, the position of the plate pressing plate 9 is lowered, the plate pressing plate 9 is abutted against the upper surface of the plate, the plate can be prevented from deviating towards one side in the hoisting process, the plate can be prevented from shaking, and the stability of the plate after being hoisted is ensured.

As shown in fig. 14 and 16, in the present embodiment, a platen screw 91 and a platen guide 92 are fixedly mounted to both ends of the disk holding plate 9 by bolts, respectively. Pressure disk lead screw 91 has pressure disk gear 911 through threaded connection, and pressure disk gear 911 installs in pressure disk fixed plate 90 through pressure disk gear seat 912, and pressure disk gear seat 912 is fixed in pressure disk fixed plate 90 through the bolt, is equipped with second bearing 913 between pressure disk gear 911 and the pressure disk gear seat 912. A platen motor 914 is mounted on the platen fixing plate 90, and a platen drive gear 915 is connected to an output shaft of the platen motor 914, and the platen drive gear 915 is engaged with the platen gear 911. The pressure disk lead screw 91 overcoat is equipped with pressure disk lead screw copper sheathing 916, and pressure disk lead screw copper sheathing 916 overcoat is equipped with pressure disk lead screw copper sheathing seat 917, and pressure disk lead screw copper sheathing seat 917 passes through bolted connection in the top of pressure disk pinion stand 912. The platen fixing plate 90 is provided with a guide rod bearing seat 921 through bolts, a linear sliding bearing 922 is arranged in the guide rod bearing seat 921, and the linear sliding bearing 922 is sleeved outside the platen guide rod 92. And protective covers 94 are arranged on the outer sides of the pressure plate screw rod 91 and the pressure plate guide rod 92. The platen motor 914 drives the platen driving gear 915 to rotate, the platen gear 911 is in meshing transmission with the platen driving gear 915, and the platen screw 91 moves upwards or downwards relative to the platen gear 911. Along the direction of pressure disk lead screw 91 and pressure disk guide arm 92, when pressure disk lead screw 91 moves down, drive dish utensil clamp plate 9 position decline, dish utensil clamp plate 9 is inconsistent with the upper surface of dish utensil. When the pressure plate lead screw 91 moves upwards, the position of the plate pressing plate 9 is driven to rise, and the plate pressing plate 9 is far away from the upper surface of the plate. In the process of lifting the disc tool pressing plate 9, the pressure plate screw 91 slides relative to the pressure plate screw copper sleeve 916, and the pressure plate guide rod 92 slides relative to the linear sliding bearing 922, so that the lifting stability of the disc tool pressing plate 9 is ensured.

As shown in fig. 11 and 15, in the specific installation structure of the thread removing tip 5, the thread removing tip 5 is connected to the bottom of a thread removing lower pressing plate 51 through screws, both ends of the thread removing lower pressing plate 51 are connected with thread removing pressing rods 52 through screws, the thread removing pressing rods 52 penetrate through a base plate 50 and are connected with a thread removing upper pressing plate 53, and the thread removing upper pressing plate 53 is connected with a thread removing driving member. The two wire-releasing pressing rods 52 are sleeved with pressing rod bearing seats 521, linear sliding bearings 522 are installed between the pressing rod bearing seats 521 and the wire-releasing pressing rods 52, and the tops of the two pressing rod bearing seats 521 are installed on the lower surface of the base plate 50. In this embodiment, the wire-off driving member includes a wire-off motor 541, a wire-off driving gear 542, and a wire-off gear 543. The substrate 50 is mounted with a wire-disconnecting motor seat plate 5411 by bolts, and the wire-disconnecting motor 541 is mounted at the bottom of the wire-disconnecting motor seat plate 5411 by bolts. An output shaft of the thread take-off motor 541 penetrates through the thread take-off motor seat plate 5411 to be connected with a thread take-off driving gear 542, and the thread take-off driving gear 542 is meshed with the thread take-off gear 543. The center of the off-line gear 543 is connected to an off-line screw 544 through a screw, an off-line screw bearing base 545 is provided around the off-line screw 544, and the off-line screw bearing base 545 is mounted on the base plate 50. A washer 547 is installed between the wire-off gear 543 and the wire-off screw shaft bearing base 545, third bearings 546 are installed between the upper and lower ends of the wire-off screw shaft bearing base 545 and the wire-off screw 544, and a washer 548 is installed between the two third bearings 546. The thread end processing device is provided with a cover 55, and the cover 55 is used for covering the upper parts of the thread take-off gear 543, the thread take-off driving gear 542, the thread take-off pressing rod 52 and the thread take-off screw 544.

The wire-off motor 541 drives the wire-off driving gear 542 to rotate, the wire-off gear 543 is in meshing transmission with the wire-off driving gear 542, and the wire-off lead screw 544 moves up and down relative to the wire-off gear 543. The upper off-line pressing plate 53 moves up and down along with the off-line lead screw 544, the off-line pressing rod 52 moves up and down relative to the substrate 50, the lower off-line pressing plate 51 drives the off-line tip 5 to move up and down, when the off-line lead screw 544 descends, the off-line tip 5 props against the line catching device 100, and the line catching device 100 loosens the line head pressed in the line catching device 100. In the lifting process, the third bearing 546 and the linear sliding bearing 522 can ensure the smooth lifting of the off-line screw 544 and the off-line pressure rod 52.

As shown in fig. 23 and 26, in the specific structure of the thread stop block 6, the upper part of the thread stop block 6 is in a rectangular structure, and the lower part of the thread stop block 6 is in a triangular sheet structure. The upper portion of the thread blocking block 6 is provided with an internal thread hole, a long screw rod 61 is installed in the internal thread hole of the thread blocking block 6, and the screw rod 61 is provided with an external thread. Two screw supports 60 are mounted below the base plate 50, and both ends of the screw 61 are mounted to the screw supports 60 through bearings 611. One section of the screw 61 penetrates through the screw support 60 to be connected with a wire blocking screw gear 62, the wire blocking screw gear 62 is meshed with a wire blocking screw driving gear 63, the center of the wire blocking screw driving gear 63 is connected with a wire blocking motor 64, and the wire blocking motor 64 is fixedly installed on the screw support 60 through screws. A wire blocking limiting plate 65 is installed between the two screw supports 60, and the side wall of the rectangular structure on the upper portion of the wire blocking block 6 is abutted to the wire blocking limiting plate 65.

The wire blocking motor 64 drives the wire blocking screw driving gear 63 to rotate, the wire blocking screw gear 62 is in meshing transmission with the wire blocking screw driving gear 63, the screw 61 rotates along with the wire blocking screw gear 62, and the wire blocking block 6 is abutted against the wire blocking limiting plate 65 and is in threaded connection with the screw 61, so that when the screw 61 rotates, the wire blocking block 6 cannot rotate and can only move along the screw 61. When the thread removing tip 5 acts on the thread catcher 100, the thread blocking block 6 moves rapidly to push the thread end out of the thread catcher 100. When the wire blocking motor 64 rotates reversely, the wire blocking block 6 moves along the screw 61 to realize resetting through gear engagement and screw transmission.

The screw 61 can adopt a positive and negative tooth screw, the thread blocking blocks 6 are two, and the two thread blocking blocks 6 are respectively arranged on the positive tooth and the negative tooth of the screw 61. Because the wire collecting and arranging device of the enameled wire is used for improving the working efficiency, at least two wire collecting positions are generally arranged, and the opening directions of the wire traps 100 are different. Therefore, by providing the forward and backward threaded rod 61, the two thread stoppers 6 can be moved along the threaded rod 61 to both sides, and the thread stoppers 6 can be pushed out of the thread catcher 100 by contacting the thread ends regardless of which side the opening direction of the thread catcher 100 is directed.

As shown in fig. 22 and 24, a hooking strip 73 is mounted under the end of the base plate 50, and the hooking strip 73 is located in the middle of the two screw supports 60. The wire hooking support plate 73 is fixedly provided with a wire hooking driving device 71 through screws, and the front end of the wire hooking driving device 71 is connected with a wire hooking base 72. The hook part 7 is of an integrated structure and is integrally in a hook shape. The hooking part 7 comprises a hooking end 701 and a blocking end 702, an installation end 703 is arranged between the hooking end 701 and the blocking end 702, and the installation end 703 of the hooking part 7 is fixed on the hooking base 72. When the thread blocking block 6 pushes the thread end, and the thread hooking driving device 71 drives the hook end 701 to rotate, the hook end 701 hooks the thread end, and the blocking end 702 can limit the position of the hooked thread end, so as to ensure that the hooked thread end is tilted upwards. The thread hooking driving device 71 can adopt a motor or a steering cylinder, and the thread hooking driving device 71 is used for driving the rotation of the thread hooking part 7 so as to hook the thread end in the thread catcher 100. When a motor is used as the thread hooking driving device 71, the thread hooking base 72 is connected to an output shaft of the motor. When the steering cylinder is used as the thread hooking drive device 71, the thread hooking base 72 is connected to a rotating arm of the steering cylinder.

As shown in fig. 22 and 25, in the specific installation structure of the wire pressing portion 8, a rubber band in a belt shape is adopted as the wire pressing portion 8, two ends of the wire pressing portion 8 are respectively connected with a wire pressing driving device 81, the ends of the two wire pressing driving devices 81 are installed below the substrate 50 through a wire pressing bracket 82, and the wire pressing driving device 81 drives the wire pressing portion 8 to move in an extending or retracting manner. The front end of the line pressing driving device 81 is connected with a fixing head 83, the two ends of the rubber band are respectively connected with the fixing heads 83 of the line pressing driving devices 81 on the two sides and locked by a fixing splint 831, and the rubber band is positioned below the line hooking seat 72. The wire pressing driving device 81 employs an electric push rod (as shown in fig. 22) or an air cylinder (as shown in fig. 28). When the electric push rod is used as the line pressing driving device 81, the push rod portion of the electric push rod is mounted with the fixing head 83, and both ends of the rubber band are mounted with the fixing head 83 and locked with the fixing clamp 831. When an air cylinder is used as the line pressing driving device 81, a piston rod of the air cylinder is provided with a fixing head 83, and both ends of the rubber band are provided with the fixing head 83 and locked by a fixing clamp 831.

When the wire pressing driving device 81 is started, the wire hooking portion 7 installed on the wire hooking base 72 rotates, and the wire hooking portion 7 hooks up the wire end. Line ball drive arrangement 81 starts, drive line ball portion 8 (the rubber band promptly) is closed towards full dish one side, the line head after the rubber band will collude pushes down and makes the line head upwarp, the line head is upwards bent and upwarps and press close to dish utensil surface winding's line from the lower part guide of dish utensil out, after the line tail is cutting off, the line tail falls down along dish utensil surface winding's line, the line tail is caught by the line head of upwarping, make the line tail fall to the line head of bending downwards and dish utensil clearance between the surface, the line head catches on the line tail, line head and line tail can not be in disorder got rid of, can not fish tail winding line surface.

Example 2

As shown in fig. 27 to 29, the fully automatic platform sling gripping mechanism of the present embodiment 2 is mainly different from that of embodiment 1 in that a jaw driving device 24 for driving a jaw lever shaft 22, a control shaft driving member 44 for driving a control shaft 4, a lifting structure for driving a platform tool pressure plate 9, and a wire releasing driving member for driving a wire releasing center 5 are different. In this embodiment, pneumatic control is mainly adopted.

As shown in fig. 27, the clamping jaw driving device 24 employs an air cylinder 24B, a cylinder body of the air cylinder 24B is fixedly mounted on the gripping disk seat 25, and a piston rod of the air cylinder 24B passes through the gripping disk seat 25 and is connected with the clamping jaw pull rod shaft 22. When the air cylinder 24B is used as the jaw driving device 24, the piston rod of the air cylinder 24B controls the jaw lever shaft 22 to move forward or backward. When the jaw lever shaft 22 moves forward, the two jaw plates 21 open. When the jaw lever shaft 22 moves backward, the two jaw plates 21 are closed.

As shown in fig. 28, the off-line driving unit is a cylinder 54B, and is mounted on the substrate 50 through a cylinder block 549, and a piston rod of the off-line driving unit is connected to an off-line upper pressing plate 53. When the air cylinder 54B is used as the off-line driving member, the elevation of the off-line upper pressing plate 53 is controlled by the piston rod of the air cylinder 54B. Specifically, when the piston rod of the air cylinder 54B extends, the off-line upper pressing plate 53 moves upwards, the off-line pressing rod 52 moves upwards relative to the substrate 50, and the off-line lower pressing plate 51 drives the off-line tip 5 to move upwards; when the piston rod of the air cylinder 54B retracts, the thread take-off lower pressing plate 51 drives the thread take-off tip 5 to move downwards, and the thread take-off tip 5 abuts against the thread catcher 100 to release the thread end.

As shown in fig. 29, the control shaft driving member 44 is a cylinder 44B, a cylinder body of the cylinder 44B is mounted on the top of the hanging plate shaft 3, a piston rod of the cylinder 44B is connected to the top of the control shaft 4, and the cylinder body of the cylinder 44B is located in the fixing sleeve 30. When the air cylinder 44B is used as the control shaft driver 44, the control shaft 4 moves up and down with respect to the hoist shaft 3 by extending and contracting the piston rod of the air cylinder 44B. Specifically, when the piston rod of the air cylinder 44B extends, the control shaft 4 moves downward, the hinge block assembly 40 turns upward in the notch 31 and retracts into the wall of the hanging scaffold shaft 3, and the plate is released; when the piston rod of the cylinder 44B retracts, the control shaft 4 moves upward, and the hinge block assembly 40 turns downward at the notch portion 31, extends out of the outer wall of the hanging plate shaft 3, and can hang the plate.

As shown in fig. 29, a platen cylinder 93 is connected to the platen fixing plate 90, and a piston rod of the platen cylinder 93 is connected to the platen presser plate 9. The position of the plate pressing plate 9 is controlled to move by the extension and contraction of the piston rod of the pressure plate cylinder 93, when the piston rod of the pressure plate cylinder 93 extends out, the position of the plate pressing plate 9 descends, the plate pressing plate 9 is abutted to the upper surface of the plate, and when the piston rod of the pressure plate cylinder 93 retracts, the plate pressing plate 9 resets.

The utility model has the advantages of being scientific and reasonable, compact structure collects empty dish rightting, end of a thread line tail is handled, dish utensil hoist and transfer in an organic whole, realizes the full automatization operation, has improved work efficiency, satisfies the demand of high-speed production. The clamping jaw pull rod shaft 22 moves forwards or backwards in a gear transmission and thread mutual rotation mode or a cylinder control mode, so that the clamping jaw plate 21 is controlled to be closed or opened, and the non-upright disc is grabbed or loosened. The lifting activity of the thread releasing tip 5 is realized by combining a gear transmission mode with a thread mutual rotation mode or an air cylinder control mode, the thread releasing tip 5 acts on the thread catcher 100 to loosen the thread end, the thread blocking plate 6 is controlled to move towards two sides through a positive and negative screw rod, the contact type mechanicalness ensures that the thread end is pushed, meanwhile, the thread hooking driving device 71 drives the thread hooking part 7 to hook the thread end upwards, the thread end is ensured to be separated from the thread catcher 100 and is in an upwarping shape, the thread pressing part 8 (namely a rubber band) is driven by the thread pressing driving device 81 to enable the thread end to be bent and upwarped so as to hook the thread tail, and the wound thread surface can not be scratched after the thread end and the thread tail are fixed. The hanging disc shaft 3 is inserted into a central hole of a disc tool, the control shaft driving part 44 is used for driving the rotary nut 45 to rotate, the control shaft 4 does not rotate due to the limit pin 4221, the rotary nut 45 and the control shaft 4 rotate mutually through threads, the control shaft 4 moves up and down, or the control shaft 4 is controlled to move up and down through the air cylinder, the control shaft 4 drives the hinge block assembly 40 to rotate in a contact type mechanical mode, the hinge block assembly 40 is unfolded or retracted, and the hinge block assembly 40 hooks the top surface of the disc tool from the central hole of the disc tool. The lifting of the plate pressing plate 9 is realized by combining a gear transmission mode with a thread mutual rotation mode or an air cylinder control mode, the plate pressing plate 9 can press the upper surface of the plate, and the lifting stability of the plate is ensured. Through setting up many pairs of articulated block assembly 40, improve this full-automatic platform sling and snatch the commonality of mechanism, avoided the trouble of accessory change.

The foregoing is only a few embodiments of the present invention, and it should be noted that, for those skilled in the art, other modifications and improvements can be made without departing from the inventive concept of the present invention, and all of them belong to the protection scope of the present invention.

Claims (20)

1. The full-automatic hanging scaffold grabbing mechanism is characterized by comprising a base, a thread end processing device arranged at one end of the base, and a hoisting device arranged at the other end of the base, wherein the base is provided with a manipulator positioning ring, one side of the manipulator positioning ring is provided with a grabbing device, and the grabbing device comprises a clamping jaw plate capable of grabbing a scaffold.

2. The mechanism of claim 1, wherein the gripping device further comprises a clamping jaw pull shaft and a clamping jaw fixing sleeve, the clamping jaw fixing sleeve is disposed outside the clamping jaw pull shaft, the clamping jaw plates are disposed in pairs and connected to the clamping jaw pull shaft through a clamping jaw connecting plate, the clamping jaw pull shaft is connected to a clamping jaw driving device, and the clamping jaw driving device drives the clamping jaw pull shaft to extend and retract so as to open or close the clamping jaw plates disposed in pairs.

3. The mechanism of claim 2, wherein the gripping device further comprises a gripping disk seat, the gripping jaw driving device comprises a gripping disk motor, a gripping disk driving gear and a gripping disk gear, the gripping disk motor is mounted on the gripping disk seat, an output shaft of the gripping disk motor is connected to the gripping disk driving gear, the gripping disk driving gear is meshed with the gripping disk gear, the gripping jaw pull rod shaft is connected with the gripping disk gear through a thread, and the gripping disk gear is rotatably mounted on the gripping disk seat.

4. The mechanism is grabbed to full-automatic platform sling according to claim 1, characterized in that, the device of hoisting includes platform sling axle, control shaft and articulated block subassembly, the platform sling axle is hollow structure, the control shaft is located the platform sling axle, articulated block subassembly is the symmetry setting for the control shaft, articulated block subassembly passes through locating pin rotatable coupling in the platform sling axle, the one end of articulated block subassembly can movably articulate in the control shaft, the outer wall of platform sling axle is equipped with the breach portion that supplies articulated block subassembly to expand or retract, the control shaft is connected with the control shaft driving piece to realize that the control shaft reciprocates, drives the expansion or retraction of articulated block subassembly relative to the platform sling axle, the upper portion cover of platform sling axle is equipped with fixed cover, fixed cover is connected in the base.

5. The full-automatic hanging scaffold grabbing mechanism according to claim 4, wherein the hanging scaffold shaft is provided with three sections of outer diameters with different sizes, the corresponding control shaft is also provided with three sections of outer diameters with different sizes, and the three sections are sequentially called as an upper hinge section, a middle hinge section and a lower hinge section, the hinge block assembly comprises an upper hinge block, a middle hinge block and a lower hinge block which are all arranged in pairs, notches for the upper hinge block to be connected are formed in two sides of the upper hinge section, an accommodating hole for the middle hinge block to be accommodated is formed in the middle hinge section, an avoiding portion for accommodating the lower hinge block is formed in the lower hinge section, a guide pin is arranged in the avoiding portion, and an installation groove matched with the guide pin is formed in the end portion of the lower hinge block.

6. The mechanism as claimed in claim 5, wherein the control shaft is connected with a rotating nut by a screw thread, the rotating nut is sleeved with a nut seat, a first bearing is arranged between the nut seat and the rotating nut, the nut seat is mounted on the upper portion of the hanging plate shaft, the rotating nut is connected with a control shaft driving member, the control shaft driving member is mounted on the nut seat by a seat cover, and the lower end of the fixing sleeve is provided with a lower cover plate of the fixing sleeve.

7. The mechanism of claim 6, wherein the driving member of the control shaft is a servo motor, the control shaft has a vertical guide slot, a limit pin passes through the guide slot, and two ends of the limit pin are mounted on the hanging scaffold shaft.

8. The mechanism as claimed in claim 5, wherein the control shaft driving member is a cylinder, the control shaft driving member is mounted on the top of the hanging plate shaft, the piston rod of the control shaft driving member is connected to the top of the control shaft, a fixing sleeve is sleeved on the upper portion of the hanging plate shaft, a lower cover plate of the fixing sleeve is disposed at the lower end of the fixing sleeve, and the cylinder body of the control shaft driving member is located in the fixing sleeve.

9. The mechanism as claimed in claim 6 or 8, wherein the lower cover plate of the fixed sleeve is connected with a platen fixing plate, the outer of the hanging scaffold shaft is sleeved with a scaffold pressing plate, and the scaffold pressing plate is connected below the platen fixing plate in a lifting manner.

10. The full-automatic hanging scaffold grabbing mechanism according to claim 9, wherein two ends of the scaffold pressing plate are respectively connected with a pressing plate screw rod and a pressing plate guide rod, the pressing plate screw rod is connected with a pressing plate gear through threads, the pressing plate gear is mounted on a pressing plate fixing plate through a pressing plate gear seat, a second bearing is arranged between the pressing plate gear and the pressing plate gear seat, the pressing plate fixing plate is provided with a pressing plate motor, an output shaft of the pressing plate motor is connected with a pressing plate driving gear, and the pressing plate driving gear is meshed with the pressing plate gear.

11. The mechanism is grabbed to full-automatic platform sling of claim 9, wherein the platen fixed plate is connected with a platen cylinder, and a piston rod of the platen cylinder is connected with a platen clamp.

12. The full-automatic hanging scaffold grabbing mechanism according to claim 1 or 4 is characterized in that the thread end processing device comprises a substrate, a thread releasing center, a thread blocking block, a thread hooking portion and a thread pressing portion, the thread releasing center is movably connected to the substrate in a lifting mode, the thread hooking portion is rotatably connected to the substrate and located on the outer side of the thread releasing center, the thread blocking block is located between the thread releasing center and the thread hooking portion and can move left and right relative to the thread releasing center, the thread pressing portion can move in a stretching or retracting mode relative to the thread hooking portion, and the substrate is connected to the base.

13. The mechanism is snatched to full-automatic platform sling according to claim 12, characterized in that, the stop line piece has the screw rod through threaded connection, the screw rod is positive and negative tooth screw rod, the stop line piece is equipped with two, two the stop line piece is located the positive tooth and the negative tooth of screw rod respectively, the below of base plate is equipped with screw rod support, the screw rod passes screw rod support and is connected with stop line screw gear, stop line screw gear meshing has stop line screw drive gear, stop line screw drive gear's center is connected with the stop line motor, the stop line motor is installed in screw rod support, screw rod support installs the stop line limiting plate, the upper portion lateral wall and the stop line limiting plate of stop line piece are contradicted.

14. The mechanism as claimed in claim 13, wherein the off-line center is connected with an off-line lower pressing plate, two ends of the off-line lower pressing plate are provided with off-line pressing rods, the off-line pressing rods penetrate through the base plate and are connected with an off-line upper pressing plate, the off-line pressing rods are sleeved with pressing rod bearing blocks, linear sliding bearings are arranged between the pressing rod bearing blocks and the off-line pressing rods, the pressing rod bearing blocks are mounted on the base plate, and the off-line upper pressing plate is connected with an off-line driving member.

15. The mechanism of claim 14, wherein the wire-releasing driving member comprises a wire-releasing motor, a wire-releasing driving gear and a wire-releasing gear, the wire-releasing motor is mounted on the base plate, an output shaft of the wire-releasing motor is connected to the wire-releasing driving gear, the wire-releasing driving gear is engaged with the wire-releasing gear, a wire-releasing screw is connected to the center of the wire-releasing gear through a screw, a bearing seat for the wire-releasing screw is sleeved outside the wire-releasing screw, and a third bearing is arranged between the bearing seat for the wire-releasing screw and the wire-releasing screw.

16. The mechanism of claim 14, wherein the wire-off driving member is a cylinder, the wire-off driving member is mounted on the base plate through a cylinder seat, and a piston rod of the wire-off driving member is connected to the wire-off upper pressing plate.

17. The mechanism of claim 12, wherein a hook plate is disposed below the base plate, the hook plate is provided with a hook driving device, the hook driving device is connected to a hook base, the hook is integrally formed and is integrally hook-shaped, the hook comprises a hook end and a stop end, a mounting end is disposed between the hook end and the stop end, and the mounting end of the hook is fixed to the hook base.

18. The mechanism of claim 17, wherein the wire hooking driving device is a motor or a steering cylinder, and the wire hooking base is connected to an output shaft of the motor or a rotating arm of the steering cylinder.

19. The mechanism as claimed in claim 18, wherein the pressing portion is made of rubber band, two ends of the pressing portion are connected to a pressing driving device, the ends of the pressing driving device are mounted under the base plate through a pressing bracket, and the pressing driving device drives the pressing portion to move in an extending or retracting manner.

20. The mechanism of claim 19, wherein the pressing line driving device is an electric push rod or an air cylinder, and the pressing line is connected to a push rod part of the electric push rod or a piston rod of the air cylinder.

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