CN215511097U - Manipulator with adsorb and internal stay function - Google Patents

Abstract

The application discloses a manipulator with adsorption and internal support functions, which relates to the technical field of transportation equipment and comprises a main beam, a gripping device fixedly connected to the main beam, a sucker component and a lifting component for driving a sucker to move, wherein one end of the main beam is an installation end, and the other end of the main beam is a fixed end; when having realized removing a yarn section of thick bamboo with grabbing device, remove the backup pad with the sucking disc subassembly, and then solve the function that traditional manipulator can't carry the backup pad, do not remove the backup pad at needs staff to realize the full automatization, effectively improve work efficiency.

Description

Manipulator with adsorb and internal stay function

Technical Field

The application relates to the technical field of transportation equipment, in particular to a manipulator with adsorption and internal support functions.

Background

The yarn bobbin is a device that is used for spinning winding and accomodates, and the wide application is in fabrics production and processing to different yarn bobbins are highly different.

A traditional manipulator for snatching a yarn section of thick bamboo is provided with internal expanding formula grabbing device, inserts grabbing device during the use and outwards expands in the through-hole of a yarn section of thick bamboo with conflict yarn section of thick bamboo inner wall after to grab a yarn section of thick bamboo aloft.

In view of the above-mentioned related technologies, the inventor found that at present, when yarn bobbins are stacked, the yarn bobbins need to be stacked in a manner of one layer of yarn bobbins and one layer of supporting plates, the supporting plates cannot be carried by the traditional manipulator, the traditional manipulator usually needs to be manually placed, and automation is not enough.

SUMMERY OF THE UTILITY MODEL

For improving work efficiency, this application provides a manipulator with adsorb and internal stay function.

The application provides a manipulator with adsorb and internal stay function adopts following technical scheme: the utility model provides a manipulator with adsorb and internal stay function, includes girder and the grabbing device of fixed connection on the girder, still includes the sucking disc subassembly and is used for driving the lifting unit that sucking disc subassembly removed, the one end of girder is the stiff end for the installation end other end, grabbing device fixed connection is on the bottom surface that the girder is close to the installation end, also fixed connection of lifting unit is on the bottom surface that the girder is close to the installation end, sucking disc subassembly fixed connection is on lifting unit.

Through adopting the above technical scheme, during the use, staff's control girder is close to a yarn section of thick bamboo, make grabbing device insert the through-hole of a yarn section of thick bamboo in the back outwards expand with conflict yarn section of thick bamboo inner wall, it removes to drive a yarn section of thick bamboo, and place in the storage area, then the staff is at the direction motion of control lift subassembly drive sucking disc subassembly to keeping away from the girder, thereby make sucking disc subassembly protrusion grabbing device, this moment staff's control girder is close to the backup pad when, sucking disc subassembly priority contacts the backup pad, thereby adsorb the backup pad, then the top of arranging good yarn section of thick bamboo is placed with the backup pad to the girder of controlling again, then the staff adjusts sucking disc subassembly at control lift subassembly and resets, and then solve the function of the unable transport backup pad of traditional manipulator, do not remove the backup pad at needs staff, in order to realize the full automatization, effectively improve work efficiency, and because sucking disc subassembly can protrude grabbing device or grabbing device protrusion sucking disc subassembly through lift subassembly drive The piece has avoided sucking disc subassembly and grabbing device in-process to take place the conflict.

Preferably, lifting unit includes the support frame, support frame fixed connection is on the bottom surface of girder, support frame and grabbing device are with setting up on the bottom surface of girder, two cylinders of last fixedly connected with of support frame, two the cylinder symmetry sets up the both sides at the girder, the support frame is passed downwards to the output shaft of cylinder is vertical, the sucking disc subassembly has two, two sucking disc subassembly fixed connection is respectively at the output of two cylinders.

Through adopting above-mentioned technical scheme, because the cylinder is mutual symmetry setting in the backup pad to two cylinders are unanimous relatively to the pressure that the support frame was applyed, thereby make the atress of lift group price support frame in the course of the work even relatively, thereby ensure the stability of lifting unit in the course of the work.

Preferably, the lifting assembly further comprises two groups of guide rods, the two groups of guide rods correspond to the two sucker assemblies respectively, one ends of the guide rods are fixedly connected with the sucker assemblies, and the other ends of the guide rods penetrate through the support frame and are arranged on the support frame in a sliding mode.

Through adopting above-mentioned technical scheme, when the cylinder promoted the motion of sucking disc subassembly, the sucking disc subassembly can drive the guide bar and slide at the support frame to utilize the guide bar can only the up-and-down motion's nature to ensure the stability of sucking disc subassembly in the motion process.

Preferably, the sucking disc subassembly includes fixed plate, connecting axle, sucking disc spare and two nuts, the output of guide bar and cylinder respectively with the top surface fixed connection of fixed plate, the one end and the sucking disc spare fixed connection of connecting axle, the other end of connecting axle passes the fixed plate and slides and set up on the fixed plate, two the nut distributes in the both sides of fixed plate and respectively with connecting axle threaded connection.

Through adopting above-mentioned technical scheme, because yarn section of thick bamboo height differs, the work can be according to the difference in height of the output of not co-altitude yarn section of thick bamboo regulation sucking disc spare and grabbing device output, and during the regulation, work rotates two nuts, changes the position of two nuts on the connecting axle to change the distance between sucking disc spare and the fixed plate, and then realize adjusting the difference in height of the output of sucking disc spare and grabbing device output.

Preferably, the sucking disc spare includes the sucking disc, sucking disc fixed connection is at the tip of connecting axle, the sucking disc includes sucking disc upper portion and sucking disc lower part, the tie point of sucking disc upper portion and sucking disc lower part is sunken to sucking disc central line department, fixedly connected with vacuum generator on the girder, be connected with the pipeline between vacuum generator and sucking disc.

Through adopting above-mentioned technical scheme, when the sucking disc contacted with the backup pad, the sucking disc lower part was preferred to be contacted with the backup pad to when touching the backup pad, the sucking disc lower part can be by the striking of depressed part and sucking disc upper portion, thereby slowed down the impact of sucking disc to the backup pad, the staff started vacuum generator after the sucking disc contacted and extracted the inside air of sucking disc, thereby made the backup pad adsorbed at the sucking disc, and then drove the backup pad and take place to remove.

Preferably, a drag chain is arranged on the fixing plate, one end of the pipeline is communicated with the vacuum generator, and the other end of the pipeline penetrates through the drag chain to be communicated with the suction cup.

Through adopting above-mentioned technical scheme, utilize the guide of tow chain, accomplish the constraint to the pipeline, reduce the pipeline and appear winding phenomenon and take place.

Preferably, the vacuum generator is fixedly connected to the side wall of the main beam, and the vacuum generator is located above the support frame.

Through adopting above-mentioned technical scheme, set up vacuum generator in the top of support frame, reduce the connection length of pipeline to reduce vacuum generator extraction vacuous working distance, reduce vacuum generator's operating time, improve work efficiency.

Preferably, grabbing device includes the interior bracer of two mutual symmetries and is used for driving the driving source that the interior bracer removed, two interior bracer sets up in the bottom surface of support frame girder dorsad, two the face that interior bracer deviates from each other is the working face, two the working face of interior bracer is inwards fallen to have the circular arc.

By adopting the technical scheme, when the two inner supporting blocks are driven to be inserted into the through hole of the yarn barrel, the supporting block at the lower end of the circular arc shape is conveniently inserted into the through hole, and the positioning time is shortened.

Preferably, the side walls of the two inner supporting blocks which deviate from each other are respectively provided with a clamping groove, and the clamping grooves are far away from the lower ends of the supporting blocks.

Through adopting above-mentioned technical scheme, when the through-hole of a yarn section of thick bamboo was inserted to two interior vaulting blocks, when two supporting shoes of driving source drive separated, the draw-in groove card was established on the border of the through-hole of a yarn section of thick bamboo to the clamping-force of two supporting shoes of reinforcing guarantees the stability of a yarn section of thick bamboo in the removal process.

Preferably, the girder is back to the top surface fixedly connected with mounting of support frame, the mounting is extended to the stiff end by the installation end of girder.

By adopting the technical scheme, the strength and rigidity of the main beam are enhanced under the condition that the thickness of the main beam is not increased, the production material of the main beam is reduced, the weight of the main beam is reduced, the flexibility of the main beam in the movement process is ensured, and the production cost is also reduced.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the grabbing device and the sucker assembly are arranged on one main beam, so that the supporting plate is moved by the sucker assembly when the yarn barrel is moved by the grabbing device, the problem that the supporting plate cannot be carried by a traditional manipulator is solved, the supporting plate is not required to be carried by workers, full automation is realized, and the working efficiency is effectively improved;

2. the lifting assembly for driving the sucker assembly to extend and contract is arranged on the main beam, so that the sucker assembly and the grabbing device are prevented from being punched in the working process;

3. the outer end of the middle of the sucker is arranged to be concave towards the central line of the sucker, so that the lower part of the sucker can be impacted with the upper part of the sucker through the concave part when the sucker touches the supporting plate, and the impact force of the sucker on the supporting plate is reduced.

Drawings

Fig. 1 is an operation state diagram of an embodiment of the present application.

Fig. 2 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 3 is an enlarged view at Q in fig. 2.

Description of reference numerals: 100. a main beam; 110. a fixing member; 120. a drag chain; 200. a suction cup device; 210. a fixing plate; 220. a connecting shaft; 230. a nut; 240. a suction cup; 250. a vacuum generator; 300. a grasping assembly; 310. an inner supporting block; 320. a card slot; 400. a lifting assembly; 410. a support frame; 420. a cylinder; 430. a guide rod.

Detailed Description

The present application is described in further detail below with reference to figures 1-3. The application discloses manipulator with adsorb and internal stay function, refer to fig. 1 and fig. 2 and show, a manipulator with adsorb and internal stay function, including girder 100, the one end of girder 100 is the stiff end for the installation end other end, and the stiff end of girder 100 is installed on the portal frame, and wherein, the portal frame can drive girder 100 and move on horizontal direction and vertical direction. The fixing member 110 is fixedly connected to the top surface of the main beam 100, the fixing member 110 extends from the mounting end to the fixing end of the main beam 100, the fixing member 110 is arranged in a triangular shape, and a hollow hole groove is formed in the end surface of the fixing member 110. The mounting end of girder 100 is provided with grabbing device and sucking disc device 200, and grabbing device has a plurality ofly, and a plurality of grabbing device evenly set up along the length direction of girder 100, and sucking disc device 200 also is provided with a plurality ofly, and a plurality of sucking disc devices 200 set up one by one between two adjacent grabbing device.

Referring to fig. 2 and 3, the suction cup device 200 includes a suction cup assembly and a lifting assembly 400 for driving the suction cup assembly to move. The lifting assembly 400 includes a support frame 410, two air cylinders 420, and four guide rods 430, wherein the support frame 410 is fixedly connected to the bottom surface of the main beam 100, and two ends of the support frame 410 extend outward along the width direction of the main beam 100. The two air cylinders 420 are fixedly connected to the support frame 410 and located at two sides of the main beam 100, and output ends of the two air cylinders 420 vertically face downwards and penetrate through the support frame 410. The sucking disc subassembly has two, two sucking disc subassemblies one-to-one two cylinders 420, and fixed connection is respectively at two cylinders 420's output. Two guide rods 430 are distributed on two sides of the cylinder 420, the guide rods 430 are slidably arranged on the support frame 410, and one end of each guide rod 430 penetrates through the support frame 410 and is fixedly connected with the suction cup assembly.

During use, a worker starts the air cylinder 420, the air cylinder 420 pushes the suction cup assembly to move upwards along the vertical direction, and the guide rod 430 is driven to slide on the support frame 410 along the vertical direction, so that the suction cup assembly is driven to drive the support plate to move.

Referring to fig. 2 and 3, the suction cup assembly includes a fixing plate 210, a connecting shaft 220 and a suction cup, and an upper end surface of the fixing plate 210 is fixedly connected to an output end of the air cylinder 420 and the guide rod 430, respectively. One end of the connecting shaft 220 is slidably disposed on the fixing plate 210, and the other end of the connecting shaft 220 is fixedly connected to a suction cup, which is located below the fixing plate 210. Two nuts 230 are screwed on the connecting shaft 220, the two threads are respectively located at the upper and lower sides of the fixing plate 210, and the two nuts 230 are respectively abutted to the end surface of the fixing plate 210.

Referring to fig. 2 and 3, the suction cup member includes a suction cup 240 and a vacuum generating member, the suction cup 240 includes an upper portion of the suction cup 240 and a lower portion of the suction cup 240, one end of the upper portion of the suction cup 240 is fixed to the connecting shaft 220, and an inner through groove is axially formed in the connecting shaft 220 and is communicated with an inner cavity of the suction cup 240. The other end of the upper portion of the suction cup 240 is connected to the lower portion of the suction cup 240, the lower portion of the suction cup 240 is opened away from the upper portion of the suction cup 240, and the lower portion of the suction cup 240 is communicated with the upper portion of the suction cup 240. Wherein, the connection point of the upper part of the suction cup 240 and the lower part of the suction cup 240 is concave toward the center line of the suction cup 240. The vacuum generator 250 is fixedly attached to the side wall of the main beam 100, and the vacuum generator 250 is located above the support frame 410. A pipeline is connected between the connecting shaft 220 and the fixed generator, one end of the pipeline is communicated with the inner through groove of the connecting shaft 220, and the other end of the pipeline is communicated with the vacuum generator 250. The fixed plate 210 is further provided with a drag chain 120, and the pipeline passes through the drag chain 120.

When sucking disc spare and backup pad contact, the sucking disc 240 lower part can be piled up to sucking disc 240 upper portion, then the staff starts vacuum generator 250 and absorbs the air in sucking disc 240, and the air comes out in sucking disc 240 through interior logical groove, reachs vacuum generator 250 through the pipeline again, makes the backup pad adsorb on sucking disc 240 to drive the backup pad and remove.

Referring to fig. 2 and 3, the grasping apparatus includes two inner support blocks 310 symmetrical to each other and a driving source for driving the two inner support blocks 310 to move. The two inner supporting blocks 310 are slidably arranged on the bottom surface of the supporting frame 410, which faces away from the main beam 100, the two inner supporting blocks 310 are mutually away from the surface to form a working surface, and the working surfaces of the two inner supporting blocks 310 are inwards inverted to form an arc. The side walls of the inner supporting blocks 310 which are deviated from each other are also respectively provided with a clamping groove 320, and the clamping grooves 320 are far away from the lower ends of the supporting blocks. The driving source may be electrically driven, pneumatically driven, or hydraulically driven.

In one embodiment, one inner supporting block 310 is fixed on the supporting frame 410, and the other inner supporting block 310 is slidably disposed on the supporting frame 410, so that the movable inner supporting block 310 slides away from or close to the fixed inner supporting block 310 under the driving of the driving source, thereby forming an opened or closed state of the two inner supporting blocks 310.

In another embodiment, the two inner supporting blocks 310 are respectively slidably disposed on the supporting frame 410, and the two inner supporting blocks 310 are driven by the driving source to slide in a direction away from or towards each other, so that the two inner supporting blocks 310 are opened or closed.

The embodiment of the application is an implementation principle of a manipulator with adsorption and internal support functions: when the gantry type yarn bobbin loading device is used, the gantry type yarn bobbin loading device carries the main beam 100 to reach an operation area, then drives the main beam 100 to move along the vertical direction, enables the inner supporting block 310 to be close to a yarn bobbin and inserted into a through hole of the yarn bobbin, and then drives the yarn bobbin to reach a designated position.

Then, the cylinder 420 is started, the cylinder 420 pushes the fixing plate 210 to move along the vertical direction, the sucker 240 protrudes out of the inner supporting block 310, the sucker 240 is contacted with the supporting plate, the vacuum generator 250 is started to suck air in the sucker 240, the air comes out from the sucker 240, passes through the inner through groove, and reaches the vacuum generator 250 through the pipeline, so that the supporting plate is adsorbed on the sucker 240, and the supporting plate is driven to move.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. The utility model provides a manipulator with adsorb and internal stay function, includes girder (100) and the grabbing device of fixed connection on girder (100), its characterized in that: still include sucking disc subassembly and be used for driving sucking disc subassembly lifting unit (400) that remove, the one end of girder (100) is the installation end other end for the stiff end, grabbing device fixed connection is on girder (100) are close to the bottom surface of installation end, also fixed connection of lifting unit (400) is on girder (100) are close to the bottom surface of installation end, sucking disc subassembly fixed connection is on lifting unit (400).

2. The manipulator with the functions of adsorption and internal bracing according to claim 1, characterized in that: lifting unit (400) includes support frame (410), support frame (410) fixed connection is on the bottom surface of girder (100), support frame (410) and grabbing device are with setting up on the bottom surface of girder (100), two last two cylinders (420) of fixedly connected with of support frame (410), two cylinder (420) symmetry sets up the both sides at girder (100), support frame (410) is passed downwards to the output shaft of cylinder (420) is vertical, the sucking disc subassembly has two, two sucking disc subassembly fixed connection is respectively at the output of two cylinders (420).

3. The manipulator with the functions of adsorption and internal bracing according to claim 2, characterized in that: the lifting assembly (400) further comprises two groups of guide rods (430), the two groups of guide rods (430) correspond to the two sucker assemblies respectively, one ends of the guide rods (430) are fixedly connected with the sucker assemblies, and the other ends of the guide rods (430) penetrate through the support frame (410) and are arranged on the support frame (410) in a sliding mode.

4. The manipulator with the functions of adsorption and internal bracing according to claim 3, characterized in that: the sucking disc subassembly includes fixed plate (210), connecting axle (220), sucking disc spare and two nuts (230), the output of guide bar (430) and cylinder (420) respectively with the top surface fixed connection of fixed plate (210), the one end and the sucking disc spare fixed connection of connecting axle (220), the other end of connecting axle (220) passes fixed plate (210) and slides and set up on fixed plate (210), two nut (230) distribute in the both sides of fixed plate (210) and respectively with connecting axle (220) threaded connection.

5. The manipulator with the functions of adsorption and internal bracing according to claim 4, characterized in that: sucking disc spare includes sucking disc (240), sucking disc (240) fixed connection is at the tip of connecting axle (220), sucking disc (240) are including sucking disc (240) upper portion and sucking disc (240) lower part, the tie point of sucking disc (240) upper portion and sucking disc (240) lower part is sunken to sucking disc (240) central line department, fixedly connected with vacuum generator (250) on girder (100), be connected with the pipeline between vacuum generator (250) and sucking disc (240).

6. The manipulator with the functions of adsorption and internal bracing according to claim 5, characterized in that: the fixed plate (210) is provided with a drag chain (120), one end of the pipeline is communicated with a vacuum generator (250), and the other end of the pipeline penetrates through the drag chain (120) to be communicated with the suction cup (240).

7. The manipulator with the functions of adsorption and internal bracing according to claim 5, characterized in that: the vacuum generator (250) is fixedly connected to the side wall of the main beam (100), and the vacuum generator (250) is positioned above the supporting frame (410).

8. The manipulator with the functions of adsorption and internal bracing according to claim 2, characterized in that: grabbing device includes interior bracer (310) of two mutual symmetries and is used for driving the driving source that interior bracer (310) removed, two interior bracer (310) set up in the bottom surface of support frame (410) girder (100) dorsad, two the face that interior bracer (310) deviates from each other is the working face, two the working face of interior bracer (310) is inwards fallen to have the circular arc.

9. The manipulator with the functions of adsorption and internal bracing according to claim 8, characterized in that: the side walls of the two inner supporting blocks (310) which are deviated from each other are respectively provided with a clamping groove (320), and the clamping grooves (320) are far away from the lower ends of the supporting blocks.

10. The manipulator with the functions of adsorption and internal bracing according to claim 2, characterized in that: the top surface fixedly connected with mounting (110) of girder (100) dorsad support frame (410), mounting (110) are held by the installation of girder (100) and are extended to the stiff end.

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