CN215589188U - Spindle snatchs manipulator with adjustable interval - Google Patents
Spindle snatchs manipulator with adjustable interval Download PDFInfo
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- CN215589188U CN215589188U CN202121080474.3U CN202121080474U CN215589188U CN 215589188 U CN215589188 U CN 215589188U CN 202121080474 U CN202121080474 U CN 202121080474U CN 215589188 U CN215589188 U CN 215589188U
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Abstract
A space-adjustable spindle grabbing mechanical arm comprises a rotary driving device and a yarn grabbing mechanical arm, wherein the yarn grabbing mechanical arm is arranged on the rotary driving device, and the rotary driving device can drive the yarn grabbing mechanical arm to rotate within a range of 360 degrees; yarn grabbing manipulator is including grabbing yarn manipulator support body, the interval adjust cylinder that two symmetries set up, the clamping jaw cylinder slide and a set of fixed clamping jaw cylinder that two symmetries set up, clamping jaw cylinder slide and grabbing yarn manipulator support body sliding connection to be connected with movable clamping jaw cylinder on the clamping jaw cylinder slide, a set of fixed clamping jaw cylinder is fixed to be set up on grabbing yarn manipulator support body. The spindle grabbing manipulator with the adjustable space can carry a plurality of spindles with different spaces at the same time, can adapt to the condition of angle change in the same production line and different production lines, and can accurately position spindle paper tubes, so that smooth carrying of the spindles is guaranteed, manpower is liberated, and production efficiency is greatly improved.
Description
Technical Field
The utility model belongs to the technical field of advanced manufacturing and production automation, and particularly relates to a spindle grabbing manipulator with adjustable spacing.
Background
A spindle, also called spindle, is a part of a spinning machine used to twist fibers into yarn and wind them into a certain shape. According to the spinning requirement, different thick spindles or thin spindles can be matched, and the more spindles on the machine, the higher the spinning efficiency.
Carrying of spindle needs to be carried out in a production workshop, and currently, two modes exist in the grabbing process of the spindle:
one way is to manually grasp the workpiece by a worker and then manually discharge the workpiece to an accurate position, which not only increases the number of operation steps but also wastes labor;
the other mode is automatic grabbing by using a manipulator, the grabbing problem of the spindle can be quickly solved, the grabbing clamp and the spindle cannot grab the spindle frequently in the grabbing process, and the grabbing clamp cannot accurately grab the spindle frequently, so that time is wasted in the grabbing clamp process, the error rate is improved, and the production efficiency is reduced.
In addition, the clamping jaws arranged on the manipulator for carrying the spindles in the prior art are of fixed structures, so that the spindles with unfixed space are inconvenient to operate, the transfer efficiency is low in the use process, and the production efficiency of the spindles is reduced.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims to provide a spindle grabbing manipulator with adjustable spacing, which solves the problem that in the prior art, a spindle grabbing clamp is provided with a fixed spindle clamping jaw, so that in the grabbing process of a spindle, a clamping jaw cylinder is of a fixed structure, and the yarn grabbing capacity is limited.
The technical scheme is as follows: the utility model provides a spindle grabbing manipulator with adjustable spacing, which comprises a rotary driving device and a spindle grabbing manipulator, wherein the spindle grabbing manipulator is arranged on the rotary driving device, and the rotary driving device can drive the spindle grabbing manipulator to rotate within a range of 360 degrees; the yarn grabbing manipulator comprises a yarn grabbing manipulator frame body, two symmetrical distance adjusting cylinders, two symmetrical clamping jaw air cylinder sliding plates and a set of fixed clamping jaw air cylinders, the yarn grabbing manipulator frame body is connected with a rotary driving device, the two symmetrical distance adjusting cylinders are fixedly arranged on the yarn grabbing manipulator frame body, the two symmetrical distance adjusting cylinders and the two symmetrical clamping jaw air cylinder sliding plates are arranged in a one-to-one correspondence mode, piston rods of the distance adjusting cylinders are connected with the clamping jaw air cylinder sliding plates, the clamping jaw air cylinder sliding plates are connected with the yarn grabbing manipulator frame body in a sliding mode, movable clamping jaw air cylinders are connected onto the clamping jaw air cylinder sliding plates, and the set of fixed clamping jaw air cylinders are fixedly arranged on the yarn grabbing manipulator frame body. The spindle grabbing manipulator with the adjustable space can carry a plurality of spindles with different spaces at the same time, can adapt to the condition of angle change in the same production line and different production lines, and can accurately position spindle paper tubes, so that smooth spindle carrying is guaranteed.
Further, the spindle snatchs manipulator with adjustable foretell interval, it includes connecting plate one, spliced pole one, connecting plate two and U type backup pad to grab yarn manipulator support body, connecting plate one and rotary drive device are connected to connecting plate one sets up the one end at spliced pole one, connecting plate two sets up the other end at spliced pole one, U type backup pad and two fixed connection of connecting plate.
Further, the spindle snatchs manipulator with adjustable foretell interval, all fixed slider one that is equipped with on two relative inner walls of U type backup pad, clamping jaw cylinder slide is close to and is equipped with linear guide one on the both sides wall of U type backup pad, linear guide one and slider sliding connection, movable clamping jaw cylinder sets up on the tip that clamping jaw cylinder slide stretches out U type backup pad.
Further, the manipulator is snatched to spindle with adjustable foretell interval, be equipped with the right angle cylinder mounting panel on the outer wall of U type backup pad, interval adjustment cylinder is fixed to be set up on the right angle cylinder mounting panel, clamping jaw cylinder slide is equipped with the right angle connecting plate on stretching out the tip of U type backup pad, interval adjustment cylinder's piston rod and right angle connecting plate are connected.
Further, the spindle snatchs manipulator with adjustable foretell interval, be equipped with a set of clamping jaw cylinder mounting panel between the U type opening tip of U type backup pad, fixed clamping jaw cylinder is fixed to be set up on clamping jaw cylinder mounting panel.
Further, manipulator is snatched to spindle with adjustable foretell interval, rotary drive device includes rotation support frame, rotation driving motor, rotation axis one, action wheel two, follows driving wheel one, follows driving wheel two, gear area one, gear area two and rotation axis two, rotation driving motor is fixed to be set up on rotation support frame to rotation driving motor passes through shaft coupling and rotation axis one and is connected, the both ends at rotation axis one are established respectively to action wheel one and action wheel two, action wheel one is through gear area one and is connected from driving wheel one, action wheel two is through gear area two and is connected from driving wheel two, establish the both ends at rotation axis two respectively from driving wheel one and from driving wheel two, grab yarn manipulator support body and two fixed connection of rotation axis.
Furthermore, the spindle snatchs manipulator with adjustable foretell interval, the rotation support frame includes bottom plate and two right angle risers that the symmetry set up, the right angle riser is fixed to be set up on the bottom plate, the both ends of rotation axis one and rotation axis two all erect on two right angle risers that the symmetry set up, rotation axis one and rotation axis two parallel arrangement.
Furthermore, according to the spindle grabbing manipulator with the adjustable space, the cross section of the first connecting plate is circular, the cross section of the second connecting plate is rectangular, and a group of reinforcing rib plates are arranged between the outer walls of the first connecting plate and the first connecting column and between the outer walls of the second connecting plate and the first connecting column.
The technical scheme shows that the utility model has the following beneficial effects: according to the spindle grabbing manipulator with the adjustable space, the movable clamping jaw air cylinder is connected with the spindle grabbing manipulator frame body in a sliding mode through the clamping jaw air cylinder sliding plate, the piston rod of the space adjusting air cylinder extends out or retracts to drive the relative position between the clamping jaw air cylinder sliding plate and the spindle grabbing manipulator frame body to change, so that the position of the movable clamping jaw air cylinder is changed, the spindle grabbing manipulator carries the spindle in any direction through the rotation driving device which is arranged in a matched mode and can rotate 360 degrees, the automatic bridging of logistics between production equipment and production equipment in textile enterprises can be achieved, and the transfer efficiency and the production efficiency of the spindle can be greatly improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the spindle grasping robot with adjustable spacing according to the present invention;
FIG. 2 is a schematic structural diagram of a yarn grabbing manipulator according to the present invention;
FIG. 3 is a front view of the yarn grasping robot according to the present invention;
FIG. 4 is a right side view of the yarn grasping robot according to the present invention;
fig. 5 is a bottom view of the yarn grasping manipulator of the present invention.
In the figure: the device comprises a rotary driving device 1, a rotary supporting frame 11, a rotary driving motor 12, a first rotating shaft 13, a first driving wheel 14, a second driving wheel 15, a first driven wheel 16, a second driven wheel 17, a first gear belt 18, a second gear belt 19, a second rotating shaft 110, a bottom plate 111, a right-angle vertical plate 112, a yarn grabbing manipulator 2, a yarn grabbing manipulator frame body 21, a first connecting plate 211, a first connecting column 212, a second connecting plate 213, a U-shaped supporting plate 214, a first sliding block 215, a right-angle cylinder mounting plate 216, a right-angle connecting plate 217, a clamping jaw cylinder mounting plate 218, a reinforcing rib plate 219, a distance adjusting cylinder 22, a clamping jaw cylinder sliding plate 23, a first linear guide rail 231, a fixed clamping jaw cylinder 24 and a movable clamping jaw cylinder 25.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example one
The spindle grabbing mechanical arm with the adjustable spacing shown in fig. 1 comprises a rotary driving device 1 and a yarn grabbing mechanical arm 2, wherein the yarn grabbing mechanical arm 2 is arranged on the rotary driving device 1, and the rotary driving device 1 can drive the yarn grabbing mechanical arm 2 to rotate within a range of 360 degrees.
The yarn grabbing manipulator 2 shown in fig. 2-5 comprises a yarn grabbing manipulator frame body 21, two symmetrically arranged distance adjusting cylinders 22, two symmetrically arranged clamping jaw cylinder sliding plates 23 and a group of fixed clamping jaw cylinders 24, the yarn grabbing manipulator frame body 21 is connected with the rotary driving device 1, the two symmetrically arranged distance adjusting cylinders 22 are fixedly arranged on the yarn grabbing manipulator frame body 21, the two symmetrically arranged distance adjusting cylinders 22 and the two symmetrically arranged clamping jaw cylinder sliding plates 23 are arranged in a one-to-one correspondence manner, piston rods of the distance adjusting cylinders 22 are connected with the clamping jaw cylinder sliding plates 23, the clamping jaw cylinder sliding plates 23 are connected with the yarn grabbing manipulator frame body 21 in a sliding manner, movable clamping jaw cylinders 25 are connected onto the clamping jaw cylinder sliding plates 23, and the group of fixed clamping jaw cylinders 24 are fixedly arranged on the yarn grabbing manipulator frame body 21. A set of fixed clamping jaw cylinder 24 in the above-mentioned structure is immovable on grabbing yarn manipulator support body 21, can snatch fixed spindle, in a set of spindle according to a row of range, the spindle distance of both sides is when far away, stretching out of accessible interval adjustment cylinder 22 piston rod promotes clamping jaw cylinder slide 23 and slides out and grabs yarn manipulator support body 21, make the position of the activity clamping jaw cylinder 25 of both sides adapt to the position of both sides spindle, when being convenient for grab yarn manipulator 2 and snatch the spindle, can grab the spindle of different intervals simultaneously.
In the above structure, the yarn grabbing manipulator frame body 21 includes a first connecting plate 211, a first connecting column 212, a second connecting plate 213 and a U-shaped supporting plate 214, the first connecting plate 211 is connected to the rotary driving device 1, the first connecting plate 211 is arranged at one end of the first connecting column 212, the second connecting plate 213 is arranged at the other end of the first connecting column 212, and the U-shaped supporting plate 214 is fixedly connected to the second connecting plate 213. The cross section of the first connecting plate 211 is circular, the cross section of the second connecting plate 213 is rectangular, and a group of reinforcing rib plates 219 are arranged between the first connecting plate 211, the outer wall of the first connecting column 212 and the second connecting plate 213.
In addition, a first sliding block 215 is fixedly arranged on two opposite inner walls of the U-shaped supporting plate 214, a first linear guide rail 231 is arranged on two side walls, close to the U-shaped supporting plate 214, of the clamping jaw air cylinder sliding plate 23, the first linear guide rail 231 is connected with the first sliding block 215 in a sliding mode, and the movable clamping jaw air cylinder 25 is arranged on the end portion, extending out of the U-shaped supporting plate 214, of the clamping jaw air cylinder sliding plate 23.
In addition, be equipped with right angle cylinder mounting panel 216 on the outer wall of U type backup pad 214, interval adjustment cylinder 22 is fixed to be set up on right angle cylinder mounting panel 216, clamping jaw cylinder slide 23 is equipped with right angle connecting plate 217 on stretching out the tip of U type backup pad 214, interval adjustment cylinder 22's piston rod and right angle connecting plate 217 are connected. A set of clamping jaw air cylinder mounting plates 218 are arranged between the ends of the U-shaped opening of the U-shaped supporting plate 214, and the fixed clamping jaw air cylinder 24 is fixedly arranged on the clamping jaw air cylinder mounting plates 218.
Example two
Based on a structure of an embodiment, the rotation driving device 1 includes a rotation supporting frame 11, a rotation driving motor 12, a first rotation shaft 13, a first driving wheel 14, a second driving wheel 15, a first driven wheel 16, a second driven wheel 17, a first gear belt 18, a second gear belt 19 and a second rotation shaft 110, the rotation driving motor 12 is fixedly disposed on the rotation supporting frame 11, the rotation driving motor 12 is connected with the first rotation shaft 13 through a coupler, the first driving wheel 14 and the second driving wheel 15 are respectively sleeved at two ends of the first rotation shaft 13, the first driving wheel 14 is connected with the first driven wheel 16 through the first gear belt 18, the second driving wheel 15 is connected with the second driven wheel 17 through the second gear belt 19, the first driven wheel 16 and the second driven wheel 17 are respectively sleeved at two ends of the second rotation shaft 110, and the yarn grasping manipulator frame body 21 is fixedly connected with the second rotation shaft 110.
In the above structure, the rotating support 11 includes a bottom plate 111 and two symmetrically arranged right-angle vertical plates 112, the right-angle vertical plates 112 are fixedly arranged on the bottom plate 111, two ends of the first rotating shaft 13 and the second rotating shaft 110 are respectively erected on the two symmetrically arranged right-angle vertical plates 112, and the first rotating shaft 13 and the second rotating shaft 110 are arranged in parallel.
The rotation driving motor 12 starts, it is rotatory to drive a rotation axis 13, because a rotation axis 13 passes through the key-type connection with a drive wheel 14 and a drive wheel 15, consequently drive wheel 14 and drive wheel 15 synchronous revolution, through gear belt 18 and gear belt 19, drive wheel 14 and drive wheel 15 drive respectively from the driving wheel 16 and follow the rotation of driving wheel 17, further make rotation axis 110 two rotatory, rotation of rotation axis two 110 drives and grabs yarn manipulator 2 and rotate, thereby make and grab yarn manipulator 2 and can carry out the snatching of the spindle of different positions department.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (8)
1. The utility model provides a spindle snatchs manipulator with adjustable interval which characterized in that: the yarn grabbing device comprises a rotary driving device (1) and a yarn grabbing manipulator (2), wherein the yarn grabbing manipulator (2) is arranged on the rotary driving device (1), and the rotary driving device (1) can drive the yarn grabbing manipulator (2) to rotate within a range of 360 degrees;
wherein the yarn grabbing manipulator (2) comprises a yarn grabbing manipulator frame body (21), two symmetrically arranged space adjusting cylinders (22), two symmetrically arranged clamping jaw cylinder sliding plates (23) and a group of fixed clamping jaw cylinders (24), the yarn grabbing manipulator frame body (21) is connected with the rotary driving device (1), the two symmetrically arranged space adjusting cylinders (22) are fixedly arranged on the yarn grabbing manipulator frame body (21), the two symmetrically arranged space adjusting cylinders (22) and the two symmetrically arranged clamping jaw cylinder sliding plates (23) are arranged in a one-to-one correspondence way, and a piston rod of the spacing adjusting cylinder (22) is connected with a clamping jaw cylinder sliding plate (23), the clamping jaw air cylinder sliding plate (23) is connected with the yarn grabbing manipulator frame body (21) in a sliding way, and the clamping jaw air cylinder sliding plate (23) is connected with a movable clamping jaw air cylinder (25), the group of fixed clamping jaw air cylinders (24) are fixedly arranged on the yarn grabbing manipulator frame body (21).
2. The pitch adjustable spindle grabber robot as recited in claim 1, further comprising: yarn grabbing manipulator frame body (21) comprises a first connecting plate (211), a first connecting column (212), a second connecting plate (213) and a U-shaped supporting plate (214), the first connecting plate (211) is connected with a rotary driving device (1), the first connecting plate (211) is arranged at one end of the first connecting column (212), the second connecting plate (213) is arranged at the other end of the first connecting column (212), and the U-shaped supporting plate (214) is fixedly connected with the second connecting plate (213).
3. The pitch adjustable spindle grabber robot as recited in claim 2, further comprising: all fixedly on two relative inner walls of U type backup pad (214) slider (215), clamping jaw cylinder slide (23) are equipped with linear guide one (231) on being close to the both sides wall of U type backup pad (214), linear guide one (231) and slider (215) sliding connection, activity clamping jaw cylinder (25) set up on clamping jaw cylinder slide (23) stretch out the tip of U type backup pad (214).
4. The pitch adjustable spindle grabber robot as recited in claim 3, further comprising: be equipped with right angle cylinder mounting panel (216) on the outer wall of U type backup pad (214), interval adjusting cylinder (22) are fixed to be set up on right angle cylinder mounting panel (216), clamping jaw cylinder slide (23) are stretched out and are equipped with right angle connecting plate (217) on the tip of U type backup pad (214), the piston rod and the right angle connecting plate (217) of interval adjusting cylinder (22) are connected.
5. The pitch adjustable spindle grabber robot as recited in claim 2, further comprising: be equipped with a set of clamping jaw cylinder mounting panel (218) between the U type opening tip of U type backup pad (214), fixed clamping jaw cylinder (24) are fixed to be set up on clamping jaw cylinder mounting panel (218).
6. The pitch adjustable spindle grabber robot as recited in claim 1, further comprising: the rotary driving device (1) comprises a rotary supporting frame (11), a rotary driving motor (12), a first rotating shaft (13), a first driving wheel (14), a second driving wheel (15), a first driven wheel (16), a second driven wheel (17), a first gear belt (18), a second gear belt (19) and a second rotating shaft (110), wherein the rotary driving motor (12) is fixedly arranged on the rotary supporting frame (11), the rotary driving motor (12) is connected with the first rotating shaft (13) through a shaft coupler, the first driving wheel (14) and the second driving wheel (15) are respectively sleeved at two ends of the first rotating shaft (13), the first driving wheel (14) is connected with the first driven wheel (16) through the first gear belt (18), the second driving wheel (15) is connected with the second driven wheel (17) through the second gear belt (19), and the first driven wheel (16) and the second driven wheel (17) are respectively sleeved at two ends of the second rotating shaft (110), the yarn grabbing manipulator frame body (21) is fixedly connected with the second rotating shaft (110).
7. The pitch adjustable spindle grabber robot as recited in claim 6, further comprising: the rotary support frame (11) comprises a bottom plate (111) and two right-angle vertical plates (112) which are symmetrically arranged, the right-angle vertical plates (112) are fixedly arranged on the bottom plate (111), two ends of the first rotary shaft (13) and two ends of the second rotary shaft (110) are respectively erected on the two right-angle vertical plates (112) which are symmetrically arranged, and the first rotary shaft (13) and the second rotary shaft (110) are arranged in parallel.
8. The pitch adjustable spindle grabber robot as recited in claim 2, further comprising: the cross section of the first connecting plate (211) is circular, the cross section of the second connecting plate (213) is rectangular, and a group of reinforcing rib plates (219) are arranged between the first connecting plate (211), the outer wall of the first connecting column (212) and the second connecting plate (213).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121080474.3U CN215589188U (en) | 2021-05-20 | 2021-05-20 | Spindle snatchs manipulator with adjustable interval |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121080474.3U CN215589188U (en) | 2021-05-20 | 2021-05-20 | Spindle snatchs manipulator with adjustable interval |
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| Publication Number | Publication Date |
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| CN215589188U true CN215589188U (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121080474.3U Active CN215589188U (en) | 2021-05-20 | 2021-05-20 | Spindle snatchs manipulator with adjustable interval |
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| CN (1) | CN215589188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116142781A (en) * | 2023-04-14 | 2023-05-23 | 杭州深度视觉科技有限公司 | Pitch-changing manipulator and conveying device |
-
2021
- 2021-05-20 CN CN202121080474.3U patent/CN215589188U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116142781A (en) * | 2023-04-14 | 2023-05-23 | 杭州深度视觉科技有限公司 | Pitch-changing manipulator and conveying device |
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