CN218950390U - Automatic wire overturning gripper and wire overturning manipulator - Google Patents

Abstract

The utility model provides an automatic yarn turning gripper and a yarn turning manipulator, which relate to the technical field of cheese packaging and stacking devices, wherein the automatic yarn turning gripper comprises a supporting device, a clamping device and a turning device, the clamping device comprises a clamping driving mechanism, a clamping transmission mechanism and a plurality of clamping execution mechanisms, all the clamping execution mechanisms are in transmission connection with the clamping driving mechanism through the clamping transmission mechanism, the clamping driving mechanism can drive all the clamping execution mechanisms to synchronously clamp corresponding cheeses through the clamping transmission mechanism, and each clamping execution mechanism is connected with the turning device; the wire turning manipulator comprises a mechanical arm, and the automatic wire turning gripper is arranged on the mechanical arm; according to the utility model, on one hand, the clamping structure is adopted, the cheeses are firmly fixed in the overturning process, the overturning effect is obvious, and on the other hand, one gripper can synchronously realize overturning of a plurality of cheeses, and the structure is simple, and the overturning efficiency is high.

Description

Automatic wire overturning gripper and wire overturning manipulator

Technical Field

The utility model relates to the technical field of cheese packaging and stacking devices, in particular to an automatic yarn turning gripper and a yarn turning manipulator.

Background

The spun yarn package always faces one side of the package due to the yarn package manufacturing process, so that the yarn package has a positive and negative direction division. In the production process, the device is limited, when the cheese is packaged or transported, the cheese is often required to be turned over, a traditional cheese packaging stacking line is used for transporting the cheese onto a production line by a cheese robot gripper, then the cheese is manually turned over, the efficiency is low, and the labor cost is too high by adopting a manual turning mode.

The utility model discloses an automatic cheese overturning device, which has the application number of 201920090230.X and is named as an efficient cheese overturning mechanism, and comprises two groups of overturning modules and a pushing module, wherein the two groups of overturning modules are symmetrically arranged on two sides of a conveyor belt respectively, each overturning module comprises an overturning box, a first pushing cylinder, an overturning cylinder, a rotating bearing and a supporting frame, the pushing module is arranged right above the two overturning boxes, the pushing module alternately pushes cheese on the conveyor belt into the two overturning boxes in the actual use process, and then the overturning cylinders drive the overturning boxes to overturn, so that the overturning of the cheese is realized.

Disclosure of Invention

The utility model aims to provide an automatic yarn turning gripper and a yarn turning manipulator, which are used for solving the technical problems of low turning efficiency and poor effect of the existing automatic cheese turning device in the prior art; the preferred technical scheme of the technical schemes provided by the utility model has a plurality of technical effects; details are set forth below.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides an automatic wire turning gripper, which comprises a supporting device, a clamping device and a turning device, wherein: the clamping device is arranged on the supporting device and comprises a clamping driving mechanism, a clamping transmission mechanism and a plurality of clamping execution mechanisms, all the clamping execution mechanisms are connected with the clamping driving mechanism in a transmission mode through the clamping transmission mechanism, the clamping driving mechanism can drive all the clamping execution mechanisms to synchronously clamp corresponding cheeses through the clamping transmission mechanism, and each clamping execution mechanism is connected with a turnover device.

Preferably, the clamping transmission mechanism comprises a transmission gear, a first transmission rack and a second transmission rack, and the clamping execution mechanism comprises a first clamping component and a second clamping component which are oppositely arranged, wherein: the first transmission rack and the second transmission rack are respectively meshed with two sides of the transmission gear, and synchronously and reversely move; all the first clamping assemblies are connected with the first transmission racks, and all the second clamping assemblies are connected with the second transmission racks.

Preferably, the first clamping assembly and the second clamping assembly are both arranged as clamping roller assemblies, each clamping roller assembly comprises a roller set bracket and two clamping rollers, and the two clamping rollers are arranged on the roller set bracket in parallel.

Preferably, the clamping device comprises a guiding mechanism comprising a guide rail and a slide carriage in sliding engagement with the guide rail, wherein: the guide rail is arranged on the supporting device, and the guide rail, the first transmission rack and the second transmission rack are arranged in parallel; each clamping roller assembly is connected with the sliding seat.

Preferably, the clamping roller assembly comprises a clamping supporting plate, and the roller set bracket is rotatably arranged on the corresponding clamping supporting plate; the sliding seat is fixedly arranged on the clamping supporting plate.

Preferably, the turnover device comprises a turnover driving mechanism, and the turnover driving mechanism is arranged on one of the two clamping supporting plates of the clamping executing mechanism and is connected with the corresponding roller group bracket.

Preferably, the clamping actuator comprises a connection synchronizing assembly comprising a connection plate and a connection rod, wherein: the connecting plate is arranged on the connecting rod and is in sliding fit with the connecting rod; the number of the connecting plates is two, and the two connecting plates are respectively connected with the corresponding two roller group brackets.

Preferably, the clamping drive is configured as a telescopic drive, wherein: at least one of the first transmission rack and all the first clamping components is connected with the telescopic end of the telescopic driving mechanism;

or at least one of the second transmission rack and all the second clamping components is connected with the telescopic end of the telescopic driving mechanism.

Preferably, the clamping drive is provided as a rotary drive, wherein: the output end of the rotary driving mechanism is connected with the transmission gear and can drive the transmission gear to rotate.

The utility model provides a wire turning manipulator which comprises a mechanical arm, wherein any one of the automatic wire turning grippers is arranged on the mechanical arm.

The automatic wire turning gripper and the wire turning manipulator provided by the utility model have at least the following beneficial effects:

the automatic yarn turning gripper comprises a supporting device, a clamping device and a turning device, wherein the clamping device is arranged on the supporting device, the supporting device is used for supporting the clamping device and the turning device, the clamping device is used for clamping cheeses, and the turning device is used for turning the cheeses.

The clamping device comprises a clamping driving mechanism, a clamping transmission mechanism and a plurality of clamping execution mechanisms, wherein all the clamping execution mechanisms are connected with the clamping driving mechanism in a transmission way through the clamping transmission mechanism, and when the cheeses are turned over, the clamping driving mechanism provides power and drives all the clamping execution mechanisms to synchronously act through the clamping transmission mechanism, so that synchronous clamping of the cheeses is realized.

And each clamping executing mechanism is connected with a turnover device, and when the clamping executing mechanism clamps the cheese, the turnover device is started to realize the turnover of the cheese.

According to the utility model, through the clamping transmission mechanism, synchronous clamping actions of a plurality of clamping execution mechanisms can be realized by only one clamping driving mechanism, and synchronous overturning of a plurality of cheeses can be realized by matching with the corresponding overturning device.

According to the utility model, the yarn turning manipulator with the automatic yarn turning claw is adopted, so that the cheese can be turned over while being transported (the cheese is caught down by a yarn car or is caught onto the yarn car by a conveying line), the transportation process and the turning process are combined, the efficiency is further improved, meanwhile, the touch frequency to the outer wall of the cheese is obviously reduced, and the probability of damaging the cheese is obviously reduced.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an automatic yarn turning gripper with a cheese held therein;

FIG. 2 is a schematic view of the structure of the automatic wire turning gripper of the present utility model;

FIG. 3 is a schematic view of an alternative view of the automatic wire flipping gripper of the present utility model;

FIG. 4 is a schematic top view of the automatic wire turning gripper of the present utility model;

FIG. 5 is a schematic cross-sectional view of a-a of the present utility model;

FIG. 6 is a schematic front view of an automatic wire turning gripper of the present utility model;

FIG. 7 is a schematic rear view of the automatic wire turning gripper of the present utility model;

FIG. 8 is a schematic side view of the automatic wire turning gripper of the present utility model;

fig. 9 is a schematic structural view of the wire turning manipulator of the present utility model at a wire turning station of a production line.

Reference numerals

1. A support device; 11. a mounting plate; 12. a support frame; 2. a clamping device; 21. a clamping driving mechanism; 22. clamping the transmission mechanism; 221. a transmission gear; 222. a first drive rack; 223. a second drive rack; 23. a clamping executing mechanism; 231. a pinch roller assembly; 2311. a pinch roller; 2312. a roller set bracket; 2313. clamping the supporting plate; 232. connecting a synchronous component; 2321. a connecting plate; 2322. a connecting rod; 24. a guide mechanism; 241. a guide rail; 242. a slide; 3. a turnover device; 31. a turnover driving mechanism; 32. a turnover bearing; 4. a cheese; 5. and (5) a mechanical arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, based on the examples herein, which are within the scope of the utility model as defined by the claims, will be within the scope of the utility model as defined by the claims.

Example 1:

the utility model provides an automatic wire turning gripper, which is shown in reference to figures 1-3 and comprises a supporting device 1, a clamping device 2 and a turning device 3.

The clamping device 2 is arranged on the supporting device 1, the clamping device 2 comprises a clamping driving mechanism 21, a clamping transmission mechanism 22 and a plurality of clamping execution mechanisms 23, all the clamping execution mechanisms 23 are in transmission connection with the clamping driving mechanism 21 through the clamping transmission mechanism 22, the clamping driving mechanism 21 can drive all the clamping execution mechanisms 23 to synchronously clamp corresponding cheeses 4 through the clamping transmission mechanism 22, and each clamping execution mechanism 23 is connected with the turning device 3.

When the cheese 4 is turned over, the clamping driving mechanism 21 is started, all the clamping executing mechanisms 23 are driven to synchronously act through the clamping transmission mechanism 22, all the clamping executing mechanisms 23 respectively clamp the corresponding cheese 4, and then the turning device 3 is started to finish turning over of the cheese 4.

The utility model adopts the clamping mode to fix the cheese 4, and the cheese 4 is firmly fixed and has obvious overturning effect in the whole overturning process.

Moreover, only one clamping driving mechanism 21 is needed, all clamping actuating mechanisms 23 can be driven to synchronously act through the clamping transmission mechanism 22, on one hand, the overturning operation of a plurality of cheeses 4 can be simultaneously carried out, the overturning efficiency is high, on the other hand, the structure is simple, and the equipment cost can be effectively saved.

Example 2

Example 2 is based on example 1:

as shown in fig. 4 and 5, the clamp transmission mechanism 22 includes a transmission gear 221, a first transmission rack 222, and a second transmission rack 223, and the clamp actuator 23 includes a first clamp assembly and a second clamp assembly that are disposed opposite to each other.

The transmission gear 221 is rotatably arranged on the supporting device 1, the first transmission rack 222 and the second transmission rack 223 are movably arranged on the supporting device 1, the first transmission rack 222 and the second transmission rack 223 are respectively meshed with the two sides of the transmission gear 221, and the first transmission rack 222 and the second transmission rack 223 synchronously and reversely move.

All first clamping assemblies are connected to the first drive rack 222 and all second clamping assemblies are connected to the second drive rack 223.

The gear rack mechanism composed of the two transmission racks and the transmission gear is adopted, so that the motion of the output end of the clamping driving mechanism 21 can be effectively converted into synchronous movement motion along the positive and negative directions of a straight line, the first clamping assembly and the second clamping assembly synchronously move in opposite directions or synchronously move in opposite directions, the clamping of the cheese 4 is realized, the transmission process is stable, and the clamping effect is obvious.

As an alternative embodiment, as shown in fig. 2 and 4, the first clamping assembly and the second clamping assembly are both provided as clamping roller assemblies 231.

The grip roller assembly 231 includes a roller set bracket 2312 and two grip rollers 2311, and the two grip rollers 2311 are disposed in parallel on the roller set bracket 2312.

The clamping assembly adopts a clamping roller structure and is adapted to the columnar cheese 4, and when the clamping assembly works, the outer wall of the cheese 4 is clamped by using the four clamping rollers 2311, so that the clamping is stable, and a precondition is provided for guaranteeing the overturning effect of the cheese 4.

As an alternative embodiment, as shown in fig. 2 and 3, the clamping device 2 comprises a guiding mechanism 24, the guiding mechanism 24 comprising a rail 241 and a slide 242 in sliding engagement with the rail 241.

The guide rail 241 is fixedly arranged on the supporting device 1, the guide rail 241, the first transmission rack 222 and the second transmission rack 223 are arranged in parallel, and each clamping roller assembly 231 is connected and provided with a sliding seat 242.

The guiding mechanism 24 can effectively limit the moving track of the clamped roller assembly 231, so that the linear reciprocating movement process is more stable.

To further improve the stability of the movement of the pinch roller assembly 231, the number of the guide rail 241 and the slider 242 is set to be plural.

As an alternative embodiment, as shown in fig. 3 and 4, the grip roller assembly 231 includes grip brackets 2313, and the roller set brackets 2312 are rotatably provided on the corresponding grip brackets 2313 by the roll-over bearings 32.

The slide 242 is fixedly disposed on the clamping bracket 2313.

When holding the cheese 4, the holding pallet 2313 moves in synchronization with the holding roller assembly 231.

When the package 4 is turned over, the grip roller assembly 231 rotates with respect to the grip support plate 2313.

As an alternative embodiment, as shown in fig. 3 and 4, the turning device 3 includes a turning driving mechanism 31, the turning driving mechanism 31 is provided on one of two clamping brackets 2313 of the clamping actuator 23, and an output end of the turning driving mechanism 31 is connected to a corresponding roller group bracket 2312.

The turnover driving mechanism 31 is a 180-degree turnover mechanism, a pneumatic turnover mechanism, a hydraulic turnover mechanism or an electric turnover mechanism can be adopted, and preferably, the turnover driving mechanism 31 adopts a turnover cylinder.

As an alternative embodiment, as shown in fig. 3, 6 and 8, the clamp actuator 23 includes a connection synchronization assembly 232, and the connection synchronization assembly 232 includes a connection plate 2321 and a connection rod 2322.

The connecting plate 2321 is provided with a guide hole, and the connecting rod 2322 passes through the guide hole and is in sliding fit with the guide hole.

The number of the connection plates 2321 is two, and the two connection plates 2321 are respectively connected with the corresponding two roller group brackets 2312 through threaded fasteners.

Through the connection synchronization assembly 232, two clamping roller assemblies 231 corresponding to the same clamping actuating mechanism 23 are synchronously turned over, and meanwhile, the connection plate 2321 is in sliding fit with the connecting rod 2322, so that the two clamping roller assemblies 231 are not affected to move relatively or oppositely.

As an alternative embodiment, as shown in fig. 7, the supporting device 1 comprises a supporting frame 12, the clamping device 2 is arranged on the supporting frame 12, a mounting plate 11 is arranged on the supporting frame 12, and the mounting plate 11 is used for mounting the automatic wire turning gripper.

As an alternative embodiment, as shown in fig. 1 to 8, the grip driving mechanism 21 is provided as a telescopic driving mechanism, which may employ a pneumatic telescopic mechanism, a hydraulic telescopic mechanism, or an electric telescopic mechanism, and preferably, the grip driving mechanism 21 employs a telescopic cylinder.

At least one of the first transmission racks 222 and all the first clamping components is connected with the telescopic end of the telescopic driving mechanism, the telescopic end of the telescopic driving mechanism stretches to drive the first transmission racks 222 and the first clamping components to move, and the second transmission racks 223 and the second clamping components synchronously and reversely move under the transmission action of the transmission gears 221, so that the clamping and releasing of the cheeses 4 are realized.

Similarly, at least one of the second drive rack 223 and all of the second clamp assemblies may alternatively be connected to the telescoping end of the telescoping drive mechanism.

Example 3

Example 3 differs from example 2 in that:

the clamping drive 21 is provided as a rotary drive, preferably by means of an electric motor.

The output end of the rotary driving mechanism is connected with the transmission gear 221, the output end of the rotary driving mechanism rotates, the transmission gear 221 synchronously rotates, and the first transmission rack 222 and the second transmission rack 223 synchronously and reversely move, so that the clamping and releasing of the cheese 4 are realized.

The number of the clamping actuators 23 shown in all the drawings of the present utility model is two, and in the actual use process, three or more clamping actuators 23 can be provided according to the actual requirement.

Example 4:

example 4 based on the above example:

the utility model provides a wire turning manipulator, which comprises a mechanical arm and an automatic wire turning gripper, as shown in fig. 9, wherein the mechanical arm is connected with a mounting plate 11.

The automatic yarn turning manipulator with the automatic yarn turning gripper can simultaneously realize automatic turning and transferring of the cheese 4, further improve efficiency and reduce labor cost, and meanwhile, the number of times of touching the outer wall of the cheese is obviously reduced in the transferring and turning process, so that the probability of damaging the cheese is obviously reduced.

In the description of the present application, it should be understood that the terms "upper," "lower," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality", "a number" or "a plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides an automatic wire-turning tongs which is characterized in that, includes strutting arrangement, clamping device and turning device, wherein:

the clamping device is arranged on the supporting device and comprises a clamping driving mechanism, a clamping transmission mechanism and a plurality of clamping execution mechanisms, all the clamping execution mechanisms are connected with the clamping driving mechanism in a transmission mode through the clamping transmission mechanism, the clamping driving mechanism can drive all the clamping execution mechanisms to synchronously clamp corresponding cheeses through the clamping transmission mechanism, and each clamping execution mechanism is connected with a turnover device.

2. The automatic wire turning gripper of claim 1, wherein the clamp transmission mechanism comprises a transmission gear, a first transmission rack, and a second transmission rack, and the clamp actuator comprises a first clamp assembly and a second clamp assembly disposed in opposition, wherein:

the first transmission rack and the second transmission rack are respectively meshed with two sides of the transmission gear, and synchronously and reversely move;

all the first clamping assemblies are connected with the first transmission racks, and all the second clamping assemblies are connected with the second transmission racks.

3. The automatic wire turning gripper of claim 2, wherein the first clamping assembly and the second clamping assembly are both provided as clamping roller assemblies, the clamping roller assemblies comprise a roller set bracket and two clamping rollers, and the two clamping rollers are arranged on the roller set bracket in parallel.

4. The automatic wire turning gripper of claim 3, wherein the gripping device comprises a guide mechanism comprising a rail and a slide that is in sliding engagement with the rail, wherein:

the guide rail is arranged on the supporting device, and the guide rail, the first transmission rack and the second transmission rack are arranged in parallel;

each clamping roller assembly is connected with the sliding seat.

5. The automatic wire turning gripper of claim 4, wherein said clamping roller assembly comprises a clamping pallet, said roller set brackets rotatably disposed on corresponding said clamping pallet;

the sliding seat is fixedly arranged on the clamping supporting plate.

6. The automatic wire turning gripper according to claim 5, wherein the turning device includes a turning driving mechanism provided on one of the two clamping pallets of the clamping actuator and connected to the corresponding roller group bracket.

7. The automatic wire turning gripper of claim 3, wherein the clamp actuator comprises a connection synchronization assembly comprising a connection plate and a connection rod, wherein:

the connecting plate is arranged on the connecting rod and is in sliding fit with the connecting rod;

the number of the connecting plates is two, and the two connecting plates are respectively connected with the corresponding two roller group brackets.

8. The automatic wire turning gripper of any one of claims 2-7, wherein the clamping drive mechanism is configured as a telescoping drive mechanism, wherein:

at least one of the first transmission rack and all the first clamping components is connected with the telescopic end of the telescopic driving mechanism;

or at least one of the second transmission rack and all the second clamping components is connected with the telescopic end of the telescopic driving mechanism.

9. The automatic wire turning gripper of any one of claims 2-7, wherein the clamping drive mechanism is configured as a rotary drive mechanism, wherein:

the output end of the rotary driving mechanism is connected with the transmission gear and can drive the transmission gear to rotate.

10. A wire turning manipulator, characterized by comprising a mechanical arm, wherein the mechanical arm is provided with the automatic wire turning gripper according to any one of claims 1-9.

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