CN108569550A - A kind of chemical fiber spinning cake robot clamp for stacking - Google Patents
A kind of chemical fiber spinning cake robot clamp for stacking Download PDFInfo
- Publication number
- CN108569550A CN108569550A CN201710194750.0A CN201710194750A CN108569550A CN 108569550 A CN108569550 A CN 108569550A CN 201710194750 A CN201710194750 A CN 201710194750A CN 108569550 A CN108569550 A CN 108569550A
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- China
- Prior art keywords
- connecting plate
- pneumatic clamper
- side pneumatic
- mobile
- straight line
- Prior art date
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- 238000009987 spinning Methods 0.000 title claims abstract description 72
- 239000000835 fiber Substances 0.000 title claims abstract description 68
- 239000000126 substance Substances 0.000 title claims abstract description 68
- 239000002023 wood Substances 0.000 claims abstract description 87
- 230000009471 action Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 6
- 239000010962 carbon steel Substances 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000015110 jellies Nutrition 0.000 description 1
- 239000008274 jelly Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of chemical fiber spinning cake robot clamp for stacking, including robot connecting plate, Standard Cylinder, mobile wood side-guide connecting plate, fixed wood side-guide connecting plate, long line slide rail, long linear slider, mobile side pneumatic clamper connecting plate, affixed side pneumatic clamper connecting plate, three-jaw cylinder and pneumatic clamper corpus unguis.Mobile wood side-guide connecting plate can move horizontally under the action of Standard Cylinder along long line slide rail realizes that the Y-direction of fixture moves, mobile side pneumatic clamper connecting plate can move horizontally under the action of thin cylinder along short straight line sliding rail realizes fixture in X to moving, pneumatic clamper corpus unguis can be realized flexible under the action of three-jaw cylinder, cylinder uses 3 position-5 way solenoid valve control, form friction pattern is equipped on the outside of pneumatic clamper corpus unguis to prevent being fallen in chemical fiber spinning cake motion process, and the detection device whether fallen equipped with chemical fiber spinning cake, it is simple in structure, it can be with effectively save cost, reduce labor intensity, improve the quality of chemical fiber spinning cake.
Description
Technical field
The present invention relates to textile machinery people's technical fields, and in particular to a kind of efficient, simple in structure and convenient for controlling change
Fibril cake robot stacking tool.
Background technology
Chemical fiber spinning cake is the raw material of weaving manufacture, to prevent from causing spinning cake mutually to collide in packaging, storage, transit link rubbing
Wear hinder silk volume surface cause lousiness and influence product quality, to chemical fiber spinning cake packaging stacking be an essential link.
There are three types of the carrying stacking modes that palletizing operation uses at present, and respectively artificial carrying, mechanical handing and robot palletizer are carried.
In spinning enterprise, the stacking of chemical fiber spinning cake is mostly carried using artificial, the artificial low, worker that carries that there is the degree of automation
Labor intensity is big, low production efficiency and safety difference problem, and the spacing be easy to causeing between spinning cake is inconsistent, to lead
The phenomenon that causing product an innocent person to touch mao occurs, and influences the quality of chemical fiber spinning cake；And the stacking machine used in mechanical handing is by structure shape
Shape influence factor, there is taking up a large area, operation sequence changes the shortcomings of troublesome, power consumption is big.With the development of industry, certainly
Dynamicization equipment has been widely used in various production fields, to reduce labor intensity and ensureing product quality, using robot
Carrying out chemical fiber spinning cake stacking becomes trend, and robot palletizer is all suitable for the cargo of variously-shaped packaging, and due to dependable performance,
Maintaining is simple, has been more and more widely used.The manipulator of robot palletizer is grabbed suitable for small size block objects
Crawl and stacking, particular by gripping object and release object, cooperation stacking robotic arm realizes the transhipment and stacking of object.So
And current robot palletizer carries out automatic stacking using teaching mode by stacking algorithm, but since cargo reaches regular worker
The position of position and the position being previously set have slight deviations, therefore robot palletizer possibly can not grab cargo, Wu Fajing
Determine position.But since in textile industry, the distance between chemical fiber spinning cake is different in crawl position and stacking position, crawl position is
490mm, and 440mm is required in stacking position, this just specially designs fixture, to meet the particular/special requirement of production.
Current robot palletizer during the work time, once can only be captured, carried or once be grabbed to a product
Take product quantity less, therefore working efficiency is low, the production cycle is long, has been unable to meet the need of the high-speed production nowadays increasingly required
It asks.Such as application No. is 201410805485.1 patents of invention to disclose a kind of handling system and stacking machine of robot palletizer
The method for carrying of people, and the handling system for disclosing robot palletizer includes robot cell and is connect with robot cell
Fixture unit, imaging positioning unit and with imaging positioning unit be electrically connected controller, fixture unit include fixture base,
And the first fixture for being slidably connected with fixture base and the first driving means for making the first fixture rotate and the first fixture is made to slide
Dynamic third driving device and the second fixture being set in fixture base and the second driving device for making the second fixture rotate,
First driving means, the second driving device, third driving device are electrically connected with controller.It is imaged two works of positioning unit pair
The position of part is positioned, and drives first driving means to make the rotation of the first fixture, the second driving of driving simultaneously by controller
Device makes the rotation of the second fixture, driving third driving device that the first fixture be made to be translated, and robot palletizer is enable to capture simultaneously
Or two workpiece of blanking, realize positioning.Although the patent of invention can realize the positioning to workpiece, two can only be once captured
Workpiece captures limited amount, less efficient.
For another example application No. is 201510571748.1 patents of invention to disclose a kind of stacker robot fixture, including collateral
Frame, guide-rail plate, sliding block, guide rod, sliding block are through on guide rod, and guide rod both ends are connected on side stand；At least three are arranged on guide-rail plate
Guide-track groove is arranged in fan-shaped array between three guide-track grooves；One end of sliding block passes through the guide-track groove on guide-rail plate and is embedded in and leads
Sliding block is set to be slided along guide-track groove in track slot.Although the patent of invention can make robot palletizer carry out code to many products simultaneously
Pile, and it can be continuously increased the quantity of a stacking as needed, it is flexible and simple in structure, but the practicality is poor, it is only suitable
For carrying out stacking to jelly or other materials with plane.
Invention content
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of chemical fiber spinning cake robot clamp for stacking, machine
People's connecting plate is the intensity that carbon steel material ensure that fixture, and mobile wood side-guide connecting plate and fixed wood side-guide connecting plate are aluminium alloy
Material mitigates weight, and robot connecting plate, mobile wood side-guide connecting plate and fixed wood side-guide connecting plate are that engraved structure is convenient for
Installation and repair, mobile wood side-guide connecting plate can move horizontally under the action of Standard Cylinder along long line slide rail realizes fixture
Y-direction moves, mobile side pneumatic clamper connecting plate can be moved horizontally along short straight line sliding rail under the action of thin cylinder realize fixture X to
Movement, pneumatic clamper corpus unguis can be realized under the action of three-jaw cylinder to be stretched, and is connected with affixed side pneumatic clamper in mobile side pneumatic clamper connecting plate
It is connected with connecting shaft between plate, and is equipped with linear bearing and shaft end catch, improves the reliability of fixture, cylinder uses three five
Three-way electromagnetic valve controls, and form friction pattern is equipped on the outside of pneumatic clamper corpus unguis to prevent being fallen in chemical fiber spinning cake motion process, and be equipped with chemical fiber spinning cake
The detection device whether fallen, it is simple in structure, it can reduce labor intensity with effectively save cost, improve the matter of chemical fiber spinning cake
Amount.
In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme that：
The present invention provides a kind of chemical fiber spinning cake robot clamp for stacking, including robot connecting plate, Standard Cylinder, mobile side
Sliding rail connecting plate, fixed wood side-guide connecting plate, long line slide rail, long linear slider, mobile side pneumatic clamper connecting plate, affixed side pneumatic clamper
Connecting plate, three-jaw cylinder and pneumatic clamper corpus unguis；
The long line slide rail is equipped with two, is installed in parallel in both sides below robot connecting plate, the Standard Cylinder peace
Between two long line slide rails, and the centre position below robot connecting plate, it is parallel with long the linear guide；
The mobile wood side-guide connecting plate and fixed wood side-guide connecting plate is arranged in parallel and, the two vertical with long line slide rail
Top is respectively mounted long linear slider, coordinates with long line slide rail；
Installed respectively below the mobile wood side-guide connecting plate and fixed wood side-guide connecting plate mobile side pneumatic clamper connecting plate and
It is respectively mounted three-jaw cylinder, institute below affixed side pneumatic clamper connecting plate, the mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate
It states pneumatic clamper corpus unguis to be located at below three-jaw cylinder, is equipped with form friction pattern, and can stretch under the action of three-jaw cylinder.
It is respectively mounted short straight line sliding block, the short straight line above the mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate
It is fixed by screw between sliding block and mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate, and mounted on mobile side pneumatic clamper
Short straight line sliding block and the short straight line sliding rail at both ends below mobile wood side-guide connecting plate above connecting plate coordinate, and are mounted on affixed side
Short straight line sliding block and the short straight line sliding rail at both ends below fixed wood side-guide connecting plate above pneumatic clamper connecting plate coordinate.
The long linear slider installed above the fixed wood side-guide connecting plate is limited with long line slide rail with locking device, is used
In the fixation and adjustment of chemical fiber spinning cake；
Cylinder link block is installed above the mobile wood side-guide connecting plate, the cylinder link block is floated by Standard Cylinder
Connector is connect with Standard Cylinder, and the mobile wood side-guide connecting plate can move under the action of Standard Cylinder along long line slide rail level
It is dynamic；
It is fixed by screw between the long linear slider and mobile wood side-guide connecting plate and fixed wood side-guide connecting plate.
The mobile side pneumatic clamper connecting plate includes first movement side pneumatic clamper connecting plate, the second movement side pneumatic clamper connecting plate and the
Three movement side pneumatic clamper connecting plates；
The second movement side pneumatic clamper connecting plate is fixed by screws in centre position below mobile wood side-guide connecting plate, institute
It states first movement side pneumatic clamper connecting plate and third movement side pneumatic clamper connecting plate is located at the two of mobile wood side-guide connecting plate lower part
End；
Short straight line sliding rail, the short straight line is fixedly mounted by screw respectively in the mobile wood side-guide connecting plate end positions
Sliding rail coordinates with the short straight line sliding block above first movement side pneumatic clamper connecting plate and third movement side pneumatic clamper connecting plate.
The first movement side pneumatic clamper connecting plate and second movement side pneumatic clamper connecting plate between, third movement side pneumatic clamper connection
The first thin cylinder and the second thin cylinder are installed respectively between plate and the second movement side pneumatic clamper connecting plate；
The tail end of first thin cylinder is fixed on the bottom end of first movement side pneumatic clamper connecting plate, and head end passes through thin type
Cylinder floating connector is connect with the second movement side pneumatic clamper connecting plate so that first movement side pneumatic clamper connecting plate can be along short straight line sliding rail
It moves horizontally；
The tail end of second thin cylinder is fixed on the bottom end of third movement side pneumatic clamper connecting plate, and head end passes through thin type
Cylinder floating connector is connect with the second movement side pneumatic clamper connecting plate so that third moves side pneumatic clamper connecting plate can be along short straight line sliding rail
It moves horizontally.
The affixed side pneumatic clamper connecting plate includes the first affixed side pneumatic clamper connecting plate, the second affixed side pneumatic clamper connecting plate and the
Three affixed side pneumatic clamper connecting plates；
The second affixed side pneumatic clamper connecting plate is fixed by screws in centre position below fixed wood side-guide connecting plate, institute
It states the first affixed side pneumatic clamper connecting plate and third affixed side pneumatic clamper connecting plate is located at the two of fixed wood side-guide connecting plate lower part
End；
Short straight line sliding rail, the short straight line is fixedly mounted by screw respectively in the fixed wood side-guide connecting plate end positions
Sliding rail coordinates with the short straight line sliding block above the first affixed side pneumatic clamper connecting plate and third affixed side pneumatic clamper connecting plate.
Between the first affixed side pneumatic clamper connecting plate and the second affixed side pneumatic clamper connecting plate, third affixed side pneumatic clamper connection
Third thin cylinder and the 4th thin cylinder are installed respectively between plate and the second affixed side pneumatic clamper connecting plate；
The tail end of the third thin cylinder is fixed on the bottom end of the first affixed side pneumatic clamper connecting plate, and head end passes through thin type
Cylinder floating connector is connect with the second affixed side pneumatic clamper connecting plate so that the first affixed side pneumatic clamper connecting plate can be along short straight line sliding rail
It moves horizontally；
The tail end of 4th thin cylinder is fixed on the bottom end of third affixed side pneumatic clamper connecting plate, and head end passes through thin type
Cylinder floating connector is connect with the second affixed side pneumatic clamper connecting plate so that third affixed side pneumatic clamper connecting plate can be along short straight line sliding rail
It moves horizontally.
Pass through screw installation the respectively below the first movement side pneumatic clamper connecting plate and third movement side pneumatic clamper connecting plate
One linear bearing and second straight line bearing；
First connecting shaft is arranged in parallel with long line slide rail, is located at first movement side pneumatic clamper connecting plate and the first affixed side
Between pneumatic clamper connecting plate, one end and first straight line bearing fit, the other end are fixed below the first affixed side pneumatic clamper connecting plate；
Second connecting shaft is arranged in parallel with long line slide rail, is located at third movement side pneumatic clamper connecting plate and third affixed side
Between pneumatic clamper connecting plate, one end and second straight line bearing fit, the other end are fixed below third affixed side pneumatic clamper connecting plate；
First connecting shaft and the second connecting shaft both ends are respectively equipped with shaft end catch.
The robot connecting plate is connect with robot ring flange, is engraved structure and is used carbon steel material；
The mobile wood side-guide connecting plate and fixed wood side-guide connecting plate are engraved structure and use aluminum alloy material,
Slot there are three staying, is easy for installation and maintenance.
Equidistant 120 degree of the pneumatic clamper corpus unguis is evenly arranged in three-jaw cylinder lower part, and outside is equipped with form friction pattern；
The three-jaw cylinder passes through 3 position-5 way solenoid valve control.
Compared with the immediate prior art, technical solution provided by the invention has the advantages that：
1) the mobile wood side-guide connecting plate in chemical fiber spinning cake robot provided by the invention clamp for stacking is in Standard Cylinder
Lower can be moved horizontally along long line slide rail of effect realizes that the Y-direction of fixture moves, work of the mobile side pneumatic clamper connecting plate in thin cylinder
It can be moved horizontally along short straight line sliding rail under and realize that fixture, to moving, keeps fixture more flexible in X；
2) chemical fiber spinning cake robot provided by the invention clamp for stacking is equipped with robot connecting plate and is connected with mobile wood side-guide
Plate and fixed wood side-guide connecting plate, wherein robot connecting plate are the intensity that carbon steel material ensure that fixture, and mobile wood side-guide connects
Fishplate bar and fixed wood side-guide connecting plate are that aluminum alloy material mitigates weight, robot connecting plate, mobile wood side-guide connecting plate and solid
It is that engraved structure is easily installed and repairs to determine wood side-guide connecting plate；
3) pneumatic clamper corpus unguis is distributed on three-jaw cylinder lower part for equidistant 120 degree, and pneumatic clamper corpus unguis can be in the effect of three-jaw cylinder
Lower realize is stretched, and form friction pattern is equipped on the outside of pneumatic clamper corpus unguis, to prevent being fallen in chemical fiber spinning cake motion process；
4) it is connected with connecting shaft between mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate, and is equipped with linear bearing
And shaft end catch, improve the reliability of fixture；
5) three-jaw cylinder uses 3 position-5 way solenoid valve control, prevents fortuitous event appearance of dying, ensures safety；
6) chemical fiber spinning cake robot provided by the invention clamp for stacking, which is additionally provided with the detection chemical fiber spinning cake such as sensor, is
The no device fallen is mounted on pneumatic clamper corpus unguis, can find that product is slipped or fallen in crawl and handling process in time, in time
Alarm, prevents accident；
7) chemical fiber spinning cake robot provided by the invention clamp for stacking can be reliably continuously by chemical fiber spinning cake from baling line
Spinning cake support on pile up in certain sequence on pile disk, whole no manual intervention is simple in structure, and reliable rows are high, can effectively save
About cost reduces labor intensity, improves the quality of chemical fiber spinning cake.
Description of the drawings
Fig. 1 is the overall structure figure of chemical fiber spinning cake robot clamp for stacking in the embodiment of the present invention；
Fig. 2 is the A direction views of chemical fiber spinning cake robot clamp for stacking in the embodiment of the present invention；
Fig. 3 is chemical fiber spinning cake robot clamp for stacking B direction views in the embodiment of the present invention；
Fig. 4 is chemical fiber spinning cake robot clamp for stacking C direction views in the embodiment of the present invention；
Fig. 5 is chemical fiber spinning cake robot clamp for stacking D direction views in the embodiment of the present invention；
Fig. 6 is chemical fiber spinning cake schematic diagram in the embodiment of the present invention；
In figure, 1- robots connecting plate, 2- Standard Cylinders, 3- Standard Cylinder floating junctions, 4- long line slide rails, 5- movements
Wood side-guide connecting plate, 6- short straight line sliding rails, 7- three-jaw cylinders, 8- pneumatic clamper corpus unguis, 9- fix wood side-guide connecting plate, and 10- first is moved
Dynamic side pneumatic clamper connecting plate, the first connecting shafts of 11-, 12- first straight line bearings, 13- second move side pneumatic clamper connecting plate, 14- first
Affixed side pneumatic clamper connecting plate, the shaft ends 15- catch, 16- third thin cylinders, 17- thin type cylinder floating connectors, 18- second are fixed
Side pneumatic clamper connecting plate, 19- screws, 20- short straight line sliding blocks, 21- chemical fiber spinning cakes, 22- paper webs, 23- long linear sliders, 24- cylinders
Link block.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
The present embodiment provides a kind of chemical fiber spinning cake robot clamp for stacking, concrete structure such as Fig. 1, including robot connection
Plate 1, mobile wood side-guide connecting plate 5, fixed wood side-guide connecting plate 9, long line slide rail 4, long linear slider 23, moves Standard Cylinder 2
Dynamic side pneumatic clamper connecting plate, affixed side pneumatic clamper connecting plate, three-jaw cylinder 7 and pneumatic clamper corpus unguis 8；
Long line slide rail 4 is equipped with two, is installed in parallel in two side positions of 1 lower section of robot connecting plate, and Standard Cylinder 2 is pacified
Between two long line slide rails 4, and it is located at 1 lower section centre position of robot connecting plate, it is parallel with long the linear guide.It is mobile
5 top installation cylinder link block 24 of wood side-guide connecting plate, cylinder link block 24 passes through Standard Cylinder floating junction 3 and Standard Cylinder
2 connections, for A direction views shown in Fig. 1 as shown in Fig. 2, Fig. 2 is the right view of the fixture, mobile wood side-guide connecting plate 5 can be
It is moved horizontally along long line slide rail 4 under the action of Standard Cylinder 2.
Mobile wood side-guide connecting plate 5 and fixed wood side-guide connecting plate 9 are arranged in parallel, vertical with long line slide rail 4, the two
Top is respectively mounted long linear slider 23, since long line slide rail 4 is equipped with two, and because of long linear slider 23 and long line slide rail 4
Cooperating, so long linear slider 23 is equipped with 4 altogether, the long linear slider 23 that 9 top of fixed wood side-guide connecting plate is installed with
Long line slide rail 4 is limited with locking device, is used for the fixation and adjustment of chemical fiber spinning cake；The 5 top installation of mobile wood side-guide connecting plate
Long linear slider 23 and 4 cooperating of long line slide rail, mobile wood side-guide connecting plate 5 can edge under the action of Standard Cylinder 2
Long line slide rail 4 moves horizontally the Y-direction movement for realizing fixture.Long linear slider 23 and mobile wood side-guide connecting plate 5 and affixed side
It is fixed by screw 19 between sliding rail connecting plate 9.
Mobile side pneumatic clamper connecting plate and solid is installed in mobile wood side-guide connecting plate 5 and fixed 9 lower section of wood side-guide connecting plate respectively
Determine side pneumatic clamper connecting plate, three-jaw cylinder 7, pneumatic clamper corpus unguis are respectively mounted below mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate
8 are distributed on 7 lower part of three-jaw cylinder for equidistant 120 degree, and pneumatic clamper corpus unguis 8 can be realized under the action of three-jaw cylinder 7 to be stretched, and
8 outside of pneumatic clamper corpus unguis (side for being used to capture chemical fiber spinning cake) is equipped with form friction pattern, to prevent being fallen in chemical fiber spinning cake motion process.
Three-jaw cylinder 7 occurs with the fortuitous event that prevents from dying by 3 position-5 way solenoid valve control, ensures safety simultaneously.
It is respectively mounted short straight line sliding block 20, short straight line sliding block 20 above mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate
It is fixed by screw 19 between mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate, and connected mounted on mobile side pneumatic clamper
Short straight line sliding block 20 and the short straight line sliding rail 6 at mobile 5 lower section both ends of wood side-guide connecting plate above fishplate bar coordinate, and such as Fig. 4 is mobile
Side pneumatic clamper connecting plate includes that first movement side pneumatic clamper connecting plate 10, second moves side pneumatic clamper connecting plate 13 and third movement side pneumatic clamper
Connecting plate；Short straight line sliding block 20 above affixed side pneumatic clamper connecting plate and fixed 9 lower section both ends of wood side-guide connecting plate
Short straight line sliding rail 6 coordinates, since affixed side pneumatic clamper connecting plate includes the first affixed side pneumatic clamper connecting plate 14, the second affixed side pneumatic clamper
Connecting plate 18 and third affixed side pneumatic clamper connecting plate；So short straight line sliding block 20 is equipped with 4 altogether, it is located at first movement side gas
Pawl connecting plate 10, third movement side pneumatic clamper connecting plate, the first affixed side pneumatic clamper connecting plate 14 and the connection of third affixed side pneumatic clamper
Above plate.
Short straight line sliding rail 6, short straight line sliding rail is fixedly mounted by screw 19 respectively in mobile 5 end positions of wood side-guide connecting plate
6 coordinate with the short straight line sliding block 20 above first movement side pneumatic clamper connecting plate 10 and third movement side pneumatic clamper connecting plate.
Second movement side pneumatic clamper connecting plate 13 is fixed on 5 lower section centre position of mobile wood side-guide connecting plate, first movement by screw 19
Side pneumatic clamper connecting plate 10 and third movement side pneumatic clamper connecting plate are located at the both ends of mobile 5 lower part of wood side-guide connecting plate.
Short straight line sliding rail 6, short straight line sliding rail is fixedly mounted by screw 19 respectively in fixed 9 end positions of wood side-guide connecting plate
6 coordinate with the short straight line sliding block 20 above the first affixed side pneumatic clamper connecting plate 14 and third affixed side pneumatic clamper connecting plate.
Second affixed side pneumatic clamper connecting plate 18 is fixed on 9 lower section centre position of fixed wood side-guide connecting plate by screw 19, and first fixes
Side pneumatic clamper connecting plate 14 and third affixed side pneumatic clamper connecting plate are located at the both ends of fixed 9 lower part of wood side-guide connecting plate.
B direction views shown in Fig. 1 are as shown in figure 3, i.e. Fig. 3 is the front view of the fixture, C direction views shown in Fig. 3
Such as Fig. 4, in Fig. 4, first movement side pneumatic clamper connecting plate 10 and second moves between side pneumatic clamper connecting plate 13, third moves side pneumatic clamper
First thin cylinder and the second thin cylinder are installed respectively between connecting plate and the second movement side pneumatic clamper connecting plate 13；Wherein first
The tail end of thin cylinder is fixed on the bottom end of first movement side pneumatic clamper connecting plate 10, head end by thin type cylinder floating connector with
Second movement side pneumatic clamper connecting plate 13 connects so that first movement side pneumatic clamper connecting plate 10 can be moved horizontally along short straight line sliding rail 6；
The tail end of second thin cylinder is fixed on the bottom end of third movement side pneumatic clamper connecting plate, and head end passes through thin type cylinder floating connector
It is connect with the second movement side pneumatic clamper connecting plate 13 so that third movement side pneumatic clamper connecting plate can be moved horizontally along short straight line sliding rail 6.
Between first affixed side pneumatic clamper connecting plate 14 and the second affixed side pneumatic clamper connecting plate 18, third affixed side pneumatic clamper connection
Third thin cylinder 16 and the 4th thin cylinder are installed respectively between plate and the second affixed side pneumatic clamper connecting plate 18；Wherein third is thin
The tail end of type cylinder 16 is fixed on the bottom end of the first affixed side pneumatic clamper connecting plate 14, and head end passes through thin type cylinder floating connector 17
It is connect with the second affixed side pneumatic clamper connecting plate 18 so that the first affixed side pneumatic clamper connecting plate 14 can be along the horizontal shifting of short straight line sliding rail 6
It is dynamic；The tail end of wherein the 4th thin cylinder is fixed on the bottom end of third affixed side pneumatic clamper connecting plate, and head end passes through thin type cylinder
Floating junction is connect with the second affixed side pneumatic clamper connecting plate 18 so that third affixed side pneumatic clamper connecting plate can be along short straight line sliding rail 6
It moves horizontally.
Pass through the installation of screw 19 the respectively below first movement side pneumatic clamper connecting plate 10 and third movement side pneumatic clamper connecting plate
One linear bearing 12 and second straight line bearing；
First connecting shaft 12 is arranged in parallel with long line slide rail 4, is located at first movement side pneumatic clamper connecting plate 10 and first
Between affixed side pneumatic clamper connecting plate 14, one end coordinates with first straight line bearing 12, and the other end is fixed on the first affixed side pneumatic clamper company
14 lower section of fishplate bar；
Second connecting shaft is arranged in parallel with long line slide rail 4, is located at third movement side pneumatic clamper connecting plate and third is fixed
Between the pneumatic clamper connecting plate of side, one end and second straight line bearing fit, the other end are fixed below third affixed side pneumatic clamper connecting plate；
First connecting shaft 11 and the second connecting shaft both ends are respectively equipped with shaft end catch 15, and shaft end catch 15 sets 4 altogether, can
Improve the reliability of fixture.
D direction views such as Fig. 5 shown in Fig. 3, Tu5Zhong robots connecting plate 1 are connect with robot ring flange, are hollow out
Structure and use carbon steel material, ensure that the intensity of fixture；Mobile wood side-guide connecting plate 5 and fixed wood side-guide connecting plate 9 are
Engraved structure and aluminum alloy material is used, alleviates weight, stay there are three slot, be easy for installation and maintenance.
Meanwhile chemical fiber spinning cake robot provided in this embodiment clamp for stacking is additionally provided with the detection chemical fiber wire such as sensor
The device whether cake falls is mounted on pneumatic clamper corpus unguis 8, can find that product slips or falls in crawl and handling process in time
It falls and alarm, prevents accident；
Fig. 6 is the structure chart of chemical fiber spinning cake, and wherein chemical fiber spinning cake 21 is wrapped in outside paper web 22.
Chemical fiber spinning cake robot provided in this embodiment clamp for stacking has the characteristics that：
Robot connecting plate 1 is carbon steel material, ensure that the intensity of fixture, mobile wood side-guide connecting plate 5 and fixed sideslip
Rail connecting plate 9 is aluminum alloy material, alleviates weight, robot connecting plate 1, mobile wood side-guide connecting plate 5 and fixed wood side-guide
Connecting plate 9 is that engraved structure is easily installed and repairs；Mobile wood side-guide connecting plate 5 can be along length under the action of Standard Cylinder 2
Line slide rail 4 moves horizontally the Y-direction movement for realizing fixture, and mobile side pneumatic clamper connecting plate can be along short straight under the action of thin cylinder
Line sliding rail 6, which moves horizontally, realizes fixture in X to movement；Pneumatic clamper corpus unguis 8 can be realized under the action of three-jaw cylinder 7 to be stretched, and is being moved
It is dynamic to be connected with connecting shaft between side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate, and it is equipped with linear bearing and shaft end catch 15,
The reliability of fixture is improved, cylinder uses 3 position-5 way solenoid valve control, prevents fortuitous event appearance of dying, ensures peace
Entirely；8 outside of pneumatic clamper corpus unguis is equipped with form friction pattern to prevent being fallen in chemical fiber spinning cake motion process, and whether fallen equipped with chemical fiber spinning cake
Device is detected, it is simple in structure, it can reduce labor intensity with effectively save cost, improve the quality of chemical fiber spinning cake.
According to the above feature, the detailed process that chemical fiber spinning cake is captured by chemical fiber spinning cake robot clamp for stacking is as follows：
Standard Cylinder 2 acts first, and mobile wood side-guide connecting plate 5 divides with fixed wood side-guide connecting plate 9 along long line slide rail 4
It opens, thin type cylinder movement, first movement side pneumatic clamper connecting plate, third movement side pneumatic clamper connecting plate connect with the second movement side pneumatic clamper
Fishplate bar is separated along short straight line sliding rail 6, while the first affixed side pneumatic clamper connecting plate, third affixed side pneumatic clamper connecting plate are solid with second
Determine side pneumatic clamper connecting plate to separate along short straight line sliding rail 6, pneumatic clamper corpus unguis 8 is withdrawn in the action of three-jaw cylinder 7, under the action of robot
Pneumatic clamper corpus unguis 8 is inserted into paper web, the reset of three-jaw cylinder 7 at this time struts pneumatic clamper corpus unguis 8, under the action of robot on fixture
Setting height is risen to, Standard Cylinder 2 resets, and mobile wood side-guide connecting plate 5 is with fixed wood side-guide connecting plate 9 along long line slide rail 4
Polymerization, thin type cylinder reset, and first movement side pneumatic clamper connecting plate, third movement side pneumatic clamper connecting plate move side pneumatic clamper with second
Connecting plate polymerize, the first affixed side pneumatic clamper connecting plate, third affixed side pneumatic clamper connecting plate with the second affixed side pneumatic clamper connecting plate
It polymerize along short straight line sliding rail 6, later by chemical fiber spinning cake code to stacking area, pneumatic clamper corpus unguis 8 is withdrawn in the action of three-jaw cylinder 7, by one
Fixed sequence recycles successively, realizes the stacking of batch chemical fiber spinning cake.
Chemical fiber spinning cake robot provided in an embodiment of the present invention clamp for stacking can be reliably continuously by chemical fiber spinning cake from packet
It piles up on pile disk, chemical fiber spinning cake can not only be accurately positioned in certain sequence in the spinning cake support of wiring, and disposable crawl
Quantity is more, greatly improves work efficiency, and whole no manual intervention, simple in structure, and reliable rows are high, can it is effectively save at
This, reduces labor intensity, improves the quality of chemical fiber spinning cake.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, institute
The those of ordinary skill in category field with reference to above-described embodiment still can to the present invention specific implementation mode modify or
Equivalent replacement, these are applying for this pending hair without departing from any modification of spirit and scope of the invention or equivalent replacement
Within bright claims.
Claims (14)
1. a kind of chemical fiber spinning cake robot clamp for stacking, which is characterized in that including robot connecting plate, Standard Cylinder, mobile side
Sliding rail connecting plate, fixed wood side-guide connecting plate, long line slide rail, long linear slider, mobile side pneumatic clamper connecting plate, affixed side pneumatic clamper
Connecting plate, three-jaw cylinder and pneumatic clamper corpus unguis；
The long line slide rail is equipped with two, is installed in parallel in both sides below robot connecting plate, and the Standard Cylinder is mounted on
Between two long line slide rails, and the centre position below robot connecting plate, it is parallel with long the linear guide；
The mobile wood side-guide connecting plate and fixed wood side-guide connecting plate are arranged in parallel and, the two top vertical with long line slide rail
It is respectively mounted long linear slider, is coordinated with long line slide rail；
Mobile side pneumatic clamper connecting plate and fixation are installed respectively below the mobile wood side-guide connecting plate and fixed wood side-guide connecting plate
It is respectively mounted three-jaw cylinder, the gas below side pneumatic clamper connecting plate, the mobile side pneumatic clamper connecting plate and affixed side pneumatic clamper connecting plate
Pawl corpus unguis is located at below three-jaw cylinder, is equipped with form friction pattern, and can stretch under the action of three-jaw cylinder.
2. chemical fiber spinning cake robot according to claim 1 clamp for stacking, which is characterized in that the mobile side pneumatic clamper connection
Short straight line sliding block is respectively mounted above plate and affixed side pneumatic clamper connecting plate, the short straight line sliding block is with mobile side pneumatic clamper connecting plate and admittedly
Determine to fix by screw between the pneumatic clamper connecting plate of side, and the short straight line sliding block above mobile side pneumatic clamper connecting plate and shifting
The short straight line sliding rail cooperation at both ends, the short straight line sliding block being mounted on above affixed side pneumatic clamper connecting plate below dynamic wood side-guide connecting plate
Coordinate with the short straight line sliding rail at both ends below fixed wood side-guide connecting plate.
3. chemical fiber spinning cake robot according to claim 1 clamp for stacking, which is characterized in that the fixed wood side-guide connection
The long linear slider installed above plate is limited with long line slide rail with locking device, is used for the fixation and adjustment of chemical fiber spinning cake；
Cylinder link block is installed above the mobile wood side-guide connecting plate, the cylinder link block passes through Standard Cylinder floating junction
It is connect with Standard Cylinder, the mobile wood side-guide connecting plate can move horizontally under the action of Standard Cylinder along long line slide rail；
It is fixed by screw between the long linear slider and mobile wood side-guide connecting plate and fixed wood side-guide connecting plate.
4. chemical fiber spinning cake robot according to claim 1 or 2 clamp for stacking, which is characterized in that the mobile side pneumatic clamper
Connecting plate includes first movement side pneumatic clamper connecting plate, the second movement side pneumatic clamper connecting plate and third movement side pneumatic clamper connecting plate；
The second movement side pneumatic clamper connecting plate is fixed by screws in centre position below mobile wood side-guide connecting plate, and described the
One movement side pneumatic clamper connecting plate and third movement side pneumatic clamper connecting plate are located at the both ends of mobile wood side-guide connecting plate lower part.
5. chemical fiber spinning cake robot according to claim 4 clamp for stacking, which is characterized in that the mobile wood side-guide connection
Plate end positions are respectively by screw fixed installation short straight line sliding rail, the short straight line sliding rail and mounted on first movement side pneumatic clamper
Short straight line sliding block cooperation above connecting plate and third movement side pneumatic clamper connecting plate.
6. chemical fiber spinning cake robot according to claim 4 clamp for stacking, which is characterized in that first movement side pneumatic clamper
Connecting plate and second movement side pneumatic clamper connecting plate between, third movement side pneumatic clamper connecting plate with second move side pneumatic clamper connecting plate it
Between the first thin cylinder and the second thin cylinder are installed respectively.
7. chemical fiber spinning cake robot according to claim 6 clamp for stacking, which is characterized in that first thin cylinder
Tail end is fixed on the bottom end of first movement side pneumatic clamper connecting plate, and head end passes through thin type cylinder floating connector and the second movement side gas
Pawl connecting plate connects so that first movement side pneumatic clamper connecting plate can be moved horizontally along short straight line sliding rail；
The tail end of second thin cylinder is fixed on the bottom end of third movement side pneumatic clamper connecting plate, and head end passes through thin type cylinder
Floating junction is connect with the second movement side pneumatic clamper connecting plate so that third moves side pneumatic clamper connecting plate can be horizontal along short straight line sliding rail
It is mobile.
8. chemical fiber spinning cake robot according to claim 4 clamp for stacking, which is characterized in that the affixed side pneumatic clamper connection
Plate includes the first affixed side pneumatic clamper connecting plate, the second affixed side pneumatic clamper connecting plate and third affixed side pneumatic clamper connecting plate；
The second affixed side pneumatic clamper connecting plate is fixed by screws in centre position below fixed wood side-guide connecting plate, and described the
One affixed side pneumatic clamper connecting plate and third affixed side pneumatic clamper connecting plate are located at the both ends of fixed wood side-guide connecting plate lower part.
9. chemical fiber spinning cake robot according to claim 4 clamp for stacking, which is characterized in that the fixed wood side-guide connection
Plate end positions are respectively by screw fixed installation short straight line sliding rail, the short straight line sliding rail and mounted on the first affixed side pneumatic clamper
Short straight line sliding block cooperation above connecting plate and third affixed side pneumatic clamper connecting plate.
10. chemical fiber spinning cake robot according to claim 8 clamp for stacking, which is characterized in that the first affixed side gas
Between pawl connecting plate and the second affixed side pneumatic clamper connecting plate, third affixed side pneumatic clamper connecting plate and the second affixed side pneumatic clamper connecting plate
Between third thin cylinder and the 4th thin cylinder are installed respectively.
11. chemical fiber spinning cake robot according to claim 10 clamp for stacking, which is characterized in that the third thin cylinder
Tail end be fixed on the bottom end of the first affixed side pneumatic clamper connecting plate, head end passes through thin type cylinder floating connector and the second affixed side
Pneumatic clamper connecting plate connects so that the first affixed side pneumatic clamper connecting plate can be moved horizontally along short straight line sliding rail；
The tail end of 4th thin cylinder is fixed on the bottom end of third affixed side pneumatic clamper connecting plate, and head end passes through thin type cylinder
Floating junction is connect with the second affixed side pneumatic clamper connecting plate so that third affixed side pneumatic clamper connecting plate can be horizontal along short straight line sliding rail
It is mobile.
12. chemical fiber spinning cake robot according to claim 8 clamp for stacking, which is characterized in that first movement side gas
First straight line bearing and second straight line bearing are installed by screw respectively below pawl connecting plate and third movement side pneumatic clamper connecting plate；
First connecting shaft is arranged in parallel with long line slide rail, is located at first movement side pneumatic clamper connecting plate and the first affixed side pneumatic clamper
Between connecting plate, one end and first straight line bearing fit, the other end are fixed below the first affixed side pneumatic clamper connecting plate；
Second connecting shaft is arranged in parallel with long line slide rail, is located at third movement side pneumatic clamper connecting plate and third affixed side pneumatic clamper
Between connecting plate, one end and second straight line bearing fit, the other end are fixed below third affixed side pneumatic clamper connecting plate；
First connecting shaft and the second connecting shaft both ends are respectively equipped with shaft end catch.
13. chemical fiber spinning cake robot according to claim 1 clamp for stacking, which is characterized in that the robot connecting plate
It is connect with robot ring flange, is engraved structure and uses carbon steel material；
The mobile wood side-guide connecting plate and fixed wood side-guide connecting plate are engraved structure and use aluminum alloy material, there are
Three slots, are easy for installation and maintenance.
14. chemical fiber spinning cake robot according to claim 1 clamp for stacking, which is characterized in that between described pneumatic clamper corpus unguis etc.
It is evenly arranged in three-jaw cylinder lower part away from 120 degree, the three-jaw cylinder passes through 3 position-5 way solenoid valve control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194750.0A CN108569550A (en) | 2017-03-11 | 2017-03-11 | A kind of chemical fiber spinning cake robot clamp for stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194750.0A CN108569550A (en) | 2017-03-11 | 2017-03-11 | A kind of chemical fiber spinning cake robot clamp for stacking |
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| Publication Number | Publication Date |
|---|---|
| CN108569550A true CN108569550A (en) | 2018-09-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710194750.0A Pending CN108569550A (en) | 2017-03-11 | 2017-03-11 | A kind of chemical fiber spinning cake robot clamp for stacking |
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| CN (1) | CN108569550A (en) |
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| CN109399249A (en) * | 2018-11-12 | 2019-03-01 | 长兴盛纺织有限公司 | A kind of chemical fiber spinning cake unloads vehicle clamper |
| CN109850585A (en) * | 2019-03-27 | 2019-06-07 | 广东科达洁能股份有限公司 | A kind of fiber spinning cake crawl fixture, automation spinning cake palletizing system and method |
| CN110509210A (en) * | 2019-09-18 | 2019-11-29 | 车城智能装备(武汉)有限公司 | A kind of save space high-precision centering body |
| CN112061799A (en) * | 2020-09-29 | 2020-12-11 | 闽江学院 | Nylon spinning cake stacking device |
| CN112456131A (en) * | 2020-12-11 | 2021-03-09 | 沈阳自动化研究所(昆山)智能装备研究院 | Melamine material loading end effector |
| CN112606612A (en) * | 2020-12-09 | 2021-04-06 | 沈阳自动化研究所(昆山)智能装备研究院 | Picking-up device integrating functions of applique and pickup |
| CN114852672A (en) * | 2022-05-20 | 2022-08-05 | 江苏洛柳精密科技有限公司 | Robot clamp with anti-drop protection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109399249A (en) * | 2018-11-12 | 2019-03-01 | 长兴盛纺织有限公司 | A kind of chemical fiber spinning cake unloads vehicle clamper |
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| CN112061799B (en) * | 2020-09-29 | 2021-09-07 | 闽江学院 | Nylon spinning cake stacking device |
| CN112606612A (en) * | 2020-12-09 | 2021-04-06 | 沈阳自动化研究所(昆山)智能装备研究院 | Picking-up device integrating functions of applique and pickup |
| CN112456131A (en) * | 2020-12-11 | 2021-03-09 | 沈阳自动化研究所(昆山)智能装备研究院 | Melamine material loading end effector |
| CN112456131B (en) * | 2020-12-11 | 2024-01-30 | 昆山智能装备研究院 | Melamine material loading end effector |
| CN114852672A (en) * | 2022-05-20 | 2022-08-05 | 江苏洛柳精密科技有限公司 | Robot clamp with anti-drop protection |
| CN114852672B (en) * | 2022-05-20 | 2023-08-01 | 江苏洛柳精密科技有限公司 | Robot clamp with anti-drop protection |
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