CN110405435A - Bobbin case material storage dish self-feeding mechanical arm device - Google Patents
Bobbin case material storage dish self-feeding mechanical arm device Download PDFInfo
- Publication number
- CN110405435A CN110405435A CN201910632151.1A CN201910632151A CN110405435A CN 110405435 A CN110405435 A CN 110405435A CN 201910632151 A CN201910632151 A CN 201910632151A CN 110405435 A CN110405435 A CN 110405435A
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- CN
- China
- Prior art keywords
- bobbin case
- material storage
- storage dish
- case material
- sucker
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05C—EMBROIDERING; TUFTING
- D05C13/00—Auxiliary devices incorporated in embroidering machines, not otherwise provided for; Ancillary apparatus for use with embroidering machines
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05C—EMBROIDERING; TUFTING
- D05C13/00—Auxiliary devices incorporated in embroidering machines, not otherwise provided for; Ancillary apparatus for use with embroidering machines
- D05C13/06—Apparatus for filling or threading shuttles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Textile Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of bobbin case material storage dish self-feeding mechanical arm devices, its structure includes feeding machanism, translation conveyors structure, feed mechanism and sucker manipulator, the feed mechanism connects translation conveyors structure, sucker manipulator connects feed mechanism, the feeding machanism is arranged in conveying mechanism one end, and the sucker machinery hand includes electromagnet sucker and floating joint mechanism.The present invention can replace with the bobbin case material storage dish on the automatic bobbin case of embroidery machine more changing device automatically, and can adaptive equalization bobbin case material storage dish and drive shaft component can have butting error when docking, material storage dish is accurately mounted on the drive shaft component of bobbin case material storage dish by guarantee.
Description
Technical field
The present invention relates to embroidery machine refoot automatically line technology field more particularly to a kind of spare bobbin case material storage dish it is automatic on
Expect device.
Background technique
Currently, the continuous iteration upgrading of the technology of computerized emboridering machine, existing computerized emboridering machine technical research is mainly to more
The high rotary speed direction development of station, promotes production efficiency constantly, but computerized emboridering machine baseline is made of bobbin case and peg or spindle, is embroidered
Flower machine requires replacement bobbin case (peg or spindle) when running to baseline and being finished, and multi-head embroidery machine shuttle changing shell will expend a large amount of shut down
Time, therefore the working efficiency for replacing bobbin case seriously constrains the further promotion of embroidery machine production efficiency.
Our company technical staff attempts to research and develop all kinds of automatic shuttle changing shell technologies, and earlier application patent of invention: a kind of
Fully automatic feeding multistation embroidery machine refoots line system and method, number of patent application: 201910472686.7；A kind of multistation from
Move bobbin case system and method, number of patent application: 201910472693.7.The key of its technical solution is that automatic more shuttle changing is arranged
The executive device of shell replaces manually performing the movement for changing shell disassembly and replacement, and bobbin case more changing device can be in multiple embroidery machine shuttle boxs
Translation executes the shuttle changing shell work of multiple shuttle boxes between body.Bobbin case more changing device setting simultaneously is for laying in spare bobbin case and tearing open
The bobbin case material storage dish of the empty bobbin case unloaded.Bobbin case material storage dish is arranged multiple bobbin cases and stores station, and can translate along guide rail, by shuttle
Shell stores station rotary and grabs spare bobbin case to suitable position convenient for bobbin case more changing device and store the empty bobbin case under disassembly.Operation
Personnel only need replacing bobbin case material storage dish, it will be able to which the disposable work for completing to supplement spare bobbin case and recycle empty bobbin case is realized
The modularization supplement of spare bobbin case and recycling.But the operating table surface area of embroidery machine is larger, the operation of shuttle box positional distance
Still there is larger distance at the edge of table top, it is therefore desirable to which the bobbin case more changing device for carrying out bobbin case replacement to shuttle box is located at station
It is below face and far apart from operating table surface Edge Distance.There is still a need for bend to enter behaviour to replacement bobbin case material storage dish by operator
Make to be operated below table top.Therefore certainly will need to design a kind of to be the progress bobbin case material storage dish replacement of bobbin case more changing device
Automate bobbin case material storage dish feed device, can automatic shuttle changing shell systems comprehensive automation and highly-efficient implementation.
Bobbin case material storage dish feed device not only needs to realize that material storage dish automatically grabs and long distance delivery, to adapt to embroider
The operating table surface size of machine avoids operator from bending the embarrassment of operation, and is required to for bobbin case material storage dish being accurately mounted on
On the drive shaft component of bobbin case more changing device.
In actual use, multiple bobbin cases more changing device can be configured simultaneously to meet the needs of multistation embroidery machine, each
Bobbin case more changing device, which is used to connect the position of bobbin case material storage dish drive shaft component and inclined angle etc., certainly will have certain mistake
Difference causes bobbin case material storage dish and drive shaft component that can have butting error when docking, it is therefore desirable to bobbin case material storage dish feed device
When installing material storage dish can these adaptive errors material storage dish is accurately mounted on bobbin case material storage dish drive shaft component on, prevent
Only in installation process bobbin case material storage dish docked with drive shaft component inaccuracy cause stuck situation to occur.
Summary of the invention
The present invention is to overcome bobbin case material storage dish more commutation in the automatic bobbin case replacement system of embroidery machine in the prior art
The above-mentioned shortcoming for closing technical solution provides a kind of bobbin case that can be replaced with automatically on the automatic bobbin case of embroidery machine more changing device
Material storage dish, and can adaptive equalization bobbin case material storage dish and drive shaft component can have butting error when docking, guarantee storing
Disk is accurately mounted on the bobbin case material storage dish self-feeding mechanical arm device on the drive shaft component of bobbin case material storage dish.
To achieve the above object, the invention adopts the following technical scheme:
A kind of bobbin case material storage dish self-feeding mechanical arm device of the invention, including feeding machanism, translation conveyors structure, feeding machine
Structure and sucker manipulator, the feed mechanism connect translation conveyors structure, and sucker manipulator connects feed mechanism, the feeding machine
Structure is arranged in conveying mechanism one end, and the sucker machinery hand includes electromagnet sucker and floating joint mechanism.
Preferably, the floating joint mechanism includes terminal pad, elastic component, joint connector, setting in the middle part of terminal pad
Elastic component is arranged in joint connector surrounding in joint connector, terminal pad, and the joint connector is flexibly connected electromagnet sucker
Middle part, the elastic component abuts against the electromagnet sucker.
Preferably, the joint connector shape is truncated cone-shaped, joint connector and the coaxial arrangement of electromagnet sucker, institute
It states and is provided with through-hole in the middle part of electromagnet sucker, position limiting convex ring is arranged in the biggish one end of the truncated cone-shaped diameter of movement of joint connector,
The position limiting convex ring is buckled in the one end of through-hole far from terminal pad, the truncated cone-shaped diameter of movement lesser one of the joint connector
End connects terminal pad across the through-hole.
Preferably, the side view of the truncated cone-shaped structure of the joint connector is round table surface or arc convex or arc
Shape concave surface, the sidewall shape of the through-hole cooperate the shape of the one end of the joint connector side close to position limiting convex ring.
Preferably, circular limiting slot is arranged in the disk of the electromagnet sucker, circle is provided in the middle part of the limiting slot
Positioning pin is arranged in the limiting slot side in the disk of cylindrical retention bead, electromagnet sucker.
Preferably, several accommodation grooves, the elastic component packet is arranged in joint connector surrounding in the end face of the terminal pad
Spring and the decorative pearl on top of an official cap are included, the spring is set in accommodation groove, and the decorative pearl on top of an official cap is set to spring top, and the electromagnet sucker is towards connection
Disk side side setting quantity and the corresponding spherical groove of accommodation groove, decorative pearl on top of an official cap part are caught in the spherical groove.
Preferably, the feed mechanism includes that feed screw guide rail, feeding sliding block and linking arm, the feed screw are led
Rail is set to linking arm, and feeding sliding block is slidably connected feed screw guide rail, sucker manipulator connection feeding sliding block, linking arm sliding
Connect translation conveyors structure.
Preferably, the translation conveyors structure includes conveying screw rod guide rail and conveying sliding seat, the conveying sliding seat
It is slidably connected and conveys screw rod guide rail, feed mechanism is set to conveying sliding seat.
Preferably, the translation conveyors structure setting adjusts support base, the adjusting support base includes saddle, middle part branch
Fagging, pedestal, several support columns and several adjusting rods, the midfoot support plate are set to pedestal by support column, under adjusting rod
End and midfoot support plate top surface are threadedly coupled, and saddle is set at the top of adjusting rod, and the translation conveyors structure is set to saddle top
Portion.
Preferably, translation conveyors structure one end is infeed end, the other end is feeding end；The feeding machanism setting
In the infeed end side of translation conveyors structure, feeding machanism includes rollway and feed driving mechanism, is arranged on the rollway
Several storage stations are set, the confession that driving mechanism can drive rollway that storage station is successively moved to translation conveyors structure is fed
Expect end.
Preferably, the rollway is circular supply disk, the disk of the supply disk is around several storing names of setting
Position, the feed driving mechanism are feed servo motor, feed servo motor driving feed disc spins by storage station according to
The secondary infeed end for turning to translation conveyors structure.
The present apparatus is configured when in use in guide rail one end of automatic shuttle changing shell systems.Feeding machanism is for storing multiple bobbin cases
Material storage dish.Sucker manipulator is for grabbing bobbin case material storage dish.Feed mechanism can be realized sucker manipulator and more change the outfit along bobbin case
The bobbin case storing disk drive shaft axial feed and rollback set, to carry out the installation and removal of bobbin case material storage dish.Sucker is mechanical
Hand can be translated by translation conveyors structure both ends, be travelled to and fro between feeding machanism and bobbin case more changing device.Specific replacement bobbin case
The mode of material storage dish is: bobbin case more changing device can be moved to guide rail when needing replacing bobbin case material storage dish close to translation conveyors structure
One end.Sucker manipulator is moved at bobbin case more changing device along translation conveyors structure, and feed mechanism drives sucker manipulator to inhale
It takes the complete bobbin case material storage dish with bobbin case and retracts, sucker manipulator is moved to feeding machanism one end along translation conveyors structure,
Feed mechanism drives sucker manipulator that the bobbin case material storage dish under dismantling is placed on feeding machanism.The feed of feeding machanism spirals
Turn, turn to a new bobbin case material storage dish at sucker manipulator, feed mechanism driving sucker manipulator draws new bobbin case
Material storage dish.New bobbin case material storage dish described in the mechanical hand-held band of sucker is moved to bobbin case more changing device one end, and feed mechanism driving is inhaled
Disk manipulator installs bobbin case material storage dish to the bobbin case storing disk drive shaft of bobbin case more changing device.So circulation realizes bobbin case storage
The installation replacement of charging tray and recovery operation.
The electromagnet sucker of sucker machinery on hand controlled can open or close, thus realize bobbin case material storage dish absorption and
It places.Meeting when floating joint mechanism may be implemented that the adaptive bobbin case material storage dish of electromagnet sucker and drive shaft component is enable to dock
There are butting errors, realize the accurate installation of bobbin case material storage dish.The concrete principle of floating joint mechanism is: joint connector and electricity
The movable connection method of magnet sucking disc misplaces so that electromagnet sucker can be tilted relative to joint connector.Elastic component is in surrounding
Electromagnet sucker is abutted against to make electromagnet sucker unloaded or maintain electromagnet sucker and joint connector after drawing bobbin case material storage dish
Coaxial position relationship.In feed mechanism driving sucker manipulator installation bobbin case material storage dish, butting error causes to drive if it exists
Moving axis component is slightly away from mounting hole on bobbin case material storage dish or drive shaft component and mounting hole, and there are coaxiality errors, all
It will lead to electromagnet sucker side and resistance occur, to compress the elastic component of this side, connect electromagnet sucker opposed articulation
Part inclination or offset dislocation can have butting error when to adaptively making up bobbin case material storage dish and drive shaft component docking, make
Bobbin case material storage dish is smoothly installed.
Detailed description of the invention
It using diagram 1 is of the invention one that Fig. 1, which is the guide rail debugging external member of multistation automatic shuttle changing system of the invention,
The structural schematic diagram of kind bobbin case material storage dish self-feeding mechanical arm device.
Fig. 2 is a kind of showing for the bobbin case material storage dish installation condition of bobbin case material storage dish self-feeding mechanical arm device of the invention
It is intended to.
Fig. 3 is that a kind of bobbin case material storage dish of bobbin case material storage dish self-feeding mechanical arm device of the invention takes showing for state
It is intended to.
Fig. 4 is a kind of structural representation of the sucker manipulator of bobbin case material storage dish self-feeding mechanical arm device of the invention
Figure.
Fig. 5 is a kind of practical example figure of bobbin case material storage dish self-feeding mechanical arm device of the invention.
In figure:
1, feeding machanism；101, supply disk；102, station is stored；103, servo motor；2, translation conveyors structure, 201 conveying silks
Rod guide；202, sliding seat is conveyed；3, feed mechanism, 301, feed screw guide rail；302 feeding sliding blocks；303, linking arm；4, it inhales
Disk manipulator；5, electromagnet sucker；501, limiting slot；502, retention bead；503, positioning pin 6, floating joint mechanism；601, even
Connect disk；602, joint connector；603, position limiting convex ring；605, accommodation groove；606, the decorative pearl on top of an official cap；607, spring；608, spherical groove；7,
Adjust support base；701, saddle；702, midfoot support plate；703, pedestal；704, support column；705, adjusting rod；8, bobbin case storing
Disk；9, bobbin case more changing device；10, operating table surface.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and detailed description.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of bobbin case material storage dish self-feeding mechanical arm device of the invention, including feeding machine
Structure 1, translation conveyors structure 2, feed mechanism 3 and sucker manipulator 4, the feed mechanism 3 connect translation conveyors structure 2, sucker
Manipulator 4 connects feed mechanism 3, and in conveying mechanism one end, the sucker manipulator 4 includes electromagnetism for the setting of feeding machanism 1
Iron sucker 5 and floating joint mechanism 6.
As shown in Fig. 2, the floating joint mechanism 6 includes terminal pad 601, elastic component, joint connector 602, terminal pad
Joint connector 602 is arranged in 601 middle parts, and elastic component, the joint connection is arranged in 602 surrounding of joint connector in terminal pad 601
Part 602 is flexibly connected the middle part of electromagnet sucker 5, and the elastic component abuts against the electromagnet sucker 5.
602 shape of joint connector is truncated cone-shaped, and joint connector 602 and electromagnet sucker 5 are coaxially disposed, described
Through-hole is provided in the middle part of electromagnet sucker 5, position limiting convex ring is arranged in the biggish one end of the truncated cone-shaped diameter of movement of joint connector 602
603, the position limiting convex ring 603 is buckled in the one end of through-hole far from terminal pad 601, the truncated cone-shaped knot of the joint connector 602
The lesser one end of structure diameter passes through the through-hole and connects terminal pad 601.
The side view of the truncated cone-shaped structure of the joint connector 602 is that round table surface or arc convex or arc are recessed
Face, the sidewall shape of the through-hole cooperate the shape of the one end of 602 side of joint connector close to position limiting convex ring 603.
Circular limiting slot 501 is arranged in the disk of the electromagnet sucker 5, is provided with cylinder in the middle part of the limiting slot 501
Positioning pin 503 is arranged in 501 side of limiting slot in the disk of the retention bead 502 of shape, electromagnet sucker 5.
Several accommodation grooves 605, the elastic component packet is arranged in 602 surrounding of joint connector in the end face of the terminal pad 601
Spring 607 and the decorative pearl on top of an official cap 606 are included, the spring 607 is set in accommodation groove 605, and the decorative pearl on top of an official cap 606 is set to 607 top of spring, described
Quantity and the corresponding spherical groove 608 of accommodation groove 605, the decorative pearl on top of an official cap 606 is arranged towards 601 side side of terminal pad in electromagnet sucker 5
Part is caught in the spherical groove 608.
The feed mechanism 3 includes feed screw guide rail 301, feeding sliding block 302 and linking arm 303, the feed screw
Guide rail 301 is set to linking arm 303, and feeding sliding block 302 is slidably connected feed screw guide rail 301, the connection feeding of sucker manipulator 4
Sliding block 302, linking arm 303 are slidably connected translation conveyors structure 2.
303 shape of linking arm is " T " shape structure, and it is "T"-shaped that the feed screw guide rail 301 is set to linking arm 303
One end of structure transverse direction, described 303 " T " shape structure longitudinal direction one end of linking arm connect translation conveyors structure 2.
The translation conveyors structure 2 includes conveying screw rod guide rail 201 and conveying sliding seat 202, the conveying sliding seat 202
It is slidably connected and conveys screw rod guide rail 201, feed mechanism 3 is set to conveying sliding seat 202.
The setting of translation conveyors structure 2 adjusts support base 7, and the adjusting support base 7 includes saddle 701, midfoot support
Plate 702, pedestal 703, several support columns 704 and several adjusting rods 705, the midfoot support plate 702 are arranged by support column 704
In pedestal 703,705 lower end of adjusting rod and 702 top surface of midfoot support plate are threadedly coupled, and saddle 701 is set to the top of adjusting rod 705
Portion, the translation conveyors structure 2 are set to 701 top of saddle.
The adjustable each adjusting rod 705 of screw connection structure between adjusting rod 705 and midfoot support plate 702 is located at middle part
The length of 702 above section of support plate to adjust the positional relationships such as the height and levelness of saddle 701, and then adjusts translation
Conveying mechanism 2 makes it accurately adapt to the rail height in bobbin case automatic-exchanging system, so that it is guaranteed that sucker manipulator 4 can translate
To the position of replacement bobbin case material storage dish 8.
Described 2 one end of translation conveyors structure is infeed end, and the other end is feeding end；The setting of feeding machanism 1 is translating
The infeed end side of conveying mechanism 2, feeding machanism 1 include rollway and feed driving mechanism, are arranged on the rollway
Several storage stations 102, feed driving mechanism can drive rollway to be successively moved to translation conveyors structure 2 for station 102 is stored
Infeed end.
The rollway is circular supply disk 101, and the disk of the supply disk 101 is around several storage stations of setting
102, the feed driving mechanism is feed servo motor 103, and the feed servo motor 103 drives the rotation of supply disk 101 will
Storage station 102 successively turns to the infeed end of translation conveyors structure 2.
As shown in Fig. 2, Fig. 3, Fig. 5, the present apparatus is configured when in use in guide rail one end of automatic shuttle changing shell systems, is located at and is embroidered
10 lower section of operating table surface of flower machine, feeding machanism 1 are located at the edge of operating table surface 10, edge installation and recycling bobbin case material storage dish 8.
Feeding machanism 1 is for storing multiple bobbin case material storage dishes 8.Sucker manipulator 4 is for grabbing bobbin case material storage dish 8.Feed mechanism 3 can
Sucker manipulator 4 is realized along the 8 drive shaft axial feed of bobbin case material storage dish and rollback on bobbin case more changing device 9, to carry out
The installation and removal of bobbin case material storage dish 8.Sucker manipulator 4 can be translated by 2 both ends of translation conveyors structure, travel to and fro between feeding machine
Between structure 1 and bobbin case more changing device 9.The mode of specific replacement bobbin case material storage dish 8 is: bobbin case more changing device 9 is needing replacing shuttle
Guide rail can be moved to when shell material storage dish 8 close to one end of translation conveyors structure 2.Sucker manipulator 4 is translated along translation conveyors structure 2
To bobbin case more changing device 9, feed mechanism 3 drives sucker manipulator 4 to draw the bobbin case material storage dish 8 for being finished spare bobbin case and returns
It moves back, sucker manipulator 4 is moved to 1 one end of feeding machanism along translation conveyors structure 2, and feed mechanism 3 drives sucker manipulator 4 that will tear open
The bobbin case material storage dish 8 unloaded is placed on feeding machanism 1.The supply disk 101 of feeding machanism 1 rotates, and makes a new bobbin case storage
Charging tray 8 turns at sucker manipulator 4, and feed mechanism 3 drives sucker manipulator 4 to draw new bobbin case material storage dish 8.Sucker is mechanical
Hand 4 carries the new bobbin case material storage dish 8 and is moved to bobbin case more 9 one end of changing device, and feed mechanism 3 drives sucker manipulator 4 will
In the installation to 8 drive shaft of bobbin case material storage dish of bobbin case more changing device 9 of bobbin case material storage dish 8.So circulation realizes bobbin case material storage dish 8
Installation replacement and recovery operation.
Electromagnet sucker 5 on sucker manipulator 4 controlled can open or close, to realize the suction of bobbin case material storage dish 8
It takes and places.Floating joint mechanism 6 may be implemented to enable the adaptive bobbin case material storage dish 8 of electromagnet sucker 5 and drive shaft component
There can be butting error when docking, realize the accurate installation of bobbin case material storage dish 8.The concrete principle of floating joint mechanism 6 is: joint
The movable connection method of connector 602 and electromagnet sucker 5, so that electromagnet sucker 5 can be tilted relative to joint connector 602
Dislocation.Elastic component abuts against after electromagnet sucker 5 makes electromagnet sucker 5 unloaded or absorption bobbin case material storage dish 8 in surrounding and maintains electricity
The coaxial position relationship of magnet sucking disc 5 and joint connector 602.Drive sucker manipulator 4 that bobbin case storing is installed in feed mechanism 3
When disk 8, butting error causes drive shaft component to be slightly away from the mounting hole on bobbin case material storage dish 8, or driving axle portion if it exists
There are coaxiality errors for part and mounting hole, and 5 side of electromagnet sucker can all be caused resistance occur, to compress the elasticity of this side
Part tilts 5 opposed articulation connector 602 of electromagnet sucker or deviates dislocation, to adaptively make up bobbin case material storage dish 8 and drive
Moving axis component can have butting error when docking, and install bobbin case material storage dish 8 smoothly.
Storage station 102 on supply disk 101 is provided with the locating pieces such as the locating shaft for positioning bobbin case material storage dish 8, uses
In storage bobbin case material storage dish 8, and the posture of bobbin case processing disk is accurately grabbed convenient for sucker manipulator 4.In use, wherein
One storage station 102 is vacant, and for storing the bobbin case material storage dish 8 under disassembly, sucker manipulator 4 successively takes bobbin case storage thereafter
Charging tray 8, the vacant storage station 102 left is then for storing the subsequent bobbin case material storage dish 8 disassembled.
Claims (11)
1. a kind of bobbin case material storage dish self-feeding mechanical arm device, characterized in that including feeding machanism, translation conveyors structure, into
To mechanism and sucker manipulator, the feed mechanism connects translation conveyors structure, and sucker manipulator connects feed mechanism, the confession
Expect that mechanism is arranged in conveying mechanism one end, the sucker machinery hand includes electromagnet sucker and floating joint mechanism.
2. bobbin case material storage dish self-feeding mechanical arm device according to claim 1, characterized in that the floating joint machine
Structure includes terminal pad, elastic component, joint connector, joint connector is arranged in the middle part of terminal pad, terminal pad is in joint connector four
Week setting elastic component, the joint connector are flexibly connected the middle part of electromagnet sucker, and the elastic component abuts against the electromagnet
Sucker.
3. bobbin case material storage dish self-feeding mechanical arm device according to claim 2, characterized in that the joint connector
Shape is truncated cone-shaped, joint connector and the coaxial arrangement of electromagnet sucker, is provided with through-hole, joint in the middle part of the electromagnet sucker
Position limiting convex ring is arranged in the biggish one end of the truncated cone-shaped diameter of movement of connector, and the position limiting convex ring is buckled in through-hole far from terminal pad
One end, lesser one end of truncated cone-shaped diameter of movement of the joint connector passes through the through-hole and connects terminal pad.
4. bobbin case material storage dish self-feeding mechanical arm device according to claim 3, characterized in that the joint connection
The side view of the truncated cone-shaped structure of part is round table surface or arc convex or arc-shaped concave, and the sidewall shape of the through-hole cooperates institute
Joint connector side is stated close to the shape of one end of position limiting convex ring.
5. bobbin case material storage dish self-feeding mechanical arm device according to claim 2, characterized in that the electromagnet sucker
Disk circular limiting slot is set, cylindrical retention bead, the disk of electromagnet sucker are provided in the middle part of the limiting slot
In the limiting slot side, positioning pin is set.
6. bobbin case material storage dish self-feeding mechanical arm device according to claim 2, characterized in that the end of the terminal pad
Several accommodation grooves are arranged in joint connector surrounding in face, and the elastic component includes spring and the decorative pearl on top of an official cap, and the spring is set to accommodating
In slot, the decorative pearl on top of an official cap is set to spring top, and quantity is arranged towards terminal pad side side for the electromagnet sucker and accommodation groove is corresponding
Spherical groove, decorative pearl on top of an official cap part is caught in the spherical groove.
7. bobbin case material storage dish self-feeding mechanical arm device according to claim 1, characterized in that the feed mechanism packet
Feed screw guide rail, feeding sliding block and linking arm are included, the feed screw guide rail is set to linking arm, and feeding sliding block is slidably connected
Feed screw guide rail, sucker manipulator connection feeding sliding block, linking arm are slidably connected translation conveyors structure.
8. bobbin case material storage dish self-feeding mechanical arm device according to claim 1, characterized in that the translation conveyors
Structure includes conveying screw rod guide rail and conveying sliding seat, and the conveying sliding seat, which is slidably connected, conveys screw rod guide rail, and feed mechanism is set
It is placed in conveying sliding seat.
9. bobbin case material storage dish self-feeding mechanical arm device according to claim 1 or 8, characterized in that the translation is defeated
Mechanism setting is sent to adjust support base, the adjusting support base includes saddle, midfoot support plate, pedestal, several support columns and several
Adjusting rod, the midfoot support plate are set to pedestal by support column, and adjusting rod lower end and midfoot support plate top surface are threadedly coupled,
Saddle is set at the top of adjusting rod, and the translation conveyors structure is set at the top of saddle.
10. bobbin case material storage dish self-feeding mechanical arm device according to claim 1, characterized in that the translation conveying
Mechanism one end is infeed end, and the other end is feeding end；The infeed end side of translation conveyors structure is arranged in the feeding machanism, supplies
Material mechanism includes rollway and feed driving mechanism, and several storage stations are arranged on the rollway, are fed driving mechanism
It can drive rollway that storage station is successively moved to the infeed end of translation conveyors structure.
11. bobbin case material storage dish self-feeding mechanical arm device according to claim 10, characterized in that the rollway is
Circular supply disk, the disk of the supply disk are feed servo around several storage stations, the feed driving mechanism is arranged
Motor, the feed servo motor driving feed disc spins successively turn to the infeed end of translation conveyors structure by station is stored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910632151.1A CN110405435A (en) | 2019-07-13 | 2019-07-13 | Bobbin case material storage dish self-feeding mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910632151.1A CN110405435A (en) | 2019-07-13 | 2019-07-13 | Bobbin case material storage dish self-feeding mechanical arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110405435A true CN110405435A (en) | 2019-11-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910632151.1A Withdrawn CN110405435A (en) | 2019-07-13 | 2019-07-13 | Bobbin case material storage dish self-feeding mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110405435A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276648A (en) * | 2020-11-17 | 2021-01-29 | 宁波金凤焊割机械制造有限公司 | Magnetic suction type feeding device for metal ribbon board |
-
2019
- 2019-07-13 CN CN201910632151.1A patent/CN110405435A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276648A (en) * | 2020-11-17 | 2021-01-29 | 宁波金凤焊割机械制造有限公司 | Magnetic suction type feeding device for metal ribbon board |
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Application publication date: 20191105 |