CN111618900A - Multifunctional paw capable of taking and placing yarn and partition board - Google Patents
Multifunctional paw capable of taking and placing yarn and partition board Download PDFInfo
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- CN111618900A CN111618900A CN202010432460.7A CN202010432460A CN111618900A CN 111618900 A CN111618900 A CN 111618900A CN 202010432460 A CN202010432460 A CN 202010432460A CN 111618900 A CN111618900 A CN 111618900A
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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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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Abstract
The invention discloses a multifunctional paw capable of taking and placing yarns and a partition plate, which comprises a motor, a belt transmission, a lead screw nut pair, a guide rail sliding block, a visual system, a distance measuring sensor module, yarn grabbing fingers and a sponge sucker, wherein the motor transmits motion to a lead screw through a belt wheel, and the lead screw rotates to realize nut movement, so that the fingers are opened and combined; each finger is provided with a sponge sucker, and the suckers can be folded into the two fingers along with the combination of the fingers, so that the yarn grabbing process is not influenced; when the partition plate is grabbed, the fingers are opened to the maximum stroke, and the two sponge suckers suck the partition plate by using negative pressure. The paw stroke is 100mm, the inner diameter of a bobbin capable of grabbing cheese is 92mm-130mm, and the weight is determined by the load of the tail end of the cooperative robot (less than 20 kg); and can grab the baffle between yarn and the yarn, this function can make AGV transport the quantity of yarn and improve greatly, need not consider again that the problem of grabbing of baffle has also improved automation efficiency.
Description
Technical Field
The invention belongs to the field of automatic feeding and discharging of cheese, and particularly relates to a multifunctional paw capable of taking and placing yarns and a partition plate.
Background
The difficulty of realizing automation is not on an automatic twisting machine at present, but on the aspect of feeding and discharging of cheese, particularly relatively large cheese. In a common textile mill workshop, a plurality of twisting machines are regularly arranged, and the twisting machines consume yarns in the working process, so that the automatic feeding of the yarns in the whole workshop and the taking down of useless yarn drums are realized to form breakthrough points; people generally adopt the method that AGV and cooperation robot combine together, carry the yarn by the AGV, the yarn is got and is put to robot and terminal hand claw realization to the quantity of the yarn that the AGV carried is also more relatively, so the yarn adopts range upon range of formula to pile up, puts a baffle in the middle of every layer of yarn, gets undoubtedly and puts the yarn hand claw and still will possess the function of picking up the baffle, otherwise can not snatch next layer of yarn. The yarns and the clapboard cannot be damaged in the process of grabbing the yarn cylinder and the clapboard.
Most of the existing yarn grabbing claws adopt a three-claw structure, vision is arranged in the middle of the three claws, the three-claw structure is opened when visual positioning is needed, the vision field is prevented from being shielded, after the positioning is finished, the three claws are folded and placed in a yarn barrel, and yarn is grabbed by utilizing supporting force. For the AGV automatic yarn feeding system, the main difficulty is not in grabbing yarns, but grabbing the partition plates at the same time. The material of baffle is nonmetal, because the yarn needs the location on the baffle, so designed not few locating holes on the baffle, but the baffle center does not have the hole, in addition the baffle thickness generally is 45mm, every hole both ends all have the chamfer, baffle hole downside has the existence of yarn in addition, so just cause the high very little that the hand claw can effectively prop the baffle hole, the baffle is about 2kg, the hole can not make the baffle prop the back and skid again at the center, make the baffle tilt directly, direct drop even.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multifunctional paw which can grab cheese and a partition plate for placing the cheese.
The technical scheme of the invention is as follows:
a multifunctional gripper capable of taking and placing yarns and partition boards comprises a mounting substrate, wherein a robot transition plate is fixed on the left side of the top wall of the mounting substrate and used for connecting the gripper and a six-axis end flange of a robot, a distance measuring sensor is fixed on the left side of the front wall of a shell, a camera is fixed on the right side of the front wall of the mounting substrate through a camera mounting plate, an annular light source of the camera is fixedly connected with the mounting substrate, the camera is used for collecting position information of the yarns and the partition boards, and the distance measuring sensor is used for detecting the distance information between the mounting substrate and the yarns on the gripper;
a motor is fixed on a motor mounting seat, two mounting holes with axes arranged along the vertical direction are formed in one diagonal direction of the motor mounting seat, and the motor mounting seat is fixedly connected with a mounting substrate through mounting screws penetrating through the mounting holes;
a small belt wheel is fixed on a motor shaft of the motor, a lead screw is arranged along the direction parallel to the motor shaft of the motor, a guide rail arranged parallel to the lead screw is fixed on a mounting substrate between the lead screw and the motor, two slide blocks are connected on the guide rail in a sliding manner, the middle part of the lead screw is an optical axis, the thread turning directions of two ends of the lead screw are opposite, and a lead screw nut is connected to each thread of two ends of the lead screw; each lead screw nut is fixedly connected with one sliding block through a sliding block transition plate, and a paw mounting hole is reserved on the bottom wall of the sliding block transition plate;
the left end and the right end of the lead screw are respectively arranged in a left bearing and a right bearing, the left bearing is fixed in a left bearing seat, the right bearing is fixed in a right bearing seat, a large belt wheel is fixed at the end part of the lead screw penetrating through the left bearing, and the small belt wheel and the large belt wheel are rotationally connected through a synchronous belt;
a finger mounting plate is fixed on the bottom wall of the slider transition plate on the left side and the right side respectively through bolts penetrating through paw mounting holes, a first finger comprises a first finger seat, the first finger seat is a rectangular groove body, the bottom surface and the right surface of the first finger seat are open, the top surface of the first finger seat is fixedly connected with the finger mounting plate on the left side, a first sponge sucker arranged along the horizontal direction is connected with the bottom wall of the first finger seat, the first sponge sucker comprises a first sucker mounting plate with the top surface at the left end fixed on the bottom wall of the first finger seat, a first sponge is fixed on the bottom wall of the first sucker mounting plate, the top wall on the right side of the first sucker mounting plate is an arc-shaped slope surface inclining downwards, the left wall of a guide plate is fixed on the left wall of the first finger seat, the right wall of the guide plate is an arc-shaped surface, the top wall of the guide plate has the same width as the top wall of the first finger seat, and the bottom wall of the guide, the guide plate is arranged in parallel with the front side wall and the rear side wall of the first finger seat, the bottom wall surface of the guide plate is tightly contacted with the top surface of the first suction disc mounting plate, and the arc-shaped slope surface on the first suction disc mounting plate is smoothly connected with the arc surface of the right wall of the guide plate to form a slide way;
the second finger includes the second finger seat, the second finger seat be rectangle cell body and bottom surface and left surface uncovered, the uncovered relative setting of controlling in left side of the uncovered and second finger in right side of first finger, the second finger seat links to each other with second sponge sucking disc, second sponge sucking disc include second sucking disc mounting panel around the second finger seat bottom along a horizontal direction fixedly connected with round pin axle between the lateral wall, the right-hand member of second sucking disc mounting panel rotates with the round pin axle and links to each other and opens in the middle of the right-hand member of second sucking disc mounting panel has the opening groove, a reset spring cover is epaxial and is located opening groove department, reset spring one end top is on second sucking disc mounting panel roof, the other end top is on the right wall of second finger, the extreme position that second sucking disc mounting panel revolved round pin axle clockwise rotation does: the plane arranged on the right side of the second sucker mounting plate is in contact with the bottom wall plane of the second finger seat, so that the second sucker mounting plate is arranged along the horizontal direction, and the bottom surfaces of the first sponge and the second sponge are flush;
the right side of one guide block is fixed in the middle of the left side of the second sucker mounting plate, the shape of the left end of the guide block is a circular arc which is always tangent to the inner wall of the slide way when the guide block is contacted with the inner wall of the slide way, the guide block can move upwards along the slide way until the first sucker mounting plate is completely pressed on the second sponge, the second sucker mounting plate can reset to a horizontal position under the action of a reset spring, so that the bottom surfaces of the first sponge and the second sponge are flush, the second sponge is fixed on the bottom surface of the second sucker mounting plate, and the left end of the second sponge is positioned on the inner side of the left end of the second sucker mounting plate;
all install a first air cock and a second air cock on each finger mounting panel, each the one end of first air cock pass through trachea and air pump intercommunication and the other end respectively through opening the air flue in two finger mounting panels separately with a second air cock intercommunication, as shown in the attached drawing, two second air cocks respectively through trachea and the one end intercommunication of installing the third air cock on first sucking disc mounting panel and second sucking disc mounting panel, two the other end of third air cock respectively with first sponge, second sponge intercommunication.
The invention has the beneficial effects that: the yarn grabbing device can grab the cheese and a partition plate for placing the cheese, the inner diameter of the grabbed yarn cylinder is 92-130 mm, the weight of the grabbed yarn cylinder is not more than 10kg, and the partition plate between the yarn (yarn cylinder) and the yarn can be grabbed. The yarn grabbing barrel is supported by the opening and closing tension of the claws, the grabbing partition plates are sucking discs connected on the claws, and the negative pressure generated by the sucking discs sucks the partition plates, so that the problem of feeding and discharging yarn and the partition plates is solved.
Drawings
FIG. 1 is a perspective view of a multi-functional gripper capable of accessing and placing yarns and separators in accordance with the present invention;
FIG. 2 is a perspective view of the structure shown in FIG. 1, turned 180 degrees up and down;
FIG. 3 is a schematic view of the gripper of FIG. 1 gripping yarn;
FIG. 4 is a schematic view of the gripper of FIG. 1 gripping a diaphragm;
FIG. 5 is a perspective view of the gripper shown in FIG. 2 with the housing removed;
FIG. 6 is an assembled view of the finger portion of the gripper of FIG. 2;
FIG. 7 is a perspective view of a slider transition plate in the gripper of FIG. 5;
figure 8 is a partial assembly view of a gripper of the gripper of figure 2.
FIG. 9 is a partial cross-sectional view of the lead screw in the configuration shown in FIG. 8;
FIG. 10 is a partial cross-sectional view of the structure shown in FIG. 3;
FIG. 11 is a perspective view of a first finger of the gripper of FIG. 1;
FIG. 12 is a perspective view of a second finger of the gripper of FIG. 1;
FIG. 13-1 is a front view of the motor mount in the gripper of FIG. 2;
FIG. 13-2 is a left side view of the motor mount shown in FIG. 13-1;
FIG. 13-3 is a top view of the motor mount shown in FIG. 13-1;
FIG. 14 is a schematic view of the motor mounting in the gripper of FIG. 2;
FIG. 15 is an exploded view of the mounting of the components associated with the slider transition plate in the gripper of FIG. 5;
FIG. 16 is a perspective exploded view of the relevant parts of the first finger and the second finger of the gripper of FIG. 1;
FIG. 17 is a perspective view of the illustrated construction of FIG. 16, turned 90 degrees left and right;
FIG. 18 is a schematic view of the second finger of FIG. 1 mounted to the second suction cup mounting plate;
figure 19 is a partial cross-sectional view of part of the second suction cup mounting plate of the arrangement shown in figure 6.
Detailed Description
The invention is explained in detail below with reference to the drawings and the embodiments.
The multifunctional gripper capable of taking and placing yarns and partition boards comprises a mounting base plate 2, a robot transition plate 1 is fixed on the left side of the top wall of the mounting base plate 2, the robot transition plate 1 is used for flange connection of the gripper and the six-axis end of a robot, a distance measuring sensor 17 is fixed on the left side of the front wall of a shell 15, a camera 16 is fixed on the right side of the front wall of the mounting base plate 2 through a camera mounting plate 3, and an annular light source 21 of the camera is fixedly connected with the mounting base plate 2. The camera is used for collecting position information of the yarn 33 and the partition plate 41 (shown in the attached drawing 4) and used for positioning the position of the yarn by the robot, the distance measuring sensor 17 is used for detecting distance information between the installation substrate 2 and the yarn on the gripper, and the robot can accurately use the tail end gripper to take the yarn from the AGV and carry out yarn feeding operation on the twisting machine by identifying and judging the information fed back by the camera and the distance measuring sensor, so that the intelligent yarn feeding function of the twisting machine is realized.
A motor 13 is fixed on a motor mounting seat 81, as shown in fig. 13, two mounting holes are formed in a diagonal direction of the motor mounting seat 81, two axes of the mounting holes are arranged along a vertical direction, and the motor mounting seat 81 is fixedly connected with the mounting substrate 2 through mounting screws 82 penetrating through the mounting holes.
A small belt pulley 51 is fixed on a motor shaft of the motor 13, a lead screw 22 is arranged in a direction parallel to the motor shaft of the motor 13, a guide rail 54 arranged in parallel to the lead screw 22 is fixed on the mounting substrate 2 between the lead screw 22 and the motor, two sliders 55 (shown in figure 5) are connected on the guide rail 54 in a sliding manner, the moving direction of the sliders is parallel to the motor shaft direction of the motor 13, the middle part of the lead screw 22 (shown in figure 9) is an optical axis, the thread turning directions of two ends are opposite, two lead screw nuts 56 are respectively connected at two ends of the lead screw in a threaded manner, the lead screw does a rotating motion, the lead screw nuts do a linear motion, and the moving directions of the two lead screw nuts are opposite or opposite due to the opposite thread turning directions of the two ends of the lead screw; each lead screw nut is fixed with one slide block 55 through a slide block transition plate 57 (as shown in fig. 7), one end of the slide block transition plate is fixedly connected with the slide block 55, and the other end of the slide block transition plate is fixedly connected with the lead screw nut 56, and the fixing mode can adopt a screw. The bottom wall of the sliding block transition plate 57 is reserved with a paw mounting hole which is used for independently designing and mounting the finger part, and under the condition that the structure of the paw mechanical body is not changed, the design optimization and the product upgrade of the invention can be realized only by designing the tail end finger, thereby greatly reducing the product research and development time, improving the product research and development efficiency and saving the cost.
The left end and the right end of the screw rod 22 are respectively arranged in a left bearing 91 and a right bearing 92, the left bearing 91 is fixed in the left bearing seat 59, and the right bearing 92 is fixed in the right bearing seat 60. A large belt wheel 53 is fixed at the end part of the lead screw 22 passing through the left bearing, the small belt wheel 51 is rotationally connected with the large belt wheel 53 through a synchronous belt 52, and the torque of the motor 13 is transmitted to the lead screw through belt transmission, wherein the belt transmission provides primary speed reduction for increasing the torque; the rotary motion output by the motor 13 is transmitted to the lead screw through belt transmission first-stage speed reduction, then the rotary motion is converted into linear motion of the lead screw nut 56 through lead screw nut secondary speed reduction, the lead screw nut is connected with the slide block transition plate 57, so the lead screw nut transmits the linear motion to the slide block transition plate, the slide block transition plate is arranged on the guide rail slide block, the slide block transition plate outputs accurate linear motion, the moving direction of the slide block transition plate is the same as that of the lead screw nut, namely, the moving direction is opposite or opposite, when the moving direction of the slide block transition plate needs to be changed, the motor only needs to change the direction, the motor provides rotary motion and torque, and the lead screw nut secondary two-stage speed reduction enables the slide block transition plate to obtain low-speed linear motion and larger force through belt transmission.
Preferably, two adjusting holes are formed in the other diagonal direction of the motor mounting seat 81, the axis of each adjusting hole is arranged along the vertical direction, the motor mounting seat 81 is tightly pressed against the top surface of the mounting base plate 2 through a tensioning screw 83 penetrating through the adjusting holes, at the moment, the motor mounting seat is jacked up as shown in figure 14, when the large belt wheel 53 and the small belt wheel 51 are mounted, the mounting screws are loosened slightly, the belt is sleeved on the large belt wheel and the small belt wheel, then the large belt wheel and the small belt wheel are sleeved on the shaft of the motor 13 and the screw rod 22, the length of the belt is little in design, so that the adjustment amount of the center distance is little or no influence is caused on use, when adjustment is needed, the two tensioning screws are simultaneously screwed, the motor mounting seat 81 can be jacked up, at the moment, the center of the small belt wheel and the center of the large belt wheel form a, according to the principle that the hypotenuse of the right triangle is larger than the right-angle side, the structure can finely adjust the center distance of the belt wheel, and after the center distance is adjusted, the mounting screw is screwed down.
The preferred lead screw and guide rail are fixed within a housing 15, said housing 15 being fixed to the mounting base plate 2.
As shown in fig. 6, a finger mounting plate 58 is fixed to the bottom wall of each of the left and right slider transition plates 57 by bolts passing through the gripper mounting holes, and the movement of the slider transition plates is transmitted to the finger mounting plates.
The first finger 12 comprises a first finger seat, the first finger seat is a rectangular groove body, the bottom surface and the right surface of the first finger seat are open, the top surface of the first finger seat is fixedly connected with a left finger mounting plate 58, a first sponge sucking disc arranged along the horizontal direction is connected with the bottom wall of the first finger seat, the first sponge sucking disc comprises a first sucking disc mounting plate 5, the top surface of the left end of the first sponge sucking disc mounting plate is fixed on the bottom wall of the first finger seat, a first sponge 11 is fixed on the bottom wall of the first sucking disc mounting plate 5, the top wall of the right side of the first sucking disc mounting plate 5 is a downward-inclined arc-shaped slope surface, as shown in figure 16, the left wall of a guide plate 62 is fixed on the left wall of the groove body of the first finger seat, the right wall of the guide plate is an arc surface, the top wall of the guide plate is as wide as the top wall of the first finger seat, the bottom wall of the guide plate is flush with the bottom wall of the, the top surface of the first suction disc mounting plate on the bottom wall surface of the guide plate is in close contact with the top surface of the first suction disc mounting plate, and the arc-shaped slope surface on the first suction disc mounting plate and the arc-shaped surface on the right wall of the guide plate are smoothly connected to form a slide way.
As shown in fig. 12, the second finger 18 includes a second finger seat, which is a rectangular groove and has an open bottom and left, as shown in fig. 6, the right side opening of the first finger 12 and the left side opening of the second finger 18 are oppositely arranged left and right, the second finger seat is connected with the second sponge suction cup, the second sponge suction cup comprises a second suction cup mounting plate 6, second finger seat bottom around between the lateral wall along a horizontal direction fixedly connected with round pin axle 64, the right-hand member of second sucking disc mounting panel 6 rotates with the round pin axle and links to each other and open in the middle of the right-hand member of second sucking disc mounting panel 6 and have the open slot, a reset spring 9 (this spring is 135 torsional springs) cover is epaxial and is located open slot department, 9 one end tops of reset spring are on second sucking disc mounting panel roof, the other end tops on the right wall of second finger 18, the extreme position that second sucking disc mounting panel clockwise turned around round pin axle 64 is: the plane that sets up on second sucking disc mounting panel 6 right side makes second sucking disc mounting panel 6 set up along the horizontal direction and the bottom surface parallel and level of first sponge and second sponge with the planar contact of second finger seat diapire, and the second sucking disc mounting panel just can't continue to rotate after the contact, realizes through spring tension that second sucking disc mounting panel resets.
The right side of a guide block 61 is fixed the left side of second sucking disc mounting panel 6 in the middle of, the shape of guide block left end set up to with slide inner wall contact time all the time with the tangent arc of slide inner wall for guide block and second sucking disc mounting panel rotate around the round pin axle together, play the guide effect. The guide block 61 can move upwards along the slide way until the first suction cup mounting plate is completely pressed on the second sponge. The guide block slides on the slide way, and the slide way provides an acting force for the guide block, so that the second sucker mounting plate rotates and is finally folded into the middle grooves of the two fingers.
The second sucking disc mounting panel can swing around the round pin axle, and when the hand claw was closed, the guide block 61 left end contacts with 5 arc domatic and the guide plate 62 right wall cambered surface of first sucking disc mounting panel, makes second sucking disc mounting panel 6 swing along above-mentioned two curved surfaces around round pin axle 64, is similar to swing cam mechanism, when the left side part was to right side horizontal migration (the hand claw was closed) in fig. 6 promptly, when the slide contacted with guide block 61, provides thrust, makes guide block and second sucking disc mounting panel rotate around the round pin axle together.
Be fixed with second sponge 19 on the bottom surface of second sucking disc mounting panel 6, preferably the left end of second sponge 19 be located the left end inboard of second sucking disc mounting panel 6, the sponge sucking disc can be cut and rubbed in the folding process when second sucking disc mounting panel 6 rotates.
All install a first air cock 14 (as figure 2) and a second air cock 8 on each finger mounting panel 58, each the one end of first air cock 14 pass through trachea and air pump intercommunication and the other end respectively through opening the air flue in two finger mounting panels 58 separately with a second air cock 8 intercommunication, as shown in figure 6, two second air cocks 8 respectively through trachea and the one end intercommunication of installing third air cock 63 on first sucking disc mounting panel 5 and second sucking disc mounting panel 6, two the other end of third air cock 63 respectively with first sponge, second sponge intercommunication.
When the partition plate is sucked, the vacuum pump vacuumizes the cavity in the sponge to form negative pressure, so that the suction of objects, namely the partition plate, is realized. The first sponge sucking disc and the second sponge sucking disc suck the partition plate simultaneously, and the suction force of the sucking discs and the reliability of the sucking discs are improved.
The first finger 12 and the second finger 18 move toward each other or away from each other with the finger mounting plate 58, the outer walls of the finger seats are all pasted with silica gel rubber, so that the inner wall of a yarn drum 32 (shown in figure 3) can be well protected, the yarn drum is not damaged, the yarn drum can be recycled, when the yarn needs to be grabbed, the claws are firstly folded, namely, the fingers move oppositely, the tail end of the robot drives the multifunctional paw to move, the fingers enter the yarn bobbin, then the paw is opened, namely, the two fingers move reversely, so that the silica gel rubber at the outer sides of the two fingers partially contacts with the inner part of the yarn barrel, the yarn is lifted by utilizing the friction force, the taking and placing functions are realized, because of the unique appearance structure of the fingers, the connecting line of the stress points of the cross sections is rectangular when the two fingers grab the yarn drum, the phenomenon that the yarn swings due to the contact of two points after being grabbed is overcome, and the reliability of the claw for taking and putting the yarn is improved.
The second sponge sucker 19 can be folded between two fingers, the two fingers move in opposite directions, when the guide plate 62 contacts with the guide block 61, the second sponge sucker can swing along the arc surface of the guide plate and can be folded to be in a state of minimum distance between the two fingers, the second sponge sucker is unfolded by the reset principle of the reset spring 9 (shown in figure 1), the swing limit is carried out by utilizing the self structure (shown in figure 19) of the second sucker mounting plate 6, so that the second sponge sucker mounting plate can only be reset to a horizontal state, as shown in figure 19 (without rubber and second sponge on the outer side of the fingers), at the moment, the second sucker mounting plate continues to rotate clockwise around the pin shaft 64, the plane on the right side of the second sucker mounting plate 6 contacts with the plane on the bottom wall of the rectangular groove of the second finger, the second sucker mounting plate cannot continue to rotate after contacting, and is supported by spring force, the second sucker mounting plate can not swing freely, when the partition plate 41 (shown in an attached drawing 4) is sucked, the paw is opened to the maximum stroke, the sponge sucker is in contact with the partition plate, the partition plate can be sucked well by utilizing negative pressure, and when the robot swings, the partition plate can not incline to one side, namely, a high-low state can not occur, so that the reliability and the stability of the grabbing of the partition plate are ensured, tests and calculation show that the sucking effect of the two suckers on the partition plate is obviously better than that of one sucker, and the farther the distance between the two suckers is, the better the sucking effect is;
the invention is a multifunctional paw combining support and suction; the moving distance of the screw nut on the screw is set, so that the paw stroke of the invention can be 100mm, the inner diameter of a yarn tube which can grab cheese is 92mm-130mm, and the weight is not more than 10 kg; and can grab the baffle between yarn and the yarn, this function can make AGV transport the quantity of yarn and improve greatly, need not consider again that the problem of grabbing of baffle has also improved automation efficiency.
Due to the better selection of the grabbing mode, the yarn cannot be extruded, the structure is damaged, the tightness is changed, the partition plate cannot be damaged, and the grabbing reliability is high.
Claims (4)
1. A multifunctional gripper capable of taking and placing yarns and partition boards comprises a mounting substrate (2), wherein a robot transition plate is fixed on the left side of the top wall of the mounting substrate, the robot transition plate (1) is used for connecting the gripper and a six-axis end flange of a robot, a distance measuring sensor (17) is fixed on the left side of the front wall of a shell (15), a camera (16) is fixed on the right side of the front wall of the mounting substrate through a camera mounting plate (3), an annular light source (21) of the camera is fixedly connected with the mounting substrate, the camera is used for collecting position information of yarns (33) and the partition boards (41), and the distance measuring sensor is used for detecting the distance information between the mounting substrate (2) and the yarns on the gripper;
a motor (13) is fixed on a motor mounting seat (81), two mounting holes with axes arranged along the vertical direction are formed in one diagonal direction of the motor mounting seat (81), and the motor mounting seat (81) is fixedly connected with a mounting base plate (2) through mounting screws (82) penetrating through the mounting holes;
a small belt wheel (51) is fixed on a motor shaft of the motor (13), a lead screw (22) is arranged along the direction parallel to the motor shaft of the motor (13), a guide rail (54) arranged parallel to the lead screw is fixed on a mounting substrate (2) between the lead screw (22) and the motor, two sliding blocks are connected on the guide rail in a sliding way, the middle part of the lead screw is an optical axis, the thread rotating directions of two ends are opposite, and two ends of the lead screw are respectively connected with a lead screw nut (56) in a threaded way; each lead screw nut is fixedly connected with one sliding block (55) through a sliding block transition plate (57), and a paw mounting hole is reserved on the bottom wall of the sliding block transition plate;
the left end and the right end of the lead screw (22) are respectively arranged in a left bearing (91) and a right bearing, the left bearing (91) is fixed in a left bearing seat (59), the right bearing is fixed in a right bearing seat (60), a large belt pulley (53) is fixed at the end part of the lead screw (22) penetrating through the left bearing, and the small belt pulley (51) and the large belt pulley (53) are rotationally connected through a synchronous belt (52);
a finger mounting plate (58) is respectively fixed on the bottom walls of the slide block transition plates (57) at the left side and the right side through bolts penetrating through paw mounting holes, a first finger (12) comprises a first finger seat which is a rectangular groove body, the bottom surface and the right side of the first finger seat are open, the top surface of the first finger seat is fixedly connected with the finger mounting plate at the left side, a first sponge sucking disc arranged along the horizontal direction is connected with the bottom wall of the first finger seat, the first sponge sucking disc comprises a first sucking disc mounting plate (5) with the top surface at the left end fixed on the bottom wall of the first finger seat, a first sponge (11) is fixed on the bottom wall of the first sucking disc mounting plate, the top wall at the right side of the first sucking disc mounting plate is an arc-shaped slope surface inclining downwards, the left wall of a guide plate (62) is fixed on the left wall of the groove body of the first finger seat, and the right wall of the guide plate, the top wall of the guide plate has the same width with the top wall of the first finger seat, the bottom wall of the guide plate is flush with the bottom wall of the first finger seat, the guide plate is arranged in parallel with the front side wall and the rear side wall of the first finger seat, the bottom wall surface of the guide plate is tightly contacted with the top surface of the first suction disc mounting plate, and the arc-shaped slope surface on the first suction disc mounting plate is smoothly connected with the arc surface of the right wall of the guide plate to form a slide way;
the second finger (18) comprises a second finger seat which is a rectangular groove body, the bottom surface and the left surface of the second finger seat are open, the right side opening of the first finger (12) and the left side opening of the second finger (18) are oppositely arranged left and right, the second finger seat is connected with a second sponge sucker, the second sponge sucker comprises a second sucker mounting plate (6), second finger seat bottom around between the lateral wall along a horizontal direction fixedly connected with round pin axle (64), the right-hand member of second sucking disc mounting panel rotates with the round pin axle and links to each other and open at the right-hand member centre of second sucking disc mounting panel (6) has the open slot, reset spring (9) cover is epaxial and is located open slot department, reset spring one end top is on second sucking disc mounting panel roof, the other end top is on the right wall of second finger (18), the extreme position that second sucking disc mounting panel clockwise turned around round pin axle (64) does: the plane arranged on the right side of the second sucker mounting plate is in contact with the bottom wall plane of the second finger seat, so that the second sucker mounting plate is arranged along the horizontal direction, and the bottom surfaces of the first sponge and the second sponge are flush;
the right side of a guide block (61) is fixed in the middle of the left side of the second sucker mounting plate (6), the shape of the left end of the guide block is a circular arc which is tangent to the inner wall of the slide way all the time when the guide block is contacted with the inner wall of the slide way, the guide block can move upwards along the slide way until the first sucker mounting plate is completely pressed on the second sponge, the second sucker mounting plate can reset to a horizontal position under the action of a reset spring (9), so that the bottom surfaces of the first sponge and the second sponge are flush, the bottom surface of the second sucker mounting plate is fixedly provided with a second sponge (19), and the left end of the second sponge (19) is positioned on the inner side of the left end of the second sucker mounting plate;
all install a first air cock (14) and a second air cock (8) on each finger mounting panel (58), each the one end of first air cock (14) pass through trachea and air pump intercommunication and the other end respectively through opening the air flue in two finger mounting panels (58) separately with a second air cock (8) intercommunication, as shown in figure 6, two second air cocks (8) respectively through the trachea with install the one end intercommunication of third air cock (63) on first sucking disc mounting panel (5) and second sucking disc mounting panel (6), two the other end of third air cock (63) respectively with first sponge, second sponge intercommunication.
2. The multifunctional gripper capable of taking and putting yarns and clapboards as claimed in claim 1, is characterized in that: two adjusting holes with axes arranged along the vertical direction are formed in the other diagonal direction of the motor mounting seat (81), and the motor mounting seat is arranged by tightly pushing the top surface of the mounting base plate (2) through a tensioning screw (83) penetrating through the adjusting holes.
3. The multifunctional gripper capable of taking and putting yarns and clapboards as claimed in claim 2, is characterized in that: the lead screw and the guide rail are fixed in a shell (15), and the shell is fixed on the mounting base plate (2).
4. The multifunctional gripper capable of taking and putting yarns and clapboards as claimed in one of the claims 1 to 3, wherein: silica gel rubber is pasted on the outer walls of the first finger seat and the second finger seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010432460.7A CN111618900A (en) | 2020-05-20 | 2020-05-20 | Multifunctional paw capable of taking and placing yarn and partition board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010432460.7A CN111618900A (en) | 2020-05-20 | 2020-05-20 | Multifunctional paw capable of taking and placing yarn and partition board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111618900A true CN111618900A (en) | 2020-09-04 |
Family
ID=72268684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010432460.7A Pending CN111618900A (en) | 2020-05-20 | 2020-05-20 | Multifunctional paw capable of taking and placing yarn and partition board |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111618900A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760051A (en) * | 2015-04-08 | 2015-07-08 | 杭州南江机器人股份有限公司 | Two-finger manipulator with pneumatic chuck and clamping air bag |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| KR20170044993A (en) * | 2015-10-16 | 2017-04-26 | (주)소닉스 | Grip type attachment apparatus |
| US10603800B1 (en) * | 2018-03-13 | 2020-03-31 | Amazon Technologies, Inc. | Gripper having a four bar linkage |
| CN210335978U (en) * | 2019-06-27 | 2020-04-17 | 武汉裕大华纺织服装集团有限公司 | A multi-functional anchor clamps of robot for a yarn section of thick bamboo |
-
2020
- 2020-05-20 CN CN202010432460.7A patent/CN111618900A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760051A (en) * | 2015-04-08 | 2015-07-08 | 杭州南江机器人股份有限公司 | Two-finger manipulator with pneumatic chuck and clamping air bag |
| KR20170044993A (en) * | 2015-10-16 | 2017-04-26 | (주)소닉스 | Grip type attachment apparatus |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| US10603800B1 (en) * | 2018-03-13 | 2020-03-31 | Amazon Technologies, Inc. | Gripper having a four bar linkage |
| CN210335978U (en) * | 2019-06-27 | 2020-04-17 | 武汉裕大华纺织服装集团有限公司 | A multi-functional anchor clamps of robot for a yarn section of thick bamboo |
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