Gripping device and method for high-level sarong to load and unload yarn rolls

Abstract

The invention relates to a gripping device and method for a high-level sarong to load and unload gauze rolls. The gripping device comprises a base, fixing plates, a lower supporting seat, an upper supporting seat, guide rods, an industrial camera, a centralizing mobile base, fixing rods, a centralizing rod, left yarn gripping grippers, right yarn gripping grippers, left yarn gripping rods, right yarn gripping rods, yarn gripping rod connecting sleeves and a centralizing base. According to the technical scheme, because the height of the guide rods of the high-level sarong is high, the guide rods are inclined after being used for a period of time, the yarn rolls on the guide rods are inclined too, and therefore the yarn rolls are prone to falling down to be damaged when a robot grips the yarn rolls; in addition, because the height of the high-level sarong is high, the yarn rolls also can be damaged caused by overlarge force or falling when a common gripping mechanism grips the yarn rolls. According to the method, the industrial camera is used for positioning yarn gripping and improving the gripping device, therefore, the yarn rolls are avoided from being damaged in the process of yarn gripping of the high-level sarong, and work efficiency and quality are improved.

Description

technical field [0001] The invention relates to the field of package yarn textile dyeing and finishing, in particular to a one-time grabbing device and method for a column of multiple yarns in a vertical high-rise sarong package. Background technique [0002] The package yarn CNC loading, unloading and handling technology can solve the problems of poor working environment and high labor intensity in my country's textile industry, avoid the constraints on the automation of my country's textile industry due to expensive foreign equipment and untimely after-sales, and ensure that my country's textile enterprises are free from labor-intensive and resource-intensive industries. Consumption, inefficiency, and high consumption require transformation to intelligent automation manufacturing. [0003] At present, my country's package yarn textile dyeing and finishing industry is still mainly based on vertical sarong dyeing. The height of domestic package yarn dyeing sarong layers is ...

AI Technical Summary

Problems solved by technology

However, the load of high-level yarn rolls is heavy and the number of layers is high. The yarn rolls are easy to fall during the high-speed handling of the yarn rolls by the handling robot. The falling off affects the handling efficiency of the yarn rolls, and the excessive force when grabbing the yarn rolls will cause indefinite damage to the yarn rolls. , affecting the quality of the roll

Secondly, another factor that affects the quality of the yarn roll is that the high-level sarong guide rod is very high. After a period of use, the guide rod is easy to tilt. Falling, affecting the yarn grabbing efficiency and the quality of the yarn roll

Images