Multifunctional gripper capable of taking and placing yarns and separating plate

Abstract

The invention discloses a multifunctional gripper capable of taking and placing yarns and a separating plate. The multifunctional gripper comprises a motor, a belt drive, a lead screw nut pair, a guide rail sliding block, a visual system, a distance measuring sensor module, yarn grabbing fingers and sponge suction cups, the motor transmits motion to a lead screw through a belt wheel, the lead screw rotates to achieve nut movement, and therefore opening and closing of the fingers are achieved; each finger is provided with one sponge suction cup, the suction cups can be folded into the two fingers along with combination of the fingers, and the yarn grabbing process is not affected; when the separating plate is grabbed, the fingers are opened to the maximum stroke, and the two sponge suctioncups suck up the separating plate through negative pressure; the stroke of the gripper is 100 mm, the inner diameter of a bobbin capable of grabbing cheese ranges from 92 mm to 130 mm, and the weightof the bobbin depends on the load (smaller than 20 kg) of the tail end of a cooperative robot; and the separating plate between the yarns can be grabbed, by means of the function, the number of the yarns conveyed by an AGV can be greatly increased, the grabbing problem of the separating plate does not need to be considered any more, and the automation efficiency is also improved.

Description

technical field [0001] The invention belongs to the field of automatic loading and unloading of bobbins, in particular to a multifunctional gripper capable of taking and placing yarns and separators. Background technique [0002] At present, the difficulty in realizing automation is not in the automatic twisting machine, but in the loading and unloading of cheeses, especially relatively large cheeses. In the workshop of a general textile factory, there are many twisting machines neatly arranged, and the twisting machines consume yarn during the working process, so it is necessary to realize the automatic feeding of the yarn in the whole workshop and take down the useless yarn bobbins. A breakthrough point; people generally use the method of combining AGV and collaborative robot, the yarn is transported by the AGV, and the robot and the end gripper realize the picking and placing of the yarn, and the number of yarns transported by the AGV is relatively large, so the yarn is s...

AI Technical Summary

Problems solved by technology

The material of the separator is non-metallic. Because the yarn needs to be positioned on the separator, many positioning holes are designed on the separator, but there is no hole in the center of the separator. In addition, the thickness of the separator is generally 45mm, and the two ends of each hole are There are chamfers, and there are yarns on the lower side of the partition hole, so the height that the claws can effectively support the inner hole of the partition is very small, the partition is about 2kg, and the hole is not in the center, which will make the partition slip after being propped up. Make the partition tilt up, or even fall directly

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