Chemical fiber cake robot stacking clamp

Abstract

This invention provides a robotic palletizing fixture for chemical fiber cakes, comprising a robot connecting plate, a standard cylinder, a movable side slide rail connecting plate, a fixed side slide rail connecting plate, a long linear slide rail, a long linear slider, a movable side gripper connecting plate, a fixed side gripper connecting plate, a three-jaw cylinder, and a gripper body. The movable side slide rail connecting plate, under the action of the standard cylinder, can move horizontally along the long linear slide rail to achieve the Y-axis movement of the fixture. The movable side gripper connecting plate, under the action of a thin cylinder, can move horizontally along a short linear slide rail to achieve the X-axis movement of the fixture. The gripper body can extend and retract under the action of the three-jaw cylinder. The cylinder is controlled by a three-position five-way solenoid valve. The outer side of the gripper body is provided with friction grooves to prevent the chemical fiber cakes from falling during movement, and a detection device is provided to detect whether the chemical fiber cakes have fallen. The structure is simple, effectively saving costs, reducing labor intensity, and improving the quality of the chemical fiber cakes.

Description

Technical Field

[0001] This invention relates to the field of textile robot technology, specifically to a high-efficiency, simple-structured, and easy-to-control robotic palletizing tool for chemical fiber cakes. Background Technology

[0002] Chemical fiber cakes are raw materials for textile manufacturing. To prevent damage to the surface of the yarn rolls due to collisions and friction during packaging, storage, and transportation, which could lead to fuzz and affect product quality, the palletizing of chemical fiber cakes is an essential step. Currently, there are three methods for palletizing: manual handling, mechanical handling, and palletizing robot handling. In spinning enterprises, the palletizing of chemical fiber cakes is mostly done manually. Manual handling suffers from low automation, high labor intensity for workers, low production efficiency, and poor safety. It also easily leads to inconsistent spacing between the yarn cakes, resulting in innocent fuzzing and affecting the quality of the chemical fiber cakes. Mechanical handling, using palletizing machines, has disadvantages such as large footprint, complicated operation program changes, and high power consumption due to structural factors. With industrial development, automated equipment has been widely used in various production fields. To reduce labor intensity and ensure product quality, the use of robots for chemical fiber cake palletizing has become a trend. Palletizing robots are suitable for goods packaged in various shapes and are increasingly widely used due to their reliable performance and simple maintenance. Palletizing robots utilize robotic grippers suitable for picking up and stacking small, blocky objects. Specifically, they grip and release objects, working in conjunction with the palletizing arm to transfer and stack them. However, current palletizing robots use a teaching method and palletizing algorithms for automatic stacking. Because the position of the goods at the fixed workstation may deviate slightly from the pre-set position, the palletizing robot may fail to pick up the goods or achieve precise positioning. In the textile industry, the distance between chemical fiber bundles differs between the gripping and stacking positions: 490mm at the gripping position and 440mm at the stacking position. This necessitates specially designed grippers to meet these specific production requirements.

[0003] Current palletizing robots can only grasp and transport one product at a time or a small number of products at a time, resulting in low work efficiency and long production cycles, which can no longer meet the increasingly demanding requirements of high-speed production. For example, invention patent application number 201410805485.1 discloses a palletizing robot handling system and a palletizing robot handling method. The palletizing robot handling system includes a robot unit, a fixture unit connected to the robot unit, an imaging and positioning unit, and a controller electrically connected to the imaging and positioning unit. The fixture unit includes a fixture base, a first fixture slidably connected to the fixture base, a first drive device for rotating the first fixture, a third drive device for sliding the first fixture, a second fixture disposed on the fixture base, and a second drive device for rotating the second fixture. The first drive device, the second drive device, and the third drive device are all electrically connected to the controller. The imaging positioning unit locates the positions of two workpieces and, through a controller, simultaneously drives the first drive device to rotate the first clamp, the second drive device to rotate the second clamp, and the third drive device to translate the first clamp, enabling the palletizing robot to simultaneously grip or unload two workpieces, thus achieving positioning. While this invention can achieve workpiece positioning, it can only grip two workpieces at a time, limiting the number that can be gripped and resulting in low efficiency.

[0004] For example, invention patent application number 201510571748.1 discloses a palletizing robot fixture, including a side support, a guide rail plate, a slider, and a guide rod. The slider passes through the guide rod, and both ends of the guide rod are connected to the side support. The guide rail plate is provided with at least three guide rail grooves, which are arranged in a fan shape. One end of the slider passes through the guide rail groove on the guide rail plate and is embedded in the guide rail groove, allowing the slider to slide along the guide rail groove. Although this invention patent allows the palletizing robot to palletize many products simultaneously and can continuously increase the number of products palletized at one time as needed, making it flexible and structurally simple, its practicality is poor. It is only suitable for palletizing jelly or other materials with flat surfaces. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention provides a robotic palletizing fixture for chemical fiber cakes. The robot connecting plate is made of carbon steel to ensure the fixture's strength, while the moving side slide rail connecting plate and the fixed side slide rail connecting plate are made of aluminum alloy to reduce weight. All three components—robot connecting plate, moving side slide rail connecting plate, and fixed side slide rail connecting plate—have a hollow structure for easy installation and maintenance. The moving side slide rail connecting plate can move horizontally along a long straight slide rail under the action of a standard cylinder, achieving the Y-axis movement of the fixture. The moving side gripper connecting plate can move along a... The short linear slide rail moves horizontally, enabling the clamp to move in the X-axis. The pneumatic gripper body can extend and retract under the action of a three-jaw cylinder. A connecting shaft connects the moving side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate, and is equipped with linear bearings and shaft end baffles, which improves the reliability of the clamp. The cylinder is controlled by a three-position five-way solenoid valve. The outer side of the pneumatic gripper body is provided with friction texture to prevent the chemical fiber cake from falling off during the movement, and a detection device is provided to detect whether the chemical fiber cake has fallen off. The structure is simple, which can effectively save costs, reduce labor intensity, and improve the quality of the chemical fiber cake.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0007] This invention provides a chemical fiber cake robot palletizing fixture, including a robot connecting plate, a standard cylinder, a movable side slide rail connecting plate, a fixed side slide rail connecting plate, a long linear slide rail, a long linear slider, a movable side gripper connecting plate, a fixed side gripper connecting plate, a three-jaw cylinder, and a gripper body.

[0008] Two long linear slide rails are provided and are installed in parallel on both sides below the robot connecting plate. The standard cylinder is installed between the two long linear slide rails and is located in the middle position below the robot connecting plate, parallel to the long linear guide rails.

[0009] The movable side slide rail connecting plate and the fixed side slide rail connecting plate are arranged in parallel and perpendicular to the long linear slide rail. Both of them are equipped with long linear sliders that cooperate with the long linear slide rail.

[0010] The movable side slide rail connecting plate and the fixed side slide rail connecting plate are respectively installed below the movable side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate. A three-jaw cylinder is installed below both the movable side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate. The pneumatic gripper body is located below the three-jaw cylinder, and it is provided with friction texture and can extend and retract under the action of the three-jaw cylinder.

[0011] Short linear sliders are installed on the top of both the moving-side pneumatic gripper connecting plate and the fixed-side pneumatic gripper connecting plate. The short linear sliders are fixed to the moving-side pneumatic gripper connecting plate and the fixed-side pneumatic gripper connecting plate by screws. The short linear sliders installed on the moving-side pneumatic gripper connecting plate cooperate with the short linear slide rails at both ends below the moving-side slide rail connecting plate, and the short linear sliders installed on the fixed-side pneumatic gripper connecting plate cooperate with the short linear slide rails at both ends below the fixed-side slide rail connecting plate.

[0012] The long linear slider installed above the fixed side slide rail connecting plate is limited by a locking device to fix and adjust the chemical fiber cake;

[0013] A cylinder connecting block is installed above the movable side slide rail connecting plate. The cylinder connecting block is connected to a standard cylinder through a standard cylinder floating joint. The movable side slide rail connecting plate can move horizontally along the long straight slide rail under the action of the standard cylinder.

[0014] The long linear slider is fixed to both the movable side slide rail connecting plate and the fixed side slide rail connecting plate by screws.

[0015] The movable side pneumatic gripper connecting plate includes a first movable side pneumatic gripper connecting plate, a second movable side pneumatic gripper connecting plate, and a third movable side pneumatic gripper connecting plate;

[0016] The second movable side pneumatic gripper connecting plate is fixed to the middle position below the movable side slide rail connecting plate by screws. The first movable side pneumatic gripper connecting plate and the third movable side pneumatic gripper connecting plate are located at both ends of the lower part of the movable side slide rail connecting plate, respectively.

[0017] Short linear slide rails are fixedly installed at both ends of the moving side slide rail connecting plate by screws. The short linear slide rails cooperate with short linear sliders installed above the first moving side pneumatic gripper connecting plate and the third moving side pneumatic gripper connecting plate.

[0018] A first thin cylinder and a second thin cylinder are respectively installed between the first movable side pneumatic gripper connecting plate and the second movable side pneumatic gripper connecting plate, and between the third movable side pneumatic gripper connecting plate and the second movable side pneumatic gripper connecting plate.

[0019] The tail end of the first thin cylinder is fixed to the bottom end of the first moving side gripper connecting plate, and its head end is connected to the second moving side gripper connecting plate through the thin cylinder floating joint, so that the first moving side gripper connecting plate can move horizontally along the short straight slide rail.

[0020] The tail end of the second thin cylinder is fixed to the bottom end of the third moving side gripper connecting plate, and its head end is connected to the second moving side gripper connecting plate through the thin cylinder floating joint, so that the third moving side gripper connecting plate can move horizontally along the short straight slide rail.

[0021] The fixed-side pneumatic gripper connecting plate includes a first fixed-side pneumatic gripper connecting plate, a second fixed-side pneumatic gripper connecting plate, and a third fixed-side pneumatic gripper connecting plate.

[0022] The second fixed-side pneumatic gripper connecting plate is fixed to the middle position below the fixed-side slide rail connecting plate by screws. The first fixed-side pneumatic gripper connecting plate and the third fixed-side pneumatic gripper connecting plate are located at both ends of the lower part of the fixed-side slide rail connecting plate, respectively.

[0023] Short linear slide rails are fixedly installed at both ends of the fixed side slide rail connecting plate by screws. The short linear slide rails cooperate with short linear sliders installed above the first fixed side pneumatic gripper connecting plate and the third fixed side pneumatic gripper connecting plate.

[0024] A third thin cylinder and a fourth thin cylinder are respectively installed between the first fixed-side pneumatic gripper connecting plate and the second fixed-side pneumatic gripper connecting plate, and between the third fixed-side pneumatic gripper connecting plate and the second fixed-side pneumatic gripper connecting plate;

[0025] The tail end of the third thin cylinder is fixed to the bottom end of the first fixed side gripper connecting plate, and its head end is connected to the second fixed side gripper connecting plate through the thin cylinder floating joint, so that the first fixed side gripper connecting plate can move horizontally along the short straight slide rail.

[0026] The tail end of the fourth thin cylinder is fixed to the bottom end of the third fixed-side gripper connecting plate, and its head end is connected to the second fixed-side gripper connecting plate through a thin cylinder floating joint, so that the third fixed-side gripper connecting plate can move horizontally along the short straight slide rail.

[0027] The first linear bearing and the second linear bearing are respectively installed under the first moving side pneumatic gripper connecting plate and the third moving side pneumatic gripper connecting plate by screws;

[0028] The first connecting shaft is arranged parallel to the long linear slide rail. It is located between the first moving side pneumatic gripper connecting plate and the first fixed side pneumatic gripper connecting plate. One end is engaged with the first linear bearing, and the other end is fixed below the first fixed side pneumatic gripper connecting plate.

[0029] The second connecting shaft is arranged parallel to the long linear slide rail. It is located between the third moving side pneumatic gripper connecting plate and the third fixed side pneumatic gripper connecting plate. One end is engaged with the second linear bearing, and the other end is fixed below the third fixed side pneumatic gripper connecting plate.

[0030] The first connecting shaft and the second connecting shaft are respectively provided with shaft end baffles at both ends.

[0031] The robot connecting plate is connected to the robot flange, and it has a hollow structure and is made of carbon steel.

[0032] Both the movable side slide rail connecting plate and the fixed side slide rail connecting plate have a hollow structure and are made of aluminum alloy. Each has three rectangular holes for easy installation and maintenance.

[0033] The pneumatic gripper bodies are evenly arranged at 120-degree intervals on the lower part of the three-jaw cylinder, and friction textures are provided on their outer sides.

[0034] The three-jaw cylinder is controlled by a three-position five-way solenoid valve.

[0035] Compared with the closest existing technology, the technical solution provided by the present invention has the following beneficial effects:

[0036] 1) The movable side slide rail connecting plate of the chemical fiber cake robot palletizing fixture provided by the present invention can move horizontally along the long straight slide rail under the action of a standard cylinder to realize the Y-axis movement of the fixture, and the movable side gripper connecting plate can move horizontally along the short straight slide rail under the action of a thin cylinder to realize the X-axis movement of the fixture, making the fixture more flexible.

[0037] 2) The chemical fiber cake robot palletizing fixture provided by the present invention is provided with a robot connecting plate, a movable side slide rail connecting plate and a fixed side slide rail connecting plate. The robot connecting plate is made of carbon steel to ensure the strength of the fixture. The movable side slide rail connecting plate and the fixed side slide rail connecting plate are made of aluminum alloy to reduce weight. The robot connecting plate, the movable side slide rail connecting plate and the fixed side slide rail connecting plate are all hollow structures to facilitate installation and maintenance.

[0038] 3) The pneumatic gripper bodies are evenly distributed at 120-degree intervals under the three-jaw cylinder. The pneumatic gripper bodies can extend and retract under the action of the three-jaw cylinder. In addition, friction texture is provided on the outer side of the pneumatic gripper bodies to prevent the chemical fiber cake from falling off during the movement.

[0039] 4) A connecting shaft is connected between the moving side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate, and is equipped with linear bearings and shaft end baffles, which improves the reliability of the fixture;

[0040] 5) The three-jaw cylinder is controlled by a three-position five-way solenoid valve to prevent unexpected situations such as power failure or air supply failure, and to ensure safety;

[0041] 6) The chemical fiber cake robot palletizing fixture provided by the present invention is also equipped with devices such as sensors to detect whether the chemical fiber cake has fallen. These devices are installed on the pneumatic gripper and can detect the product slipping or falling during the gripping and handling process in a timely manner, and issue an alarm in time to prevent accidents from happening.

[0042] 7) The chemical fiber cake robot palletizing fixture provided by the present invention can reliably and continuously place chemical fiber cakes from the cake tray on the packaging line into the pallet in a certain order, without human intervention throughout the process. It has a simple structure, high reliability, and can effectively save costs, reduce labor intensity, and improve the quality of chemical fiber cakes. Attached Figure Description

[0043] Figure 1 This is an overall structural diagram of the chemical fiber cake robot palletizing fixture in an embodiment of the present invention;

[0044] Figure 2 This is a view from direction A of the chemical fiber cake robot palletizing fixture in an embodiment of the present invention;

[0045] Figure 3 This is a view from direction B of the chemical fiber cake robot palletizing fixture in an embodiment of the present invention;

[0046] Figure 4 This is a C-direction view of the chemical fiber cake robot palletizing fixture in an embodiment of the present invention;

[0047] Figure 5 This is a view of the chemical fiber cake robot palletizing fixture in an embodiment of the present invention from direction D;

[0048] Figure 6 This is a schematic diagram of a chemical fiber cake in an embodiment of the present invention;

[0049] In the diagram, 1-robot connecting plate, 2-standard cylinder, 3-standard cylinder floating joint, 4-long linear slide rail, 5-moving side slide rail connecting plate, 6-short linear slide rail, 7-three-jaw cylinder, 8-jaw gripper body, 9-fixed side slide rail connecting plate, 10-first moving side gripper connecting plate, 11-first connecting shaft, 12-first linear bearing, 13-second moving side gripper connecting plate, 14-first fixed side gripper connecting plate, 15-shaft end baffle, 16-third thin cylinder, 17-thin cylinder floating joint, 18-second fixed side gripper connecting plate, 19-screw, 20-short linear slider, 21-chemical fiber cake, 22-paper tube, 23-long linear slider, 24-cylinder connecting block. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings.

[0051] This embodiment provides a robotic palletizing fixture for chemical fiber cakes, the specific structure of which is as follows: Figure 1 It includes a robot connecting plate 1, a standard cylinder 2, a moving side slide rail connecting plate 5, a fixed side slide rail connecting plate 9, a long linear slide rail 4, a long linear slider 23, a moving side gripper connecting plate, a fixed side gripper connecting plate, a three-jaw cylinder 7, and a gripper body 8.

[0052] Two long linear guide rails 4 are provided, installed parallel to each other on both sides below the robot connecting plate 1. A standard cylinder 2 is installed between the two long linear guide rails 4, located in the middle below the robot connecting plate 1, parallel to the long linear guide rails. A cylinder connecting block 24 is installed above the moving side guide rail connecting plate 5, and the cylinder connecting block 24 is connected to the standard cylinder 2 via a standard cylinder floating joint 3. Figure 1 The A-direction view shown is as follows Figure 2 As shown, Figure 2 This is the right view of the fixture. The movable side slide rail connecting plate 5 can move horizontally along the long straight slide rail 4 under the action of the standard cylinder 2.

[0053] The movable side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 are arranged in parallel and perpendicular to the long linear slide rail 4. Long linear sliders 23 are installed above both. Since there are two long linear slide rails 4, and the long linear sliders 23 work in conjunction with the long linear slide rails 4, a total of four long linear sliders 23 are provided. The long linear sliders 23 installed above the fixed side slide rail connecting plate 9 are limited by a locking device to the long linear slide rail 4 for fixing and adjusting the chemical fiber cake. The long linear sliders 23 installed above the movable side slide rail connecting plate 5 work in conjunction with the long linear slide rail 4. Under the action of the standard cylinder 2, the movable side slide rail connecting plate 5 can move horizontally along the long linear slide rail 4 to achieve the Y-axis movement of the clamp. The long linear sliders 23 are fixed to both the movable side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 by screws 19.

[0054] Below the movable side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9, a movable side pneumatic gripper connecting plate and a fixed side pneumatic gripper connecting plate are respectively installed. Below both the movable side and fixed side pneumatic gripper connecting plates, a three-jaw cylinder 7 is installed. The gripper bodies 8 are evenly distributed at 120-degree intervals below the three-jaw cylinder 7. The gripper bodies 8 can extend and retract under the action of the three-jaw cylinder 7. Furthermore, the outer side of the gripper bodies 8 (i.e., the side used to grip the chemical fiber cake) is provided with friction texture to prevent the chemical fiber cake from falling off during movement. Simultaneously, the three-jaw cylinder 7 is controlled by a three-position five-way solenoid valve to prevent unexpected situations such as power or air supply interruptions, ensuring safety.

[0055] Short linear sliders 20 are installed on the top of both the moving-side pneumatic gripper connecting plate and the fixed-side pneumatic gripper connecting plate. The short linear sliders 20 are fixed to both the moving-side and fixed-side pneumatic gripper connecting plates using screws 19. The short linear sliders 20 installed on the moving-side pneumatic gripper connecting plate 5 cooperate with the short linear slide rails 6 at both ends below the moving-side slide rail connecting plate 5. Figure 4 The movable side gripper connecting plate includes a first movable side gripper connecting plate 10, a second movable side gripper connecting plate 13, and a third movable side gripper connecting plate. The short linear slider 20 installed above the fixed side gripper connecting plate cooperates with the short linear slide rails 6 at both ends below the fixed side slide rail connecting plate 9. Since the fixed side gripper connecting plate includes a first fixed side gripper connecting plate 14, a second fixed side gripper connecting plate 18, and a third fixed side gripper connecting plate, there are a total of 4 short linear sliders 20, which are respectively located above the first movable side gripper connecting plate 10, the third movable side gripper connecting plate, the first fixed side gripper connecting plate 14, and the third fixed side gripper connecting plate.

[0056] Short linear slide rails 6 are fixedly mounted at both ends of the movable side slide rail connecting plate 5 using screws 19. The short linear slide rails 6 cooperate with short linear sliders 20 installed above the first movable side pneumatic gripper connecting plate 10 and the third movable side pneumatic gripper connecting plate. The second movable side pneumatic gripper connecting plate 13 is fixed at the lower middle position of the movable side slide rail connecting plate 5 using screws 19. The first movable side pneumatic gripper connecting plate 10 and the third movable side pneumatic gripper connecting plate are located at both ends of the lower part of the movable side slide rail connecting plate 5.

[0057] Short linear slide rails 6 are fixedly mounted on both ends of the fixed-side slide rail connecting plate 9 using screws 19. The short linear slide rails 6 cooperate with short linear sliders 20 installed above the first fixed-side pneumatic gripper connecting plate 14 and the third fixed-side pneumatic gripper connecting plate. The second fixed-side pneumatic gripper connecting plate 18 is fixed to the middle position below the fixed-side slide rail connecting plate 9 using screws 19. The first fixed-side pneumatic gripper connecting plate 14 and the third fixed-side pneumatic gripper connecting plate are located at both ends of the lower part of the fixed-side slide rail connecting plate 9.

[0058] Figure 1 The view shown in direction B is as follows Figure 3 As shown, that is Figure 3 This is a front view of the fixture. Figure 3 The C-direction view shown is as follows Figure 4 , Figure 4 In this configuration, a first thin-walled cylinder and a second thin-walled cylinder are respectively installed between the first moving-side pneumatic gripper connecting plate 10 and the second moving-side pneumatic gripper connecting plate 13, and between the third moving-side pneumatic gripper connecting plate and the second moving-side pneumatic gripper connecting plate 13. The tail end of the first thin-walled cylinder is fixed to the bottom end of the first moving-side pneumatic gripper connecting plate 10, and its head end is connected to the second moving-side pneumatic gripper connecting plate 13 through a thin-walled cylinder floating joint, so that the first moving-side pneumatic gripper connecting plate 10 can move horizontally along the short linear slide rail 6. The tail end of the second thin-walled cylinder is fixed to the bottom end of the third moving-side pneumatic gripper connecting plate, and its head end is connected to the second moving-side pneumatic gripper connecting plate 13 through a thin-walled cylinder floating joint, so that the third moving-side pneumatic gripper connecting plate can move horizontally along the short linear slide rail 6.

[0059] A third thin cylinder 16 and a fourth thin cylinder are respectively installed between the first fixed-side pneumatic gripper connecting plate 14 and the second fixed-side pneumatic gripper connecting plate 18, and between the third fixed-side pneumatic gripper connecting plate and the second fixed-side pneumatic gripper connecting plate 18. The tail end of the third thin cylinder 16 is fixed to the bottom end of the first fixed-side pneumatic gripper connecting plate 14, and its head end is connected to the second fixed-side pneumatic gripper connecting plate 18 through a thin cylinder floating joint 17, so that the first fixed-side pneumatic gripper connecting plate 14 can move horizontally along the short linear slide rail 6. The tail end of the fourth thin cylinder is fixed to the bottom end of the third fixed-side pneumatic gripper connecting plate, and its head end is connected to the second fixed-side pneumatic gripper connecting plate 18 through a thin cylinder floating joint, so that the third fixed-side pneumatic gripper connecting plate can move horizontally along the short linear slide rail 6.

[0060] The first linear bearing 12 and the second linear bearing are respectively installed under the first moving side pneumatic gripper connecting plate 10 and the third moving side pneumatic gripper connecting plate by screws 19.

[0061] The first connecting shaft 12 is arranged parallel to the long linear slide rail 4. It is located between the first moving side pneumatic gripper connecting plate 10 and the first fixed side pneumatic gripper connecting plate 14. One end is engaged with the first linear bearing 12, and the other end is fixed below the first fixed side pneumatic gripper connecting plate 14.

[0062] The second connecting shaft is arranged parallel to the long linear slide rail 4. It is located between the third moving side pneumatic gripper connecting plate and the third fixed side pneumatic gripper connecting plate. One end is engaged with the second linear bearing, and the other end is fixed below the third fixed side pneumatic gripper connecting plate.

[0063] The first connecting shaft 11 and the second connecting shaft are respectively provided with shaft end baffles 15 at both ends. There are a total of 4 shaft end baffles 15, which can improve the reliability of the fixture.

[0064] Figure 3 The D-direction view shown is as follows Figure 5 , Figure 5 The robot connecting plate 1 is connected to the robot flange. It has a hollow structure and is made of carbon steel to ensure the strength of the clamp. The moving side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 are both hollow structures and are made of aluminum alloy to reduce weight. They are both provided with three rectangular holes for easy installation and maintenance.

[0065] Meanwhile, the chemical fiber cake robot palletizing fixture provided in this embodiment is also equipped with devices such as sensors to detect whether the chemical fiber cake has fallen. These devices are installed on the pneumatic gripper 8 and can detect the product slipping or falling during the gripping and handling process in a timely manner, and issue an alarm in time to prevent accidents from occurring.

[0066] Figure 6 This is a structural diagram of a chemical fiber cake, in which the chemical fiber cake 21 is wrapped around the outside of the paper tube 22.

[0067] The chemical fiber cake robot palletizing fixture provided in this embodiment has the following characteristics:

[0068] The robot connecting plate 1 is made of carbon steel to ensure the strength of the clamp. The moving side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 are made of aluminum alloy to reduce weight. All three have a hollow structure for easy installation and maintenance. The moving side slide rail connecting plate 5, under the action of the standard cylinder 2, can move horizontally along the long straight slide rail 4 to achieve the Y-axis movement of the clamp. The moving side gripper connecting plate, under the action of the thin cylinder, can move horizontally along the short straight slide rail 6 to achieve the X-axis movement of the clamp. The claw body 8 can extend and retract under the action of the three-jaw cylinder 7. A connecting shaft is connected between the moving side claw connecting plate and the fixed side claw connecting plate, and is equipped with a linear bearing and shaft end baffle 15, which improves the reliability of the clamp. The cylinder is controlled by a three-position five-way solenoid valve to prevent unexpected situations such as power failure or air failure, and ensure safety. The outer side of the claw body 8 is provided with friction texture to prevent the chemical fiber cake from falling off during the movement, and is equipped with a detection device to detect whether the chemical fiber cake has fallen off. The structure is simple, which can effectively save costs, reduce labor intensity, and improve the quality of the chemical fiber cake.

[0069] Based on the above characteristics, the specific process of using the chemical fiber cake robot's palletizing fixture to grab chemical fiber cakes is as follows:

[0070] First, the standard cylinder 2 actuates, causing the moving side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 to separate along the long straight slide rail 4. Then, the thin cylinder actuates, causing the first moving side gripper connecting plate and the third moving side gripper connecting plate to separate from the second moving side gripper connecting plate along the short straight slide rail 6. Simultaneously, the first fixed side gripper connecting plate and the third fixed side gripper connecting plate to separate from the second fixed side gripper connecting plate along the short straight slide rail 6. Then, the three-jaw cylinder 7 actuates, retracting the gripper body 8. Under the robot's action, the gripper body 8 is inserted into the paper tube. At this point, the three-jaw cylinder 7 resets, opening the gripper body 8. Under the action of the robot, the clamp rises to the set height, the standard cylinder 2 resets, the moving side slide rail connecting plate 5 and the fixed side slide rail connecting plate 9 converge along the long straight slide rail 4, the thin cylinder resets, the first moving side air gripper connecting plate and the third moving side air gripper connecting plate converge with the second moving side air gripper connecting plate, the first fixed side air gripper connecting plate and the third fixed side air gripper connecting plate converge with the second fixed side air gripper connecting plate along the short straight slide rail 6, and then the chemical fiber cakes are stacked to the stacking area, the three-jaw cylinder 7 moves to retract the air gripper body 8, and the process is repeated in a certain order to realize the stacking of batch chemical fiber cakes.

[0071] The chemical fiber cake robot palletizing fixture provided in this embodiment of the invention can reliably and continuously place chemical fiber cakes from the cake tray on the packaging line into the pallet in a certain order. It can not only accurately position the chemical fiber cakes, but also grab a large number at a time, which greatly improves work efficiency. Moreover, there is no human intervention throughout the process. It has a simple structure, high reliability, and can effectively save costs, reduce labor intensity, and improve the quality of chemical fiber cakes.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Those skilled in the art can still make modifications or equivalent substitutions to the specific implementation of the present invention by referring to the above embodiments. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the protection scope of the claims of the present invention pending approval.

Claims

1. A robotic palletizing fixture for chemical fiber cakes, characterized in that, Includes robot connecting plate, standard cylinder, moving side slide rail connecting plate, fixed side slide rail connecting plate, long linear slide rail, long linear slider, moving side gripper connecting plate, fixed side gripper connecting plate, three-jaw cylinder and gripper body; Two long linear slide rails are provided and are installed in parallel on both sides below the robot connecting plate. The standard cylinder is installed between the two long linear slide rails and is located in the middle position below the robot connecting plate, parallel to the long linear guide rails. The movable side slide rail connecting plate and the fixed side slide rail connecting plate are arranged in parallel and perpendicular to the long linear slide rail. Both of them are equipped with long linear sliders that cooperate with the long linear slide rail. The movable side slide rail connecting plate and the fixed side slide rail connecting plate are respectively installed below the movable side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate. A three-jaw cylinder is installed below both the movable side pneumatic gripper connecting plate and the fixed side pneumatic gripper connecting plate. The pneumatic gripper body is located below the three-jaw cylinder, and it is provided with friction texture and can extend and retract under the action of the three-jaw cylinder. The movable side pneumatic gripper connecting plate includes a first movable side pneumatic gripper connecting plate, a second movable side pneumatic gripper connecting plate, and a third movable side pneumatic gripper connecting plate; The second movable side pneumatic gripper connecting plate is fixed to the middle position below the movable side slide rail connecting plate by screws. The first movable side pneumatic gripper connecting plate and the third movable side pneumatic gripper connecting plate are located at both ends of the lower part of the movable side slide rail connecting plate, respectively. The two ends of the movable side slide rail connecting plate are respectively fixedly installed with short linear slide rails by screws. The short linear slide rails cooperate with the short linear sliders installed above the first movable side pneumatic gripper connecting plate and the third movable side pneumatic gripper connecting plate. A first thin cylinder and a second thin cylinder are respectively installed between the first movable side pneumatic gripper connecting plate and the second movable side pneumatic gripper connecting plate, and between the third movable side pneumatic gripper connecting plate and the second movable side pneumatic gripper connecting plate. The fixed-side pneumatic gripper connecting plate includes a first fixed-side pneumatic gripper connecting plate, a second fixed-side pneumatic gripper connecting plate, and a third fixed-side pneumatic gripper connecting plate. The second fixed-side pneumatic gripper connecting plate is fixed to the middle position below the fixed-side slide rail connecting plate by screws. The first fixed-side pneumatic gripper connecting plate and the third fixed-side pneumatic gripper connecting plate are located at both ends of the lower part of the fixed-side slide rail connecting plate, respectively. Short linear slide rails are fixedly installed at both ends of the fixed side slide rail connecting plate by screws. The short linear slide rails cooperate with short linear sliders installed above the first fixed side pneumatic gripper connecting plate and the third fixed side pneumatic gripper connecting plate.

2. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, The long linear slider installed above the fixed side slide rail connecting plate is limited by a locking device to fix and adjust the chemical fiber cake; A cylinder connecting block is installed above the movable side slide rail connecting plate. The cylinder connecting block is connected to a standard cylinder through a standard cylinder floating joint. The movable side slide rail connecting plate can move horizontally along the long straight slide rail under the action of the standard cylinder. The long linear slider is fixed to both the movable side slide rail connecting plate and the fixed side slide rail connecting plate by screws.

3. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, The tail end of the first thin cylinder is fixed to the bottom end of the first moving side gripper connecting plate, and its head end is connected to the second moving side gripper connecting plate through the thin cylinder floating joint, so that the first moving side gripper connecting plate can move horizontally along the short straight slide rail. The tail end of the second thin cylinder is fixed to the bottom end of the third moving side gripper connecting plate, and its head end is connected to the second moving side gripper connecting plate through the thin cylinder floating joint, so that the third moving side gripper connecting plate can move horizontally along the short straight slide rail.

4. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, A third thin cylinder and a fourth thin cylinder are respectively installed between the first fixed-side pneumatic gripper connecting plate and the second fixed-side pneumatic gripper connecting plate, and between the third fixed-side pneumatic gripper connecting plate and the second fixed-side pneumatic gripper connecting plate.

5. The chemical fiber cake robot palletizing fixture according to claim 4, characterized in that, The tail end of the third thin cylinder is fixed to the bottom end of the first fixed side gripper connecting plate, and its head end is connected to the second fixed side gripper connecting plate through the thin cylinder floating joint, so that the first fixed side gripper connecting plate can move horizontally along the short straight slide rail. The tail end of the fourth thin cylinder is fixed to the bottom end of the third fixed-side gripper connecting plate, and its head end is connected to the second fixed-side gripper connecting plate through a thin cylinder floating joint, so that the third fixed-side gripper connecting plate can move horizontally along the short straight slide rail.

6. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, The first linear bearing and the second linear bearing are respectively installed under the first moving side pneumatic gripper connecting plate and the third moving side pneumatic gripper connecting plate by screws; The first connecting shaft is arranged parallel to the long linear slide rail. It is located between the first moving side pneumatic gripper connecting plate and the first fixed side pneumatic gripper connecting plate. One end is engaged with the first linear bearing, and the other end is fixed below the first fixed side pneumatic gripper connecting plate. The second connecting shaft is arranged parallel to the long linear slide rail. It is located between the third moving side pneumatic gripper connecting plate and the third fixed side pneumatic gripper connecting plate. One end is engaged with the second linear bearing, and the other end is fixed below the third fixed side pneumatic gripper connecting plate. The first connecting shaft and the second connecting shaft are respectively provided with shaft end baffles at both ends.

7. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, The robot connecting plate is connected to the robot flange, and it has a hollow structure and is made of carbon steel. Both the movable side slide rail connecting plate and the fixed side slide rail connecting plate are hollow structures made of aluminum alloy, and each has three rectangular holes for easy installation and maintenance.

8. The chemical fiber cake robot palletizing fixture according to claim 1, characterized in that, The pneumatic grippers are evenly spaced at 120-degree intervals at the bottom of the three-jaw cylinder, which is controlled by a three-position five-way solenoid valve.

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