A core pulling gripper device and a manipulator

Abstract

The present invention provides a core-pulling gripper device and a manipulator, which relate to the technical field of glass fiber production and manufacturing, and solve the technical problems of the existing flipping and pre-pulling tube equipment having a complex structure, a large volume, and a large space occupied. The core-pulling gripper device includes a base and a grabbing assembly and a core-pulling assembly installed thereon, the grabbing assembly is used to grab the direct yarn ball, and the core-pulling assembly separates or partially pulls out the paper tube from the direct yarn ball through vacuum adsorption. The core-pulling gripper device first grabs the direct yarn ball through the grabbing assembly, and then separates or partially pulls out the paper tube from the direct yarn ball through the vacuum adsorption of the core-pulling assembly, thereby realizing paper tube pulling or pre-pulling tube pulling conveniently and quickly, and the device has a simple structure, a small volume, and occupies a small space. After being installed on a mechanical arm, it can realize core-pulling and paper tube pulling operations in a small space.

Description

Technical Field

[0001] The invention relates to the technical field of glass fiber production and manufacturing, and in particular to a core-pulling gripper device and a manipulator. Background Art

[0002] In the glass fiber production process, the glass fiber is wound on a paper tube made of kraft paper to form a direct yarn ball, and then the direct yarn ball is hung on a yarn car for workshop transportation. In this process, the inner core needs to be removed for testing, that is, after the paper tube is pulled out, a small amount of glass fiber inside the yarn ball is removed and the glass fiber is tested. The process of pulling the kraft paper tube out of the yarn ball is called tube pulling, also known as core pulling.

[0003] In the production process of direct untwisted coarse yarn, after the direct yarn ball is taken down from the yarn carriage by the robot, it needs to be turned over manually so that the long side of the paper tube is exposed upwards. Then the paper tube is taken out manually, the inner core is removed and tested, and finally it is stacked and packaged.

[0004] The applicant has found that the prior art has at least the following technical problems:

[0005] In order to improve efficiency and save manpower, the prior art uses a pre-tube pulling device to replace manual turning of yarn balls and pulling of paper tubes, and then removes the inner core and detects it, and finally stacks and packs it. However, the prior pre-tube pulling device has a complex structure, a large volume, and occupies a large space. Summary of the invention

[0006] The purpose of the present invention is to provide a core pulling gripper device and a manipulator to solve the technical problems of the complicated structure, large volume and large space occupied by the flip pre-extraction tube equipment in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The present invention provides a core pulling gripper device, comprising:

[0009] A grabbing assembly, which is used to grab the direct yarn ball;

[0010] A core pulling component, which separates or partially pulls out the paper tube from the direct yarn group through vacuum adsorption;

[0011] A base, the grabbing assembly and the core pulling assembly are both installed on the base, and the grabbing assembly is located at the periphery of the core pulling assembly.

[0012] Optionally, the core pulling assembly includes a suction finger and a finger cylinder, and the suction finger can be driven by the finger cylinder to open and close in a first plane perpendicular to the axial direction of the core pulling gripper device.

[0013] Optionally, a plurality of adsorption holes are provided on the side wall of the finger adsorption device, and the plurality of adsorption holes are connected to an air pump via an air channel.

[0014] Optionally, a flexible suction cup is provided at each of the adsorption holes.

[0015] Optionally, there are multiple adsorption fingers, which are arranged in a circular array along an axis and can synchronously approach or move away from the axis under the action of the finger cylinder.

[0016] Optionally, the grasping assembly includes a linear cylinder, a transmission mechanism and grasping fingers, and the linear cylinder is transmission-connected to the grasping fingers via the transmission mechanism.

[0017] Optionally, the transmission mechanism includes a linear guide rail and a slider, the grasping finger is fixed to the slider, and the slider is slidably arranged on the linear guide rail; and the slider is transmission-connected to the linear cylinder.

[0018] Optionally, the core-pulling gripper device also includes a centering component, which includes a gear and a first rack and a second rack meshing on both sides thereof; the number of the sliders is four, and two of them form a first sliding component and a second sliding component, the first rack is fixedly connected to the first sliding component, the second rack is fixedly connected to the second sliding component, and the linear cylinder is transmission-connected to the first sliding component or the second sliding component.

[0019] Optionally, the centering assembly further includes a first connecting plate and a second connecting plate, the first sliding assembly is mounted on the first rack via the first connecting plate, and the second sliding assembly is mounted on the second rack via the second connecting plate.

[0020] The present invention provides a robot arm, comprising a robot arm and any one of the core-pulling gripper devices described above.

[0021] The present invention provides a core-pulling gripper device and a robot. The core-pulling gripper device first grabs the direct yarn ball through a grabbing component, and then separates or partially pulls out the paper tube from the direct yarn ball through the vacuum adsorption effect of the core-pulling component, thereby conveniently and quickly realizing paper tube pulling or pre-tube pulling. Moreover, the device has a simple structure, a small size, and occupies a small space. After being installed on a robot arm, it can realize core-pulling and paper tube pulling operations in a smaller space. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of a core-pulling gripper device provided in a specific embodiment of the present invention from a first viewing angle;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the core-pulling gripper device from a second viewing angle;

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the core-pulling gripper device after removing the gripping fingers;

[0026] Figure 4 It is a structural schematic diagram of the core pulling assembly;

[0027] Figure 5 It is a schematic diagram of the position of the transmission mechanism in the core pulling gripper device;

[0028] Figure 6 1. It is a schematic diagram of the structure of the core pulling gripper device viewed from above;

[0029] Figure 7 It is a schematic diagram of the structure of a direct yarn ball;

[0030] Figure 8 It is a structural schematic diagram of a manipulator provided by a specific embodiment of the present invention.

[0031] In the figure, 1, grabbing assembly; 11, linear cylinder; 12, transmission mechanism; 121, linear guide; 122, slider; 1221, first sliding assembly; 1222, second sliding assembly; 13, grabbing finger; 2, core pulling assembly; 21, adsorption finger; 211, adsorption hole; 22, finger cylinder; 3, base; 4, gear; 41, gear shaft; 42, round nut; 43, rolling bearing; 44, locking washer; 5, rack; 51, first rack; 52, second rack; 61, first connecting plate; 62, second connecting plate; 100, direct yarn group; 200, paper tube; 300, connecting plate; 400, robotic arm. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0033] like Figure 1 , Figure 2 and Figure 6 As shown, the present invention provides a core pulling gripper device, comprising:

[0034] A grabbing assembly 1, which is used to grab a direct yarn group 100;

[0035] A core pulling assembly 2, which separates or partially pulls out the paper tube 200 from the direct yarn group 100 through vacuum adsorption;

[0036] The base 3, the grabbing assembly 1 and the core pulling assembly 2 are all mounted on the base 3, and the grabbing assembly 1 is located outside the core pulling assembly 2. The structure of the direct yarn group 100 can be seen in Figure 7 .

[0037] The core-pulling gripper device first grabs the direct yarn ball 100 through the grabbing component 1, and then separates or partially pulls out the paper tube 200 from the direct yarn ball 100 through the vacuum adsorption action of the core-pulling component 2, thereby conveniently and quickly realizing the pulling out of the paper tube 200 or the pre-pulling of the tube. Moreover, compared with the flipping pre-pulling device in the prior art, the device has a simple structure, a small size, and occupies less space.

[0038] As an optional implementation, Figure 3 and Figure 4 As shown, the core pulling assembly 2 includes an adsorption finger 21 and a finger cylinder 22. The adsorption finger 21 can open and close in a first plane perpendicular to the axial direction of the core pulling gripper device under the drive of the finger cylinder 22, thereby contacting and adsorbing the inner wall of the paper tube 200 or driving the paper tube 200 to separate from the direct yarn ball 100.

[0039] When the two suction fingers 21 are moved away from each other and opened, the outer sides of the suction fingers 21 contact the inner wall of the paper tube 200 and are sucked onto the paper tube 200 . When the two suction fingers 21 are moved close to each other and closed, the suction fingers 21 drive the paper tube 200 to separate from the direct yarn ball 100 .

[0040] As an optional implementation, a plurality of adsorption holes 211 are provided on the side wall of the adsorption finger 21, and the plurality of adsorption holes 211 are connected to an air pump through an air channel. Adsorption through the plurality of adsorption holes 211 has a larger effective contact area and is more secure.

[0041] As an optional implementation, a flexible suction cup is provided at each adsorption hole 211 . The flexible suction cup has a good adsorption effect, no rigid collision, and low vibration and noise.

[0042] As an optional implementation, there are multiple adsorption fingers 21, and the multiple adsorption fingers 21 are arranged in a circular array along an axis, and can synchronously approach or move away from the axis under the action of the finger cylinder 22, thereby achieving the purpose of stable and reliable adsorption.

[0043] As an optional implementation, the gripping assembly 1 includes a linear cylinder 11 , a transmission mechanism 12 and a gripping finger 13 , and the linear cylinder 11 is transmission-connected to the gripping finger 13 via the transmission mechanism 12 .

[0044] The core-pulling gripper device is divided into two parts: a gripping assembly 1 (including four gripping fingers 13 on the outer peripheral side) and a core-pulling assembly 2 (including two suction fingers 21 in the middle).

[0045] In this embodiment, four gripping fingers 13 are used, which are driven by a linear cylinder 11. The gripping fingers 13 have a centering assembly for centering, and are synchronously adjusted by a gear 4 and a rack 5. (The driving device and structure of the gripping assembly 1 are not limited, as long as it can grip the direct yarn ball 100)

[0046] A finger cylinder 22 (a two-finger cylinder in this embodiment, or a three-finger cylinder or other drive such as motor drive, hydraulic drive, etc.) is installed inside the core-pulling gripper device, and its adsorption finger 21 is a sponge suction cup finger (or other vacuum fingers, etc.). The finger cylinder 22 can drive the adsorption finger 21 to open and close, and the adsorption finger 21 can adsorb the yarn ball paper tube 200 (made of kraft paper).

[0047] As an optional implementation, Figure 5 As shown, the transmission mechanism 12 includes a linear guide rail 121 and a slider 122, the gripping finger 13 is fixed to the slider 122, the slider 122 is slidably arranged on the linear guide rail 121, and the slider 122 is transmission-connected to the linear cylinder 11. With the transmission mode of the guide rail and the slider 122, the gripping finger 13 moves smoothly and has high reliability.

[0048] The second sliding component 1222 is fixed, and the first sliding component 1221 slides on the linear guide rail 121 to achieve clamping and grasping of the linear yarn ball. In this embodiment, centered grasping cannot be achieved, that is, before and after grasping, the grasping center formed by the four grasping fingers 13 will change (after the clamping action, the center of the four grasping fingers 13 and the center of the four grasping fingers 13 before grasping are offset).

[0049] As an optional implementation, Figure 6As shown, the core pulling gripper device also includes a centering component, which includes a gear 4 and a first rack 515 and a second rack 525 meshed on both sides thereof; the number of sliders 122 is four, and two of them form a first sliding component 1221 and a second sliding component 1222, the first rack 515 is fixedly connected to the first sliding component 1221, the second rack 52 is fixedly connected to the second sliding component 1222, and the linear cylinder 11 is transmission-connected to the first sliding component 1221 or the second sliding component 1222. The setting direction of the first rack 51 and the second rack 52 is the same as the extension direction of the linear guide 121.

[0050] The centering component can ensure that the center of the four gripping fingers 13 remains unchanged, and the force is more reasonable.

[0051] As an optional embodiment, the centering assembly further includes a first connecting plate 61 and a second connecting plate 62 , the first sliding assembly 1221 is mounted on the first rack 51 via the first connecting plate 61 , and the second sliding assembly 1222 is mounted on the second rack 52 via the second connecting plate 62 .

[0052] The linear guide 121 is stationary, the slider 122 slides on the linear guide 121, the slider 122 is fixedly connected to the rack 5, and when the linear cylinder 11 drives the slider 122 to move relatively to grab the direct yarn ball 100, the cylinder drives the first sliding component 1221 on the first connecting plate 61 to move, thereby driving the first rack 51 to move, and the first rack 51 drives the gear 4 to rotate. During the rotation of the gear 4, it drives the second rack 52 on the other side to move, so that the second sliding component 1222 on the second connecting plate 62 moves, thereby achieving centering.

[0053] like Figure 8 As shown, the present invention also provides a robot, including a robot arm 400 and any of the above core pulling gripper devices, the core pulling gripper device is detachably mounted on the robot arm 400 through a connecting plate 300. After the compact core pulling gripper device is mounted on the robot arm 400, the core pulling and paper tube pulling operation can be realized in a smaller space.

[0054] After the grabbing assembly 1 grabs the yarn ball, the finger cylinder 22 drives the adsorption finger 21 to open, and the sponge suction cup is adsorbed on the inner core of the paper tube 200 of the direct yarn ball 100. After the adsorption is completed, the grabbing finger 13 releases the direct yarn ball 100, and the paper tube 200 as the inner core of the direct yarn ball 100 is removed by relying on the gravity of the direct yarn ball 100.

[0055] The working process is as follows:

[0056] (1) The robot takes the direct yarn ball 100 off the yarn carriage, and the grabbing finger 13 grabs and clamps the direct yarn ball 100, and the finger cylinder 22 is in a closed state;

[0057] (2) After the direct yarn ball 100 leaves the yarn machine, the finger cylinder 22 is opened, and the suction finger 21 vacuum-sucks the kraft paper tube 200 on the inner wall of the direct yarn ball 100;

[0058] (3) The finger cylinder 22 is closed, and the sponge suction cup finger drives the paper tube 200 to separate from the direct yarn ball 100;

[0059] (4) The robot moves to the yarn ball placement station, opens the grabbing finger 13, and the direct yarn ball 100 completes the core pulling (tube pulling) action under the action of gravity, and the direct yarn ball 100 completes the subsequent process;

[0060] (5) The robot moves to the paper tube 200 placement station, releases the vacuum with the fingers, and releases the paper tube 200, so that the paper tube 200 is ready for recycling;

[0061] (6) The robot moves to the wire car grabbing station to proceed to the next cycle.

[0062] In another embodiment, steps 4 and 5 may not involve pulling out the paper tube 200, but rather a pre-pulling action, and then the paper tube 200 is manually removed (only a pre-pulling action is performed to save effort).

[0063] In the description of the invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0064] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A core pulling gripper device, characterized in that: include: A grabbing assembly (1) for grabbing a direct yarn group (100); A core pulling component (2) which separates or partially pulls out the paper tube (200) from the direct yarn group (100) through vacuum adsorption; A base (3), the grabbing assembly (1) and the core pulling assembly (2) are both mounted on the base (3), and the grabbing assembly (1) is located outside the core pulling assembly (2); The core pulling assembly (2) comprises a suction finger (21) and a finger cylinder (22), and the suction finger (21) can be driven by the finger cylinder (22) to perform an opening and closing action in a first plane perpendicular to the axial direction of the core pulling gripper device; A plurality of adsorption holes (211) are provided on the side wall of the adsorption finger (21), and the plurality of adsorption holes (211) are connected to an air pump via an air channel; A flexible suction cup is provided at each of the adsorption holes (211); The number of the adsorption fingers (21) is multiple, and the multiple adsorption fingers (21) are arranged in a circular array along an axis, and can synchronously approach or move away from the axis under the action of the finger cylinder (22).

2. The core pulling gripper device according to claim 1, characterized in that: The grasping assembly (1) comprises a linear cylinder (11), a transmission mechanism (12) and a grasping finger (13); the linear cylinder (11) is in transmission connection with the grasping finger (13) via the transmission mechanism (12).

3. The core pulling gripper device according to claim 2, characterized in that: The transmission mechanism (12) comprises a linear guide rail (121) and a slider (122); the grasping finger (13) is fixedly connected to the slider (122); the slider (122) is slidably arranged on the linear guide rail (121); and the slider (122) is transmission-connected to the linear cylinder (11).

4. The core pulling gripper device according to claim 3, characterized in that: The invention also comprises a centering component, wherein the centering component comprises a gear (4) and a first rack (51) and a second rack (52) meshed on both sides thereof; the number of the sliders (122) is four, and two of them are grouped together to form a first sliding component (1221) and a second sliding component (1222); the first rack (51) is fixedly connected to the first sliding component (1221), the second rack (52) is fixedly connected to the second sliding component (1222), and the linear cylinder (11) is drivingly connected to the first sliding component (1221) or the second sliding component (1222).

5. The core pulling gripper device according to claim 4, characterized in that: The centering assembly further comprises a first connecting plate (61) and a second connecting plate (62); the first sliding assembly (1221) is mounted on the first rack (51) via the first connecting plate (61); and the second sliding assembly (1222) is mounted on the second rack (52) via the second connecting plate (62).

6. A robot, characterized in that: It comprises a mechanical arm (400) and a core-pulling gripper device as described in any one of claims 1 to 5.

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