A silk cake gripping device, a silk cake production system and an operation method thereof

Abstract

The present invention discloses a cake grasping device, a cake production system and an operation method thereof. The device includes: a main connecting rod; a plurality of first connecting rods, and first connecting seats corresponding to the first connecting rods one by one are annularly and spaced on the main connecting rod, and one ends of the first connecting rods are rotatably connected to the first connecting seats; a plurality of second connecting rods, corresponding to the first connecting rods one by one, and one ends of the second connecting rods are rotatably connected to the other ends of the first connecting rods, and the other ends of the second connecting rods extend downward; a plurality of supporting plates, corresponding to the second connecting rods one by one, and one ends of the supporting plates are rotatably connected to the other ends of the second connecting rods, and the other ends of the supporting plates face the virtual axis direction of the main connecting rod; a traction mechanism, connected to the plurality of first connecting rods; a driving mechanism, connected to the traction mechanism, and the driving mechanism drives the traction mechanism to drive the expansion or contraction of the grasping constraint area formed by enclosing between the plurality of first connecting rods, the plurality of second connecting rods and the plurality of supporting plates; The implementation of this solution is reliable and the operation is convenient.

Description

Technical Field

[0001] The present invention relates to the field of textile production systems, and particularly to a silk cake gripping device, a silk cake production system and an operation method thereof. Background Art

[0002] As a common link in the textile production system, in the traditional production system, the wound silk cake is transported to a designated station along with the silk cake transfer support, and then is grabbed by a mechanical gripping device and moved to a stacking mechanism or other transfer links. In order to make the traditional gripping device adapt to different specifications of silk cakes, the winding drums used for silk cakes are usually of fixed diameter specifications. When the gripping device grabs, it mostly acts directly on the inner wall of the winding drum. The principle of this gripping and moving mainly lies in using the friction between the gripping mechanism and the inner wall of the silk cake winding drum for restraint and fixation. The drawbacks are also very obvious. Usually, there will be obvious mating marks on the inner wall of the winding drum after being grabbed, and the vibration of the gripping device during the moving process needs to be controlled within a very small range to avoid the silk cake falling off the gripping device due to its own weight and inertia problems. At the same time, when a silk cake with a large mass is transported, it usually falls off due to insufficient mating restraint force with the gripping device, resulting in production accidents and delaying production continuity.

[0003] Although there are currently some gripping devices that grab the outer side of the silk cake, however, they mainly focus on clamping, and a large friction force needs to be formed between the gripping mechanism and the side wall of the silk cake to support the gravity of the silk cake. This method is likely to scratch the yarn of the silk cake, resulting in the risk of damaging the silk cake during the transfer process; moreover, the traditional silk cake gripping mechanism needs to be driven multiple times by a driving device when grabbing and releasing the silk cake, and during the driving cooperation process, due to problems such as cooperation errors, the gripping device needs to be frequently adjusted. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a silk cake gripping device, a silk cake production system and an operation method thereof, which have a simple structure, reliable cooperation, a small possibility of accidentally injuring the silk cake, and simple cooperation actions.

[0005] In order to achieve the above technical purpose, the technical solutions adopted by the present invention are as follows:

[0006] A silk cake gripping device, comprising:

[0007] A main connecting rod;

[0008] A plurality of first connecting rods, at least 3 in number, and a first connecting seat corresponding to each first connecting rod is annularly and spacedly arranged on the main connecting rod, and one end of each first connecting rod is rotatably connected to the first connecting seat;

[0009] A number of second connecting rods, corresponding to the first connecting rods one by one, and one end thereof is rotatably connected to the other end of the first connecting rod. The other end of the second connecting rod extends downward. A first locking assembly for relatively locking and fixing the two is further provided between the second connecting rod and the first connecting rod;

[0010] A number of support plates, corresponding to the second connecting rods one by one, and one end thereof is rotatably connected to the other end of the second connecting rod. The other end of the support plate faces the virtual axis direction of the main connecting rod. A second locking assembly for relatively locking and fixing the two is further provided between the support plate and the second connecting rod. The upper end surface of the support plate is used for supporting the bobbin to be grasped. A grasping restraint area for grasping and restraining the bobbin is formed by enclosing a number of first connecting rods, a number of second connecting rods and a number of support plates;

[0011] A traction mechanism, connected to a number of first connecting rods;

[0012] A driving mechanism, connected to the traction mechanism, and the driving mechanism drives the traction mechanism to pull a number of first connecting rods to drive a number of second connecting rods and a number of support plates to flip around the first connecting seat, so that the grasping restraint area formed by enclosing a number of first connecting rods, a number of second connecting rods and a number of support plates expands or contracts;

[0013] Wherein, the outer edge of the radial cross-sectional profile of the main connecting rod is rectangular or circular.

[0014] As a possible implementation manner, further, the traction mechanism includes:

[0015] A second connecting seat, corresponding to a number of first connecting rods one by one and fixedly connected to the lower side of the middle part of the first connecting rod close to the first connecting seat;

[0016] A traction sleeve, slidably sleeved on the lower part of the main connecting rod, and a third connecting seat corresponding to the number of second connecting seats is provided on its outer peripheral side;

[0017] A number of third connecting rods, corresponding to the second connecting seat or the third connecting seat one by one, one end thereof is rotatably connected to the second connecting seat, and the other end thereof is rotatably connected to the third connecting seat;

[0018] The driving mechanism is connected to the traction sleeve.

[0019] As a better implementation option, preferably, this solution further includes:

[0020] A first limiting sleeve, which is of a tubular structure and has a first internal thread on its inner wall;

[0021] The lower end of the main connecting rod is further provided with a first external thread; the first limiting sleeve is threadedly connected to the first external thread.

[0022] As a preferred implementation option, preferably, the first external thread does not extend beyond the outer wall of the main connecting rod in the radial direction;

[0023] The first limiting sleeve is also threadedly connected with a transition sleeve, the outer wall of the transition sleeve is provided with a second external thread and is threadedly connected to the first internal thread of the first limiting sleeve through the second external thread; the inner wall of the transition sleeve is provided with a second internal thread and is threadedly connected to the first external thread through the second internal thread.

[0024] As a preferred implementation option, preferably, the driving mechanism includes:

[0025] The second limiting sleeve is fixedly arranged on the main connecting rod and is located between the traction sleeve and the portion of the main connecting rod where the first connecting seat is arranged;

[0026] A spring is sleeved on the main connecting rod between the second limiting sleeve and the traction sleeve, one end of which is fixedly connected to the second limiting sleeve, and the other end of which is fixedly connected to the traction sleeve;

[0027] A connecting frame, fixed to the upper end of the main connecting rod;

[0028] The driving cylinder is fixedly connected to the connecting frame, and the end of the driving rod thereof is fixedly connected to a connecting plate;

[0029] A pair of traction rods are arranged on both sides of the main connecting rod, and the lower ends of the traction rods are fixedly connected to the traction sleeves respectively, and the upper ends of the traction rods extend upward and slidably pass through the connecting plate connected to the driving cylinder. The connecting plate is provided with an avoidance groove corresponding to the traction rod, and a limit block is provided at the end of the upper end of the traction rod;

[0030] Among them, the driving rod of the driving cylinder is initially extended. When the driving cylinder drives the driving rod to retract, the connecting plate drives the traction rod to pull the traction sleeve to slide in the direction close to the second limit sleeve, so that the traction sleeve pulls a number of first connecting rods to drive a number of second connecting rods and a number of support plates to flip around the first connecting seat, so that the grasping constraint area formed by the number of first connecting rods, a number of second connecting rods and a number of support plates expands; when the driving rod of the driving cylinder is reset and extended, the spring pushes the traction sleeve to slide in the direction away from the second limit sleeve, so that the traction sleeve pulls a number of first connecting rods to drive a number of second connecting rods and a number of support plates to flip around the first connecting seat, so that the grasping constraint area formed by the number of first connecting rods, a number of second connecting rods and a number of support plates shrinks.

[0031] As a preferred implementation option, preferably, the lower end surface of the support plate is provided with a guide assembly, and the guide assembly includes:

[0032] The guide plates are a pair and are arranged opposite to each other on the lower end surface of the support plate. The guide plates are triangular in structure, one side of which is fixedly connected to the lower end surface of the guide plates, and the intersection of the other two sides forms a rounded chamfer structure;

[0033] A plurality of guide pulleys are rotatably connected between a pair of guide plates, and the edges of the guide pulleys extend beyond the guide plates and approach the side of the other end of the support plate;

[0034] Wherein, an arc portion is provided at the other end of the support plate.

[0035] As a preferred implementation option, preferably, the first locking assembly includes a first bolt and a first nut. One end of the first bolt sequentially passes through one end of the second connecting rod and the other end of the first connecting rod and is locked and fixed with the first nut, detachably locking and fixing the first connecting rod and the second connecting rod;

[0036] The second locking assembly includes a second bolt and a second nut. The second bolt includes a second bolt head, a first rod portion and a second rod portion. A plurality of limit teeth are provided on the first rod portion. A third external thread threadedly adapted to the second nut is provided on the second rod portion. One end of the support plate is provided with a first limit mounting hole penetrating through both side surfaces of the support plate; the structure of the first limit mounting hole is matched with the structure of the limit teeth on the first rod portion of the second bolt; a U-shaped mounting groove penetrating through the upper and lower end surfaces of the support plate and communicating with the first limit mounting hole is further provided in the middle of one end of the support plate. The U-shaped mounting groove is used for passing and matching with the other end of the second connecting rod. A second limit mounting hole with a structure matched with the limit teeth on the first rod portion of the second bolt is provided at the other end of the second connecting rod corresponding to the limit teeth; when the first rod portion of the second bolt penetrates into the first limit mounting hole and the second limit mounting hole, its second rod portion penetrates out of the support plate and is locked and fixed with the second nut, relatively fixing the support plate and the second connecting rod.

[0037] As a preferred implementation option, preferably, the number of the first connecting rods is 3 to 5, and the numbers of the second connecting rods and the support plates both correspond to 3 to 5.

[0038] Based on the above-mentioned silk cake gripping device solution, the present invention further provides a silk cake production system, which includes:

[0039] A transfer conveyor mechanism for outputting silk cakes, and the silk cakes are supported on a silk cake transfer support;

[0040] A silk cake stacking mechanism is arranged on one side of the transfer conveyor mechanism;

[0041] A first slide rail is horizontally arranged above the transfer conveyor mechanism and the silk cake stacking mechanism;

[0042] A translation mechanism is connected to the first slide rail;

[0043] A lifting bracket is vertically arranged and its upper end is connected to the translation mechanism;

[0044] A lifting mechanism is liftably connected to one side of the lifting mechanism;

[0045] Connecting bracket, one end of which is connected to the lifting mechanism;

[0046] It further includes the above-mentioned cake gripping device,

[0047] The connecting frame of the cake gripping device is fixedly connected to the connecting bracket, and the cake gripping device is driven by the lifting mechanism to move up and down;

[0048] It further includes a controller, and the controller is respectively connected to the driving cylinder, the transfer conveyor mechanism, the translation mechanism and the lifting mechanism and controls their actions respectively.

[0049] Based on the above-mentioned cake production system solution, the present invention further provides an operation method for a cake production system, which includes:

[0050] S01. The transfer conveyor mechanism drives the cake transfer support carrying the cake to move to a preset position;

[0051] S02. The translation mechanism drives the lifting bracket together with the cake gripping device to move above the cake, so that the cake gripping device is vertically facing the cake on the cake transfer support;

[0052] S03. The lifting mechanism drives the connecting bracket to connect the cake gripping device to descend, so that the guiding component connected to the lower end surface of the tray of the cake gripping device contacts the edge of the cake. At the same time, the lifting mechanism further drives the cake gripping device to descend. The guiding plate and guiding pulley of the guiding component are under the downward pressure of the lifting mechanism and the contact repulsive force of the cake to form a driving force that drives the tray to expand along the direction away from the radial center of the cake, so that the first connecting rod drives the second connecting rod and the tray to rotate around the first connecting seat, making the gripping restraint area formed by enclosing between several first connecting rods, several second connecting rods and several trays expand. At the same time, the traction sleeve is driven to rise passively and compress the spring, and the compression repulsive force of the spring acts on the traction sleeve to restrict the rotation speed of the first connecting rod, the second connecting rod and the tray, so that the other end of the tray or the guiding component remains in contact with the cake;

[0053] When the gripping restraint area expands to adapt to the outer diameter of the cake, the cake gripping device is further driven by the lifting mechanism to descend until the other end of the tray is separated from the edge of the cake, and the cake completely enters the gripping restraint area. At this time, the tray loses the contact repulsive force of the cake, the lifting mechanism pauses working, and the spring pushes the traction sleeve to slide along the direction away from the second limit sleeve, so that the traction sleeve pulls several first connecting rods to drive several second connecting rods and several trays to rotate around the first connecting seat, making the gripping restraint area formed by enclosing between several first connecting rods, several second connecting rods and several trays close up, so that the lower end surface of the tray is facing the lower end surface of the cake;

[0054] S04. The lifting mechanism starts and drives the bobbin gripping device to rise, making the lower end face of the support plate contact the bobbin and holding the bobbin to rise to a preset position;

[0055] S05. The translation mechanism drives the lifting bracket together with the bobbin gripping device to move above the bobbin stacking mechanism;

[0056] S06. The lifting mechanism drives the bobbin gripping device to descend to a preset position;

[0057] S07. The driving cylinder starts, its driving rod retracts, the connecting plate drives the traction rod to traction the traction sleeve to slide along the direction approaching the second limit sleeve, so that the traction sleeve traction a plurality of first connecting rods drives a plurality of second connecting rods and a plurality of support plates to turn around the first connecting seat, making the gripping restraint area formed by enclosing between the plurality of first connecting rods, the plurality of second connecting rods and the plurality of support plates expand. Until the gripping restraint area expands to be larger than the outer diameter of the bobbin, the bobbin falls onto the bobbin stacking structure;

[0058] S08. The lifting mechanism drives the bobbin gripping device to rise and reset, and at the same time the driving rod of the driving cylinder resets;

[0059] S09. The translation mechanism resets.

[0060] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are as follows: This solution ingeniously forms a gripping restraint area for gripping the bobbin by enclosing between a plurality of first connecting rods, a plurality of second connecting rods and a plurality of support plates. At the same time, in combination with the traction mechanism connected to the plurality of first connecting rods, and through the driving mechanism connected to the traction mechanism, the device is driven by the driving mechanism to drive the traction mechanism to traction a plurality of first connecting rods to drive a plurality of second connecting rods and a plurality of support plates to turn around the first connecting seat, making the gripping restraint area formed by enclosing between the plurality of first connecting rods, the plurality of second connecting rods and the plurality of support plates expand or contract. And the driving mechanism adopts a dual-driving unit form, mainly through the cooperation of the spring and the traction mechanism to complete the contraction of the gripping restraint area, and through the cooperation of the driving cylinder and the traction mechanism to complete the expansion of the gripping restraint area. When gripping the bobbin, there is no need for the driving cylinder to intervene, and only when releasing the bobbin, the driving cylinder needs to perform an action cycle to complete the release. This cooperation form not only realizes a reliable and effective cooperation for gripping from the outside of the bobbin, but also greatly reduces the intervention frequency of the driving cylinder, improves the durability and maintenance convenience of the device. At the same time, this solution has the advantages of reliable implementation, convenient operation and small possibility of accidentally injuring the bobbin, and also has the advantages of low cost, convenient maintenance and strong adaptability. It can grip bobbins with different diameter profiles by adjusting the cooperation angle between the first connecting rod, the second connecting rod and the support plate. At the same time, adopting the form of supporting with the support plate avoids long-term and strong extrusion of the side wall of the bobbin. Description of the Drawings

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0062] Figure 1 is one of the schematic three-dimensional structures of the cake gripping device of the present invention;

[0063] Figure 2 is another schematic three-dimensional structure of the cake gripping device of the present invention;

[0064] Figure 3 is the third schematic three-dimensional structure of the cake gripping device of the present invention;

[0065] Figure 4 is the fourth schematic three-dimensional structure of the cake gripping device of the present invention;

[0066] Figure 5 is the schematic exploded planar structure of the second connecting rod, the support plate and the second locking assembly of the present invention;

[0067] Figure 6 is a schematic diagram of the cake production system applying the cake gripping device of the present invention;

[0068] Figure 7 is one of the schematic diagrams of the brief state of the cake gripping device gripping the cake in the cake production system of the present invention;

[0069] Figure 8 is another schematic diagram of the brief state of the cake gripping device gripping the cake in the cake production system of the present invention;

[0070] Figure 9 is the third schematic diagram of the brief state of the cake gripping device gripping the cake in the cake production system of the present invention;

[0071] Figure 10 is the fourth schematic diagram of the brief state of the cake gripping device gripping the cake in the cake production system of the present invention;

[0072] Figure 11 is one of the schematic diagrams of the brief state of the cake gripping device releasing the cake in the cake production system of the present invention;

[0073] Figure 12 is another schematic diagram of the brief state of the cake gripping device releasing the cake in the cake production system of the present invention;

[0074] Figure 13This is one of the schematic diagrams showing the brief state of the cake gripping device releasing a cake in the cake production system of the present invention. Detailed implementation manners

[0075] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be specifically noted that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only partial embodiments of the present invention rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0076] As Figures 1 to 5 As shown in FIG. 1, a cake gripping device 108 in this embodiment includes:

[0077] A main connecting rod 1;

[0078] A plurality of first connecting rods 2, at least 3 in number. The main connecting rod 1 is provided with first connection seats 11 corresponding to the first connecting rods 2 at intervals in a ring shape. One end of each first connecting rod 2 is rotatably connected to the first connection seat 11 (which can be riveted or connected by a rotating pin shaft).

[0079] A plurality of second connecting rods 3, corresponding to the first connecting rods 2 one by one, and one end of each second connecting rod 3 is rotatably connected to the other end of the corresponding first connecting rod 2. The other end of the second connecting rod 3 extends downward. A first locking assembly 4 is also provided between the second connecting rod 3 and the first connecting rod 2 for relatively locking and fixing the two.

[0080] A plurality of support plates 5, corresponding to the second connecting rods 3 one by one, and one end of each support plate 5 is rotatably connected to the other end of the corresponding second connecting rod 3. The other end of the support plate 5 faces the virtual axis direction of the main connecting rod 1. A second locking assembly 6 is also provided between the support plate 5 and the second connecting rod 3 for relatively locking and fixing the two. The upper end surface of the support plate 5 is used to support the cake 10 to be gripped. A gripping restraint area for gripping and restraining the cake 10 is formed by enclosing the plurality of first connecting rods 2, the plurality of second connecting rods 3, and the plurality of support plates 5.

[0081] A traction mechanism, connected to the plurality of first connecting rods 2;

[0082] A driving mechanism, connected to the traction mechanism, and driven by the driving mechanism to drive the traction mechanism to pull the plurality of first connecting rods 2 to drive the plurality of second connecting rods 3 and the plurality of support plates 5 to flip around the first connection seat 11, so that the gripping restraint area formed by enclosing the plurality of first connecting rods 2, the plurality of second connecting rods 3, and the plurality of support plates 5 expands or contracts.

[0083] Among them, in order to facilitate the auxiliary flipping and traction of the first connecting rod 2, as a possible implementation manner, further, the traction mechanism includes:

[0084] The second connecting seat 81 corresponds to a plurality of first connecting rods 2 one by one and is fixedly connected to the lower side of the middle part of the first connecting rod 2 close to the first connecting seat 11;

[0085] The traction sleeve 8 is slidably sleeved on the lower part of the main connecting rod 1, and a third connecting seat 83 corresponding to the number of the second connecting seats 81 is arranged on the outer peripheral side thereof;

[0086] A plurality of third connecting rods 82 correspond to the second connecting seats 81 or the third connecting seats 83 one by one. One end of each third connecting rod 82 is rotatably connected to the second connecting seat 81, and the other end thereof is rotatably connected to the third connecting seat 83;

[0087] The described driving mechanism is connected to the traction sleeve 8.

[0088] Among them, the main connecting rod 1 can be of a rectangular rod, cylindrical rod, circular tube rod or rectangular tube rod structure. In the case of adopting a cylindrical rod or circular tube rod structure, the relative frictional force on its outer peripheral side is small, the interference is less, and the service life can be improved. While adopting a rectangular tube rod structure or rectangular rod helps to avoid the self-rotation misalignment of the traction sleeve 8, and the anti-torsion ability of the traction sleeve 8 to the third connecting rod 82 can be reduced.

[0089] In addition, an opening and closing structure similar to the cooperation of umbrella ribs is formed among the traction sleeve 8, the third connecting rod 82 and the second connecting rod 2. The traction sleeve 8 can slide on the main connecting rod 1 to drive the second connecting rod 2 to flip. When the second connecting rod 2 is stressed, it will also be conducted to the traction sleeve 8 through the third connecting rod 82, causing the traction sleeve 8 to perform a corresponding sliding action.

[0090] In order to prevent the traction sleeve 8 from coming off, as a preferred implementation option, preferably, this solution further includes:

[0091] The first limiting sleeve 13 is of a tubular structure, and a first internal thread 131 is arranged on its inner wall;

[0092] A first external thread 12 is further arranged at the lower end of the main connecting rod 1; the first limiting sleeve 13 is threadedly connected to the first external thread 12.

[0093] As a preferred implementation option, preferably, the first external thread 12 does not extend beyond the outer wall of the main connecting rod 1 in the radial direction;

[0094] On the Figures 1 to 5 basis, in combination with Figure 7 as shown, a transition sleeve 14 is further threadedly connected inside the first limiting sleeve 13. The outer wall of the transition sleeve 14 is provided with a second external thread and is threadedly connected to the first internal thread of the first limiting sleeve 13 through the second external thread; the inner wall of the transition sleeve 14 is provided with a second internal thread and is threadedly connected to the first external thread 12 through the second internal thread.

[0095] Among them, through the transition sleeve 14 for transition, the first external thread 12 can be made not to radially exceed the outer wall of the main connecting rod 1. In this structure, the assembly of the traction sleeve 8 can be made more convenient, and at the same time, the fitting clearance between the traction sleeve 8 and the outer wall of the main connecting rod 1 can be made more compact (about 0.5 mm fitting clearance), improving its fitting accuracy and avoiding jitter.

[0096] In the solution of this embodiment, as a preferred implementation option, preferably, the driving mechanism includes:

[0097] A second limiting sleeve 91, fixedly sleeved on the main connecting rod 1 and located between the traction sleeve 8 and the part of the main connecting rod 1 where the first connecting seat 11 is provided;

[0098] A spring 92, sleeved on the main connecting rod 1 between the second limiting sleeve 91 and the traction sleeve 8, one end of which is fixedly connected to the second limiting sleeve 91 and the other end of which is fixedly connected to the traction sleeve 8;

[0099] A connecting frame 93, fixed to the upper end of the main connecting rod 1;

[0100] A driving cylinder 9, fixedly connected to the connecting frame 93, and a connecting plate is fixedly connected to the end of its driving rod 901;

[0101] Traction rods 94, a pair of which are oppositely arranged on both sides of the main connecting rod 1, the lower ends of which are respectively fixedly connected to the traction sleeve 8, the upper ends of which extend upward and slidably pass through the connecting plate 95 connected to the driving cylinder 9, and avoidance through grooves 951 corresponding to the traction rods 94 are provided on the connecting plate 95, and limit blocks 941 are provided at the upper ends of the traction rods 94;

[0102] Among them, the driving rod 901 of the driving cylinder 9 is in the initial state of being extended. When the driving cylinder 9 drives the driving rod 901 to retract, the connecting plate 95 drives the traction rods 94 to traction the traction sleeve 8 to slide along the direction approaching the second limiting sleeve 91, so that the traction sleeve 8 traction a plurality of first connecting rods 2 to drive a plurality of second connecting rods 3 and a plurality of support plates 5 to turn around the first connecting seat 11, making the grasping constraint area formed by enclosing between the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of support plates 5 expand; when the driving rod 901 of the driving cylinder 9 resets and extends, the spring 92 pushes the traction sleeve 8 to slide along the direction away from the second limiting sleeve 91, so that the traction sleeve 8 traction a plurality of first connecting rods 2 to drive a plurality of second connecting rods 3 and a plurality of support plates 5 to turn around the first connecting seat 11, making the grasping constraint area formed by enclosing between the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of support plates 5 contract.

[0103] It should be noted that the driving mechanism of the present embodiment adopts a dual-driving mechanism, in which the second limiting sleeve 91 and the spring 92 constitute a driving unit that pushes the traction sleeve 8 to move in the direction away from the second limiting sleeve 91. The thrust of the spring 92 enables the traction sleeve 8 to move in the direction away from the second limiting sleeve 91 when there is no other external force or the strength of the other external force is less than the thrust of the spring 92, so that the grabbing constraint area is contracted, so that without the action of other external forces, the second limiting sleeve 91, the spring 92 and the first limiting sleeve 13 can be used to constitute a matching mechanism for constraining the initial position of the traction sleeve 8, so that the expansion opening of the grabbing constraint area formed by the first connecting rods 2, the second connecting rods 3 and the support plates 5 can be adjusted, that is, it is adjusted by the first limiting sleeve 13 and lifted by the spring 92. Provide reset force; in addition, the driving cylinder 9, the connecting plate 95, and the traction rod 94 constitute a driving unit for pulling the traction sleeve 8 to move in the direction close to the second limit sleeve 91, and the connecting plate 95 is provided with an avoidance groove 951, which cooperates with the limit block 941 of the traction rod 94, so that when the first limit sleeve 13 adjusts the initial position of the traction sleeve 8, the connecting plate 95 will not interfere with the traction rod 94. At the same time, when the driving rod 901 of the driving motor 9 is retracted, the connecting plate 95 pulls the limit block 941 to drive the traction rod 94 to pull the traction sleeve 8 to move in the direction close to the second limit sleeve 91, thereby expanding the grasping constraint area. The two driving unit structures of the driving mechanism realize that the grasping constraint area only needs to be controlled by the driving cylinder 9 once to complete the grasping constraint area to release the grasped silk cake 10.

[0104] In order to better grasp the silk cake 10 by cooperating with the second limiting sleeve 91 and the spring 92 without relying on the active control of the driving cylinder 9, as a preferred implementation option, preferably, the lower end surface of the support plate 5 is provided with a guide assembly 7, and the guide assembly 7 includes:

[0105] The guide plates 72 are a pair and are arranged opposite to each other on the lower end surface of the support plate 5. The guide plates 72 are triangular in structure, one side of which is fixedly connected to the lower end surface of the guide plate 72, and the intersection of the other two sides forms a rounded chamfer structure;

[0106] A plurality of guide pulleys 71 are rotatably connected between a pair of guide plates 72, and the edges of the guide pulleys 71 extend beyond the sides of the guide plates 72 close to the other end of the support plate 5;

[0107] The other end of the support plate 5 is provided with an arc portion 51 .

[0108] Through the guide plate 72 and the guide pulley 71, the contact force can be better utilized to expand and grasp the constraint area. The acting force of the spring 92 pushing the traction sleeve 8 can keep the arc portion 51 or the guide plate 72 in contact with the outer side of the bobbin 10, avoiding problems such as gaps and sloshing when grasping the bobbin 10.

[0109] In order to be suitable for different specifications of the bobbin 10, as a preferred implementation option, preferably, the first locking assembly 4 includes a first bolt 41 and a first nut 42. One end of the first bolt 41 sequentially passes through one end of the second connecting rod 3 and the other end of the first connecting rod 2 and is locked and fixed with the first nut 42, detachably locking and fixing the first connecting rod 2 and the second connecting rod 3. Through the detachable form of the first bolt 41 and the second nut 42, the cooperation angle of the first connecting rod 2 and the second connecting rod 3 can be controlled and adjusted by loosening the first locking assembly 4 to adapt to bobbins 10 with different outer peripheral profiles.

[0110] The second locking assembly 6 includes a second bolt 61 and a second nut 62. The second bolt 61 includes a second bolt head 611, a first rod portion 612, and a second rod portion 613. A plurality of limiting teeth are provided on the first rod portion 612, and a third external thread threadedly adapted to the second nut 62 is provided on the second rod portion 612. One end of the support plate 5 is provided with a first limiting mounting hole 53 penetrating through both side surfaces of the support plate 5. The structure of the first limiting mounting hole 53 is matched with the structure of the limiting teeth on the first rod portion 612 of the second bolt 61. In the middle of one end of the support plate 5, a U-shaped mounting groove 52 penetrating through its upper and lower end surfaces and communicating with the first limiting mounting hole 612 is further provided. The U-shaped mounting groove 52 is used for passing and cooperating with the other end of the second connecting rod 3. The other end of the second connecting rod 3 is provided with a second limiting mounting hole 31 having a structure matched with the limiting teeth on the first rod portion of the second bolt 61. When the first rod portion of the second bolt 61 penetrates into the first limiting mounting hole 53 and the second limiting mounting hole 31, its second rod portion 613 penetrates out of the support plate 5 and is locked and fixed with the second nut 62, relatively fixing the support plate 5 and the second connecting rod 3. By adopting the cooperation form of the second bolt 61 and the second nut 62, the second connecting rod 3 and the support plate 5 can be disassembled and adjusted in cooperation angle. Coupled with the special limiting tooth structure of the first rod portion 612 of the second bolt 61, it can cooperate with the first fiber mounting hole 53 of the support plate 5 and the second fiber mounting hole 31 of the second connecting rod 3 to complete the angle adjustment and locking of the support plate 5 and the second connecting rod 3, so that the upper end surface of the support plate 5 can be as close as possible to the lower surface of the bobbin 10, enabling the bobbin 10 to be supported by the support plate 5 after being removed.

[0111] In this embodiment, as a preferred implementation option, preferably, the number of the first connecting rods 2 is 4, but it is not limited to 4, and it can also be 3 or 5. The numbers of the second connecting rods 3 and the support plate 5 are both correspondingly the same as the number of the first connecting rods 2.

[0112] Based on Figures 1 to 5 one of the above, further combined with Figure 6 shown in, based on the above-mentioned cake grasping device 108 solution, this embodiment further provides a cake production system, which includes:

[0113] A transfer conveyor mechanism 101 for outputting the cake 10, and the cake 10 is supported on a cake transfer support 109;

[0114] A cake stacking mechanism 102 is arranged on one side of the transfer conveyor mechanism 101;

[0115] A first slide rail 103 is horizontally arranged above the transfer conveyor mechanism 101 and the cake stacking mechanism 102;

[0116] A translation mechanism 104 is connected to the first slide rail 103;

[0117] A lifting bracket 105 is vertically arranged and its upper end is connected to the translation mechanism 104;

[0118] A lifting mechanism 106 is liftably connected to one side of the lifting mechanism 106;

[0119] A connecting bracket 107, one end of which is connected to the lifting mechanism 106;

[0120] It further includes the above-mentioned cake grasping device 108,

[0121] The connecting frame 93 of the cake grasping device 108 is fixedly connected to the connecting bracket 107, and the cake grasping device 108 is driven by the lifting mechanism 106 to lift;

[0122] It further includes a controller, and the controller is respectively connected to the driving cylinder 9, the transfer conveyor mechanism 101, the translation mechanism 104 and the lifting mechanism 106 and controls their actions respectively.

[0123] Based on Figures 1 to 6 one of the above, further combined with Figures 7 to 13 one of the schematic diagrams of the brief state shown; based on the above-mentioned cake 10 production system solution, this embodiment further provides an operation method of the cake production system, which includes:

[0124] S01. The transfer conveyor mechanism 101 drives the cake transfer support 109 holding the cake 10 to move to a preset position;

[0125] S02, the translation mechanism 104 drives the lifting bracket 105 together with the silk cake grabbing device 108 to move above the silk cake 10, so that the silk cake grabbing device 108 is vertically facing the silk cake 10 on the silk cake transfer support 109;

[0126] S03, the lifting mechanism 106 drives the connecting bracket 107 to connect the silk cake grabbing device 108 to descend, so that the guide assembly 7 connected to the lower end surface of the support plate 5 of the silk cake grabbing device 108 contacts the edge of the silk cake 10, and at the same time, the lifting mechanism 106 further drives the silk cake grabbing device 108 to descend, and the guide plate 72 and the guide pulley 71 of the guide assembly 7 are pressed down by the lifting mechanism 106 and the contact repulsion force of the silk cake 10 to form a driving force that drives the support plate 5 to expand in the radial direction away from the center of the silk cake 10, so that the first connecting rod 2 drives the second connecting rod 3 and the support plate 5 to flip around the first connecting seat 11, so that the grabbing constraint area formed by the first connecting rods 2, the second connecting rods 3 and the support plates 5 is expanded, and at the same time, the traction sleeve 8 passively rises and compresses the spring 92, and the compression repulsion force of the spring 92 acts on the traction sleeve 8 to restrict the flipping speed of the first connecting rod 2, the second connecting rod 3 and the support plate 5, so that the other end of the support plate 5 or the guide assembly 7 keeps in contact with the silk cake 10;

[0127] When the grabbing constraint area expands to match the outer diameter of the silk cake 10, the silk cake grabbing device 108 is further driven by the lifting mechanism 106 to descend until the other end of the support plate 5 is separated from the edge of the silk cake 10 and the silk cake 10 completely enters the grabbing constraint area. At this time, the support plate 5 loses the contact repulsion force of the silk cake 10, and the lifting mechanism 106 stops working. The spring 92 pushes the traction sleeve 8 to slide in the direction away from the second limit sleeve 91, so that the traction sleeve 8 pulls the first connecting rods 2 to drive the second connecting rods 3 and the support plates 5 to flip around the first connecting seat 11, so that the grabbing constraint area formed by the first connecting rods 2, the second connecting rods 3 and the support plates 5 is closed, so that the lower end surface of the support plate 5 is directly opposite to the lower end surface of the silk cake 10.

[0128] S04, the lifting mechanism 106 is started and drives the yarn cake grabbing device 108 to rise, so that the lower end surface of the support plate 5 contacts the yarn cake 10 and supports the yarn cake 10 to rise to a preset position;

[0129] S05, the translation mechanism 104 drives the lifting bracket 105 and the yarn cake grabbing device 108 to move above the yarn cake stacking mechanism 102;

[0130] S06, the lifting mechanism 106 drives the yarn cake grabbing device 108 to descend to a preset position;

[0131] S07. The driving cylinder 9 is activated, and its driving rod 901 retracts. The connecting plate drives the towing rod 94 to tow the towing sleeve 8 to slide in the direction approaching the second limiting sleeve 91, so that the towing sleeve 8 towes a plurality of first connecting rods 2 to drive a plurality of second connecting rods 3 and a plurality of supporting plates 5 to turn around the first connecting seat 11, causing the grasping restraint area formed by enclosing between the plurality of first connecting rods 2, the plurality of second connecting rods 3 and the plurality of supporting plates 5 to expand. Until the grasping restraint area expands to be larger than the outer diameter of the bobbin 10, the bobbin 10 falls onto the bobbin 10 stacking structure;

[0132] S08. The lifting mechanism 106 drives the bobbin grasping device 108 to rise and reset, and at the same time, the driving rod 901 of the driving cylinder 9 resets;

[0133] S09. The translation mechanism 104 resets.

[0134] The above are only partial embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall similarly be included in the patent protection scope of the present invention.

Claims

1. A silk cake grasping device, characterized in that, Comprising: Main connecting rod; A plurality of first connecting rods, at least 3 in number, the main connecting rod is provided with first connection seats corresponding to the first connecting rods one by one at annular intervals, and one ends of the first connecting rods are all rotatably connected to the first connection seats; A plurality of second connecting rods, corresponding to the first connecting rods one by one, and one ends are rotatably connected to the other ends of the first connecting rods, the other ends of the second connecting rods extend downward, and a first locking assembly is further provided between the second connecting rods and the first connecting rods for relatively locking and fixing the two; A plurality of support plates, corresponding to the second connecting rods one by one, and one ends are rotatably connected to the other ends of the second connecting rods, the other ends of the support plates face the virtual axis direction of the main connecting rod, and a second locking assembly is further provided between the support plates and the second connecting rods for relatively locking and fixing the two, the upper end surfaces of the support plates are used for supporting the bobbin to be grabbed, and a grabbing restraint area for grabbing and restraining the bobbin is formed by enclosing between the plurality of first connecting rods, the plurality of second connecting rods and the plurality of support plates; Traction mechanism, connected to a plurality of first connecting rods; Drive mechanism, connected to the traction mechanism, and driven by the drive mechanism to drive the traction mechanism to traction a plurality of first connecting rods to drive a plurality of second connecting rods and a plurality of support plates to flip around the first connection seats, so that the grabbing restraint area formed by enclosing between the plurality of first connecting rods, the plurality of second connecting rods and the plurality of support plates expands or contracts; Wherein, the outer edge of the radial cross-sectional profile of the main connecting rod is rectangular or circular; The said traction mechanism includes: Second connection seats, corresponding to a plurality of first connecting rods one by one and fixedly connected to the lower side surfaces of the middle parts of the first connecting rods close to the first connection seats; Traction sleeve, slidably sleeved on the lower part of the main connecting rod, and third connection seats corresponding to the number of the second connection seats are provided on its outer peripheral side; A plurality of third connecting rods, corresponding to the second connection seats or the third connection seats one by one, one ends are rotatably connected to the second connection seats, and the other ends are rotatably connected to the third connection seats; The said drive mechanism is connected to the traction sleeve; It further includes: First limit sleeve, which is a tubular structure, and its inner wall is provided with first internal threads; The lower end of the main connecting rod is further provided with first external threads; the first limit sleeve is threadedly connected to the first external threads, and the first external threads do not exceed the outer wall of the main connecting rod in the radial direction; The said drive mechanism includes: Second limit sleeve, fixedly sleeved on the main connecting rod and located between the traction sleeve and the part of the main connecting rod provided with the first connection seats; Spring, sleeved on the main connecting rod between the second limit sleeve and the traction sleeve, one end is fixedly connected to the second limit sleeve, and the other end is fixedly connected to the traction sleeve; Connection frame, fixed to the upper end of the main connecting rod; Drive cylinder, fixedly connected to the connection frame, and a connecting plate is fixedly connected to the end of its drive rod; Traction rods, a pair of them, are oppositely arranged on both sides of the main connecting rod, their lower ends are respectively fixedly connected to the traction sleeve, their upper ends extend upward and slidably pass through the connecting plate connected to the drive cylinder, and avoidance through grooves are provided on the connecting plate corresponding to the traction rods, and limit blocks are provided at the upper ends of the traction rods.

2. The cake gripping device according to claim 1, characterized in that, A transition sleeve is also threadedly connected inside the first limiting sleeve. The outer wall of the transition sleeve is provided with a second external thread and is threadedly connected to the first internal thread of the first limiting sleeve through the second external thread; the inner wall of the transition sleeve is provided with a second internal thread and is threadedly connected to the first external thread through the second internal thread.

3. The cake gripping device according to claim 1, characterized in that, Guide assemblies are provided on the lower end surfaces of the said support plates. The said guide assemblies include: Guide plates, which are a pair and are oppositely arranged on the lower end surfaces of the support plates. The guide plates are of a triangular structure. One side of it is fixedly connected to the lower end surface of the guide plate, and the junction of its other two sides forms a rounded chamfer structure; A number of guide pulleys are rotatably connected between the pair of guide plates, and the edges of the guide pulleys extend beyond the guide plates and approach the side of the other end of the support plate; Wherein, an arc portion is provided at the other end of the support plate.

4. The cake grasping device according to claim 3, characterized in that, The said first locking assembly includes a first bolt and a first nut. One end of the first bolt sequentially passes through one end of the second connecting rod and the other end of the first connecting rod and is locked and fixed with the first nut, detachably locking and fixing the first connecting rod and the second connecting rod; The said second locking assembly includes a second bolt and a second nut. The said second bolt includes a second bolt head, a first rod portion and a second rod portion. A number of limiting teeth are provided on the first rod portion. A third external thread threadedly adapted to the second nut is provided on the second rod portion. One end of the support plate is provided with a first limiting mounting hole penetrating through both side surfaces of the support plate; the structure of the first limiting mounting hole is matched with the structure of the limiting teeth on the first rod portion of the second bolt; a U-shaped mounting groove penetrating through its upper and lower end surfaces and communicating with the first limiting mounting hole is also provided in the middle of one end of the support plate. The said U-shaped mounting groove is used for passing and matching with the other end of the second connecting rod. A second limiting mounting hole with a structure matched with the limiting teeth on the first rod portion of the second bolt is provided at the corresponding position of the other end of the second connecting rod; when the first rod portion of the second bolt penetrates into the first limiting mounting hole and the second limiting mounting hole, its second rod portion penetrates out of the support plate and is locked and fixed with the second nut, relatively fixing the support plate and the second connecting rod.

5. The cake gripping device according to any one of claims 1 to 4, characterized in that, The number of the first connecting rods is 3 to 5, and the numbers of the second connecting rods and the support plates both correspond to 3 to 5.

6. A cake production system, which includes: A transfer and conveying mechanism for outputting cakes. The said cakes are held on a cake transfer support; A cake stacking mechanism is arranged on one side of the transfer and conveying mechanism; A first slide rail is horizontally arranged above the transfer and conveying mechanism and the cake stacking mechanism; A translation mechanism is connected to the first slide rail; A lifting bracket is vertically arranged and its upper end is connected to the translation mechanism; A lifting mechanism is liftably connected to one side of the lifting mechanism; A connecting bracket, one end of which is connected to the lifting mechanism; It is characterized in that it further includes the cake gripping device as described in claim 4, The connecting frame of the said cake gripping device is fixedly connected to the connecting bracket, and the cake gripping device is driven to lift by the lifting mechanism; It further includes a controller, and the said controller is respectively connected to the driving cylinder, the transfer and conveying mechanism, the translation mechanism and the lifting mechanism and respectively controls their actions.

7. The operating method of a cake production system according to claim 6, characterized in that: It includes: S01. The transfer and conveying mechanism drives the cake transfer support holding the cake to move to a preset position; S02, the translation mechanism drives the lifting bracket together with the silk cake grabbing device to move above the silk cake, so that the silk cake grabbing device is vertically facing the silk cake on the silk cake transfer support; S03, the lifting mechanism drives the connecting bracket connected to the silk cake grabbing device to descend, so that the guide assembly connected to the lower end surface of the support plate of the silk cake grabbing device contacts the edge of the silk cake, and at the same time, the lifting mechanism further drives the silk cake grabbing device to descend, and the guide plate and the guide pulley of the guide assembly are pressed down by the lifting mechanism and the contact repulsion force of the silk cake to form a driving force that drives the support plate to expand in the radial direction away from the center of the silk cake, so that the first connecting rod drives the second connecting rod and the support plate to flip around the first connecting seat, so that the grabbing constraint area formed by the first connecting rods, the second connecting rods and the support plates expands, and at the same time, the traction sleeve passively rises and compresses the spring, and the compression repulsion force of the spring acts on the traction sleeve to constrain the flipping speed of the first connecting rod, the second connecting rod and the support plate, so that the other end of the support plate or the guide assembly keeps in contact with the silk cake; When the grabbing constraint area expands to match the outer diameter of the silk cake, the silk cake grabbing device is further driven by the lifting mechanism to descend until the other end of the support plate is separated from the edge of the silk cake and the silk cake completely enters the grabbing constraint area. At this time, the support plate loses the contact repulsion force of the silk cake, the lifting mechanism stops working, and the spring pushes the traction sleeve to slide in the direction away from the second limit sleeve, so that the traction sleeve pulls the first connecting rods to drive the second connecting rods and the support plates to flip around the first connecting seat, so that the grabbing constraint area formed by the first connecting rods, the second connecting rods and the support plates is closed, so that the lower end surface of the support plate is directly opposite to the lower end surface of the silk cake. S04, the lifting mechanism is started and drives the silk cake grabbing device to rise, so that the lower end surface of the supporting plate contacts the silk cake and supports the silk cake to rise to a preset position; S05, the translation mechanism drives the lifting bracket together with the yarn cake grabbing device to move above the yarn cake stacking mechanism; S06, the lifting mechanism drives the yarn cake grabbing device to descend to a preset position; S07, the driving cylinder is started, and its driving rod is retracted, and the connecting plate drives the traction rod to pull the traction sleeve to slide in the direction close to the second limiting sleeve, so that the traction sleeve pulls the first connecting rods to drive the second connecting rods and the supporting plates to flip around the first connecting seat, so that the grasping constraint area formed by the first connecting rods, the second connecting rods and the supporting plates expands, until the grasping constraint area expands to be larger than the outer diameter of the silk cake, and the silk cake falls onto the silk cake stacking structure; S08, the lifting mechanism drives the silk cake grabbing device to rise and reset, and at the same time drives the driving rod of the cylinder to reset; S09: The translation mechanism is reset.

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