A clamping device for upper part of textile equipment

Abstract

The present invention relates to an upper clamping device of textile equipment, comprising an upper clamping jaw and a lower clamping jaw driven by a torque driving device for relative movement, the lower clamping jaw comprising a lower clamping plate provided with three jaws, and positioning grooves are symmetrically provided on the two side jaws of the lower clamping plate, and the upper clamping jaw comprises an upper clamping plate, which is located between the two side jaws of the lower clamping plate and covers the middle jaw of the lower clamping plate when clamped. The present invention is designed based on the difference in shape between the bobbin and the spindle. When grabbing the spindle, the spindle is mainly fixed by the middle jaw and the upper clamping plate. When grabbing the bobbin, since the bobbin is conical, the claw shape is easy to slide when grabbing. The present invention provides corresponding positioning grooves on the two side jaws, which can respectively fix the two ends of the conical bobbin. After the upper clamping jaw covers and presses the bobbin, the bobbin is not allowed to fall, and the bobbin is quickly fixed when grabbing.

Description

Technical Field

[0001] The invention relates to an upper clamping claw device for textile equipment, belonging to the technical field of textile automation equipment. Background Art

[0002] Textile automation refers to the application of automation technology in the textile industry, which features numerous processes, numerous machines, and high labor intensity. Automating manual operations and product inspection, automatically detecting, adjusting, and optimizing various process parameters, and establishing automated production management systems are hallmarks of modern textile production. Textile automation plays a vital role in ensuring product quality, improving productivity, reducing labor intensity, avoiding environmental pollution, and increasing product variety. Since the 1980s, computer group control and computer networks integrated with automated management have been established. The development of textile automation has driven the rapid growth of the textile industry. Modern textile automation primarily encompasses single-machine automation, production process automation, design-assisted automation, and management automation.

[0003] Two-for-one twisters are widely used in textile machinery. A two-for-one twister is a twisting device that is essentially a doubling device (multiple strands are combined into one strand). It can achieve two twists in one turn, and its twisting efficiency is doubled compared to traditional twisting equipment. Traditional two-for-one twisters are manually loaded and unloaded, which is time-consuming and labor-intensive, and has low production efficiency. Therefore, some automatic loading and unloading equipment for two-for-one twisters have emerged. During the automatic loading and unloading process, the spindles and bobbins need to be grasped. Since the shapes of spindles and bobbins are different, the outer diameters range from 30mm to 200mm, especially the conical bobbins. The existing grippers need to be replaced according to different shapes. There are many types of models, which are inconvenient to use and inefficient, resulting in a longer production cycle and a large drive load, which increases the load of the entire equipment. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in order to overcome the above problems, a clamping device for the upper part of a textile equipment is provided for universal grasping of spindles and bobbins.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The present invention relates to an upper clamping device of textile equipment, comprising an upper clamping jaw and a lower clamping jaw driven by a torque driving device for relative movement, the lower clamping jaw comprising a lower clamping plate provided with three jaws, and positioning grooves are symmetrically provided on the two side jaws of the lower clamping plate, and the upper clamping jaw comprises an upper clamping plate, which is located between the two side jaws of the lower clamping plate and covers the middle jaw of the lower clamping plate when clamped. The present invention is designed based on the difference in shape between the bobbin and the spindle. When grabbing the spindle, the spindle is mainly fixed by the middle jaw and the upper clamping plate. When grabbing the bobbin, since the bobbin is conical, the claw shape is easy to slide when grabbing. The present invention provides corresponding positioning grooves on the two side jaws, which can respectively fix the two ends of the conical bobbin. After the upper clamping jaw covers and presses the bobbin, the bobbin is not allowed to fall, and the bobbin is quickly fixed when grabbing.

[0007] The beneficial effects of the present invention are:

[0008] (1) The present invention is designed based on the difference in shape between the bobbin and the spindle. When grabbing the spindle, the spindle is mainly fixed by the middle claw and the upper clamp. When grabbing the bobbin, since the bobbin is conical, the claw shape is easy to slide when grabbing. The present invention provides corresponding positioning grooves on the two side claws, which can fix the two ends of the conical bobbin respectively. After the upper clamp covers and presses the bobbin, the bobbin will not fall, and the bobbin can be quickly fixed when grabbing.

[0009] (2) The upper support rod is movably connected to the upper clamping plate through a rotating shaft. The movable connection allows the upper clamping plate to tilt to both sides. When grabbing the spindle, it can be fixed according to the shape of the spindle. When grabbing the bobbin, it can be tilted along the conical side of the bobbin and positioned up and down in conjunction with the positioning groove on the lower clamping plate, which completely solves the problem of the bobbin falling due to its special shape when grabbing the bobbin.

[0010] (3) The upper and lower connecting rods are driven by servo motors to drive the upper and lower clamps to move. The torque control is precise and easy to control. The movement stroke is long, the clamp movement amplitude is large, the grasping is precise and fast, and it is suitable for spindles or bobbins of various sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and examples.

[0012] Figure 1 is a structural diagram of an embodiment of the present invention;

[0013] Figure 2 This is an enlarged view of the upper and lower clamping jaws of the present invention grasping the bobbin;

[0014] Figure 3 It is a diagram of the upper and lower claws of the present invention grasping the spindle.

[0015] Markings in the figure: 1-torque drive device, 2-upper clamping jaw, 3-lower clamping jaw, 4-upper slider, 5-lower slider, 6-upper connecting rod, 7-upper positioning rod, 8-driving slider, 9-signal receiving device, 10-protective housing, 11-driving slide, 12-track, 13-robotic arm connecting plate, 14-cam follower, 15-bobbin, 21-upper support rod, 22-upper splint, 23-rotating shaft, 31-lower support rod, 32-lower splint, 33-middle claw, 34-side claw, 35-positioning groove. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0017] Example 1

[0018] like Figure 1-Figure 3 The present invention shows an upper clamping device of a textile equipment, comprising an upper clamping jaw 2 and a lower clamping jaw 3 driven by a torque driving device 1 for relative movement. In this embodiment, the upper clamping jaw 2 and the lower clamping jaw 3 are preferably made of metal, and hard plastic materials can be used according to the needs of the use environment. The lower clamping jaw 3 includes a lower clamping plate 32 with three claws, and the two side claws 34 of the lower clamping plate 32 are symmetrically provided with positioning grooves 35. The present invention is based on the difference in shape between the bobbin 15 and the spindle, and a lower clamping plate 32 with three lower claws is provided. The upper clamping jaw 2 includes an upper clamping jaw 32. Plate 22, the upper clamping plate 22 is located between the two side claws 34 of the lower clamping plate 32 when clamped and covers the middle claw 33 of the lower clamping plate 32. When grabbing the spindle, the spindle is mainly fixed by the middle claw 33 and the upper clamping plate 22. When grabbing the bobbin 15, since the bobbin 15 is conical, the claw shape is easy to slide when grasping. The present invention provides corresponding positioning grooves 35 on the side claws 34 on both sides, which can fix the two ends of the conical bobbin 15 respectively. After the upper clamping jaw 2 covers and presses the bobbin 15, the bobbin 15 is not allowed to fall, and the bobbin 15 is quickly fixed when grabbing.

[0019] In this embodiment, the upper clamping jaw 2 includes a V-shaped upper clamping plate 22 and an upper support rod 21. The upper support rod 21 is movably connected to the upper clamping plate 22 through a rotating shaft 23. The movable connection allows the upper clamping plate 22 to tilt to both sides. When grabbing the spindle, it can be fixed to adapt to the shape of the spindle. When grabbing the bobbin 15, it can be tilted along the conical side of the bobbin 15, and cooperate with the positioning groove 35 on the lower clamping plate 32 to position both above and below, which completely solves the falling phenomenon caused by the special shape of the bobbin 15 when grabbing the bobbin.

[0020] In this embodiment, the height of the two side claws 34 of the lower clamping plate 32 is greater than the middle claw 33, and the length of the middle claw 33 of the lower clamping plate 32 is greater than the two side claws 34. The length of the long middle claw 33 is set according to the spindle, and at least the length of the middle claw 33 is greater than the spindle. The spindle size is 80mm-200mm, and the bobbin 15 size is 30mm-80mm. The middle claw 33 is set to about 200mm to ensure that the middle claw 33 can completely clamp the spindle. The height of the side claw 34 is higher than the middle claw 33. First, when grabbing a soft spindle, the spindle can be trapped in the middle of the two side claws 34 for fixation. In addition, when grabbing the bobbin 15, the height of the side claw 34 is convenient for setting the positioning groove 35. When the two ends of the bobbin 15 are fixed in the positioning groove 35, they can also be fixed on the middle claw 33.

[0021] In this embodiment, the lower clamping jaw 3 includes a lower clamping plate 32 and a lower support rod 31 connected to the lower clamping plate 32. The lower support rod 31 can also be movably connected to the lower clamping plate 32 through a rotating shaft 23. The movable connection of the lower clamping plate 32 can further cooperate with the upper clamping plate 22, corresponding to the conical structure of the bobbin 15, and the gripping is more stable. The lower support rod 31 and the upper support rod 21 are symmetrically inclined downward and upward at an angle of 20 degrees to the horizontal, and the upper and lower support rods 31 are respectively inclined upward and downward, which can increase the gripping space of the upper and lower clamping jaws 3. Compared with parallel support rods, the setting of this embodiment is more suitable for gripping spindles.

[0022] Example 2

[0023] The lower slider 4 and the lower slider 5 are connected to the driving motor through the upper connecting rod 6 and the lower connecting rod 5, respectively, and the upper and lower sliders 4 and 5 are connected to the driving motor through the upper connecting rod 6 and the lower connecting rod 5, respectively. The driving motor drives the upper connecting rod 6 and the lower connecting rod to drive the upper slider 4 and the lower slider 5 to move up and down, thereby driving the upper clamping jaw 2 and the lower clamping jaw 3 to achieve clamping. In the present invention, the upper connecting rod 6 and the lower connecting rod move synchronously, and after movement, the upper and lower sliders 5 move simultaneously. When sliding to both ends respectively, the upper clamping jaw 2 and the lower clamping jaw 3 are separated. When the upper and lower sliders 5 move relative to each other, the upper clamping jaw 2 and the lower clamping jaw 3 fit together to grab the spindle or bobbin 15. The present invention uses the upper and lower connecting rods to drive the slider 8, the overall stroke is long, the required torque is small, and it is more convenient to use a servo motor for precise control.

[0024] In one embodiment, the track 12 is arranged at the front end of the frame, the drive motor is arranged at the rear end of the frame, and the upper connecting rod 6 and the lower connecting rod are respectively arranged on both sides of the frame and connected to the sides of the upper slider 4 and the lower slider 5. The above arrangement can ensure the synchronization of the movement of the upper connecting rod 6 and the lower connecting rod.

[0025] In one embodiment, the middle of the upper connecting rod 6 is connected to the frame through an upper positioning rod 7, and a plurality of mounting holes are respectively provided on the upper positioning rod 7 and the upper connecting rod 6, so that the upper positioning rod 7 is hinged to the upper connecting rod 6 through different mounting holes. Different mounting holes enable the connecting rod and the slider to form different movement strokes.

[0026] In a preferred embodiment, the middle of the lower connecting rod is connected to the frame through a lower positioning rod, and a plurality of mounting holes are respectively provided on the lower positioning rod and the lower connecting rod, so that the lower positioning rod is hinged to the lower connecting rod through different mounting holes. Different mounting holes enable the connecting rod and the slider to form different movement strokes, and the upper connecting rod 6 and the lower connecting rod can adjust the strokes respectively.

[0027] Example 3

[0028] Based on the above embodiments, the driving motor is a servo motor, and the servo motor is connected to a cam-link mechanism arranged in the driving slide 11. The ends of the upper connecting rod 6 and the lower connecting rod are respectively connected to the driving slider 8 arranged in the driving slide 11. The servo motor drives the driving slider 8 up and down through the cam-link mechanism. The present invention uses sliders to connect the two ends of the upper and lower connecting rods, and forms a multi-stage connecting rod with the upper and lower support rods 31 to produce the largest motion stroke with the smallest volume.

[0029] In this embodiment, the upper connecting rod 6 and the lower connecting rod are rotatably connected to the driving slider 8 through the cam follower 14 respectively. The rear end movement trajectory is smaller due to the rotational connection with the driving slider 8 through the cam follower 14.

[0030] In this embodiment, the torque driving device is connected to a signal receiving device 9, and the torque driving device adjusts the torque according to the signal received by the signal receiving device 9. The present invention is a grasping component in the automatic feeding equipment of the textile equipment. Through the cooperation of the signal receiving device 9 and the image recognition device of the whole machine, the size of the grasped object can be identified. After identification, the torque of the torque driving device is adjusted to control the opening and closing angles of the upper and lower claws so as to grasp objects of different sizes.

[0031] In this embodiment, a protective shell 10 is also provided on the frame. The protective shell 10 can protect the present invention from working in a humid or dusty environment for a long time, and prevent structures such as the torque drive device from getting damp or damaged. A robotic arm connecting plate 13 is also provided at the lower end of the frame for connecting to a multi-stage robotic arm for position movement control.

[0032] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A clamping device for the upper part of a textile equipment, characterized in that: It includes an upper clamping jaw and a lower clamping jaw which are driven to move relative to each other by a torque driving device, the lower clamping jaw includes a lower clamping plate with three jaws, and positioning grooves are symmetrically provided on the two side jaws of the lower clamping plate. The upper clamping jaw includes an upper clamping plate, which is located between the two side jaws of the lower clamping plate and covers the middle jaw of the lower clamping plate when clamped.

2. The upper clamping device of the textile equipment according to claim 1, characterized in that: The upper clamping jaw comprises a V-shaped upper clamping plate and an upper support rod, and the upper support rod is movably connected to the upper clamping plate through a rotating shaft.

3. The upper clamping device of the textile equipment according to claim 2, characterized in that: The heights of the two side claws of the lower splint are greater than the middle claw, and the length of the middle claw of the lower splint is greater than the two side claws.

4. The upper clamping device of the textile equipment according to claim 2, characterized in that: The lower clamping jaw includes a lower clamping plate and a lower support rod connected to the lower clamping plate. The lower support rod is movably connected to the lower clamping plate through a rotating shaft. The lower support rod and the upper support rod are symmetrical and tilted downward and upward at an angle of 20 degrees to the horizontal.

5. The upper clamping device for textile equipment according to any one of claims 1 to 4, characterized in that: The torque drive device includes a drive motor, and the upper clamping jaw and the lower clamping jaw are respectively arranged on the track through the upper slider and the lower slider, and the upper slider and the lower slider can slide up and down along the track. The upper slider and the lower slider are respectively connected to the drive motor through the upper connecting rod and the lower connecting rod. The drive motor drives the upper connecting rod and the lower connecting rod to drive the upper slider and the lower slider to move up and down, thereby driving the upper clamping jaw and the lower clamping jaw to achieve clamping.

6. The upper clamping device for textile equipment according to claim 5, characterized in that: The track is arranged at the front end of the frame, the drive motor is arranged at the rear end of the frame, and the upper connecting rod and the lower connecting rod are respectively arranged on both sides of the frame and connected to the sides of the upper slider and the lower slider.

7. The upper clamping device of the textile equipment according to claim 6, characterized in that: The middle of the upper connecting rod is connected to the frame through an upper positioning rod. A plurality of mounting holes are respectively provided on the upper positioning rod and the upper connecting rod, so that the upper positioning rod is hinged to the upper connecting rod through different mounting holes.

8. The upper clamping device for textile equipment according to claim 6, characterized in that: The middle of the lower connecting rod is connected to the frame through a lower positioning rod. The lower positioning rod and the lower connecting rod are respectively provided with a plurality of mounting holes so that the lower positioning rod is hinged to the lower connecting rod through different mounting holes.

9. The upper clamping device for textile equipment according to claim 7 or 8, characterized in that: The driving motor is a servo motor, which is connected to a cam-link mechanism arranged in a driving slide. The ends of the upper connecting rod and the lower connecting rod are respectively connected to a driving slider arranged in the driving slide. The servo motor drives the driving slider to move up and down through the cam-link mechanism.

10. The upper clamping device for textile equipment according to claim 9, characterized in that: The upper connecting rod and the lower connecting rod are rotatably connected to the driving slider through cam followers respectively.

11. The upper clamping device for textile equipment according to claim 1, characterized in that: The torque driving device is connected to a signal receiving device, and the torque driving device adjusts the torque according to the signal received by the signal receiving device.

12. The upper clamping device for textile equipment according to claim 6, 7 or 8, characterized in that: A protective shell is also provided on the frame, and a mechanical arm connecting plate is also provided at the lower end of the frame.

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