A three-station quick-change feeding gripper

Abstract

The present invention discloses a three-station quick-change loading gripper, comprising a connecting portion and a plurality of clamping devices installed on the connecting portion for grasping workpieces; the clamping device comprises a clamping mechanism and a clamping jaw mechanism, the clamping mechanism comprises a liftable clamping plate; the clamping jaw mechanism comprises a clamping jaw, the upper portion of the clamping jaw is movably connected to a connecting seat above the clamping plate, the middle portion of the clamping jaw is hingedly connected to a connecting head above the clamping plate, the lower portion of the clamping jaw is located below the outer periphery of the clamping plate, and the connecting head is lifted and lowered to drive the lower portion of the clamping jaw to clamp or release the workpiece. The three-station quick-change loading gripper designed in the present application, when in use, ensures the stability of the workpiece when grasping the workpiece by pressing the workpiece on the station down through the clamping plate, and drives the lower portion of the clamping jaw to grasp or release the workpiece by the up and down movement of the connecting head, thereby ensuring the grasping effect of the workpiece; the clamping of the clamping plate and the clamping of the clamping jaw jointly ensure the stability of the workpiece grasping.

Description

Technical Field

[0001] The invention relates to the technical field of grippers, and in particular to a three-station quick-change feeding gripper. Background Art

[0002] Glass fiber is an inorganic non-metallic material with excellent performance. There are many types. Its advantages are good insulation, strong heat resistance, good corrosion resistance and high mechanical strength, but its disadvantages are brittleness and poor wear resistance. It is made of glass balls or waste glass as raw materials through high-temperature melting, wire drawing, winding, weaving and other processes. The diameter of its single filament ranges from a few microns to more than 20 microns, which is equivalent to 1 / 20 to 1 / 5 of a hair. Each bundle of fiber strands is composed of hundreds or even thousands of single filaments.

[0003] The glass fiber is wound on the yarn drum, and during transportation, the transportation of the glass fiber is achieved through the transportation of the yarn drum, such as Figure 1 The yarn bobbins shown are placed upright on the production line. Since the upright yarn bobbins are relatively high, they are easily knocked over when being grabbed by conventional grippers, resulting in inconvenience in transportation. Summary of the invention

[0004] The purpose of the present invention is to provide a three-station quick-change feeding gripper to solve the problem of difficulty in grabbing vertically placed yarn tubes on a production line in the prior art.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] A three-station quick-change feeding gripper, comprising a connecting portion and a plurality of clamping devices mounted on the connecting portion for grasping workpieces;

[0007] The clamping device comprises a clamping mechanism and a clamping claw mechanism, and the clamping mechanism comprises a lifting and lowering clamping plate;

[0008] The clamping mechanism includes a clamping jaw, the upper part of which is movably connected to a connecting seat above the pressing plate, the middle part of which is hingedly connected to a connecting head above the pressing plate, and the lower part of which is located below the outer periphery of the pressing plate. The connecting head rises and falls to drive the lower part of the clamping jaw to clamp or release the workpiece.

[0009] Furthermore, it also includes an upper connecting plate, an intermediate connecting plate and a lower connecting plate connected in sequence from top to bottom; the upper connecting plate is connected to the connecting portion;

[0010] The connecting seat is connected below the lower connecting plate.

[0011] Furthermore, the clamping mechanism also includes a second cylinder, the second cylinder is connected between the lower connecting plate and the middle connecting plate, and the output end of the second cylinder is connected to the connecting head below the connecting seat.

[0012] Furthermore, the number of the clamping jaws is three.

[0013] Furthermore, the centers of the connecting seat, the connecting head and the pressing plate are on the same straight line.

[0014] Furthermore, a clamping block is connected to the lower part of the clamping jaw.

[0015] Furthermore, the clamping mechanism includes a first cylinder, which is connected between the middle connecting plate and the upper connecting plate, and the output end of the first cylinder passes through the top of the upper connecting plate; and is connected to the clamping plate through a sliding rod.

[0016] Furthermore, a coaxial buffer plate is connected to the bottom surface of the clamping plate.

[0017] Furthermore, a guide rod is connected to the center of the bottom surface of the buffer plate.

[0018] Furthermore, the connecting portion includes a connecting frame and a connecting plate connected to the top surface of the connecting frame.

[0019] According to the above technical scheme, the embodiments of the present invention have at least the following effects: the three-station quick-change loading gripper designed in the present application, when in use, presses down the workpiece on the station through the clamping plate, thereby ensuring the stability of the workpiece during grasping, and drives the lower part of the clamping jaw to grasp or release the workpiece through the up and down movement of the connecting head, thereby ensuring the grasping effect of the workpiece; through the clamping of the clamping plate and the clamping of the clamping jaw, the stable grasping of the workpiece is ensured, and the workpiece will not be knocked over during grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a specific embodiment of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the connecting part in a specific embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a clamping device in a specific embodiment of the present invention;

[0023] Figure 4 for Figure 3 Schematic diagram of the structure from different perspectives;

[0024] Figure 5 It is a structural schematic diagram of a clamping mechanism in a specific embodiment of the present invention;

[0025] Figure 6 for Figure 5 Schematic diagram of the structure from different perspectives;

[0026] Figure 7It is a structural schematic diagram of the clamping mechanism in a specific embodiment of the present invention;

[0027] Figure 8 for Figure 7 Schematic diagram of the structure from different perspectives.

[0028] Wherein: 1. connecting part; 11. connecting frame; 12. connecting plate; 2. clamping device; 21. clamping mechanism; 211. clamping plate; 212. first cylinder; 213. sliding rod; 214. buffer plate; 215. guide rod; 216. limit seat; 22. clamping claw mechanism; 221. clamping claw; 222. connecting seat; 223. connector; 224. second cylinder; 225. clamping block; 23. upper connecting plate; 24. middle connecting plate; 25. lower connecting plate; 3. yarn tube. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0030] It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. The terms "front", "rear", "left", "right", "up", and "down" used in the description of the present invention refer to the directions in the accompanying drawings, and the terms "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0031] A three-station quick-change loading gripper comprises a connecting portion 1 and a plurality of clamping devices 2 mounted on the connecting portion 1 for grasping workpieces; the clamping device 2 comprises a clamping mechanism 21 and a clamping jaw mechanism 22, the clamping mechanism 21 comprises a liftable clamping plate 211; the clamping jaw mechanism 22 comprises a clamping jaw 221, the upper portion of the clamping jaw 221 is movably connected to a connecting seat 222 above the clamping plate 211, the middle portion of the clamping jaw 221 is hingedly connected to a connecting head 223 above the clamping plate 211, the lower portion of the clamping jaw 221 is located below the outer periphery of the clamping plate 211, the connecting head 223 is lifted and lowered, driving the lower portion of the clamping jaw 221 to clamp or release the workpiece.

[0032] The three-station quick-change loading gripper designed in the present application, when in use, ensures the stability of the yarn bobbin 3 when grasping by pressing the yarn bobbin 3 on the station through the pressing plate, and drives the lower part of the clamping claw to grasp or release the yarn bobbin 3 through the up and down movement of the connecting head, thereby ensuring the grasping effect of the yarn bobbin 3; the pressing of the pressing plate and the clamping of the clamping claw jointly ensure the stable grasping of the yarn bobbin 3, preventing the yarn bobbin from being knocked over when grasping it.

[0033] The present application is described below through specific embodiments.

[0034] In a specific embodiment, the connecting portion is used to connect the clamping device 2 and the manipulator, such as Figure 2 As shown, the connection part 1 includes a connection frame 11 and a connection plate 12. The connection plate 12 is used to connect with the manipulator, and the manipulator drives the entire gripper to perform the grasping work. The connection frame 11 is hollow, which can make the air pipe of the cylinder route and ensure the lightness of the structure of the whole part. The bottom of the connection frame 11 is a plate-like structure for installing the clamping device 2.

[0035] like Figure 3 and Figure 4 As shown, the clamping device 2 includes a pressing mechanism 21 and a clamping mechanism 22 , and the pressing mechanism 21 and the clamping mechanism 22 work together to ensure the stability of the gripping and clamping effect of the yarn tube 33 .

[0036] like Figures 3 to 8 As shown, in some embodiments, the clamping mechanism 21 and the clamping mechanism 22 are installed by setting the upper connecting plate 23, the middle connecting plate 24 and the lower connecting plate 25. Specifically, the upper connecting plate 23 is installed on the bottom surface of the connecting frame 11 through a connecting rod, the middle connecting plate 24 is fixed below the upper connecting plate 23 through a connecting rod, and the lower connecting plate 25 is fixed below the middle connecting plate 24 through a connecting rod. The upper connecting plate 23, the middle connecting plate 24 and the lower connecting plate 25 are used as a frame structure to ensure the effective arrangement of the clamping mechanism 21 and the clamping mechanism 22, and to ensure the stability and lightness of the overall structure.

[0037] The structure of the clamping mechanism 21 is as follows: Figure 5 and Figure 6 It includes a first cylinder 212 connected between the upper connecting plate 23 and the middle connecting plate 24, the output end of the first cylinder 212 penetrates above the upper connecting plate 23, and the top end is connected to the upper connecting head, three slide bars 213 are slidably connected between the middle connecting plate 24 and the upper connecting plate 23, the top end of the slide bar 213 is connected to the upper connecting head, and the bottom end is fixedly connected to the pressing plate 211 located below the lower connecting plate 25. The first cylinder 212 is extended and retracted to drive the pressing plate 211 to rise and fall.

[0038] When the yarn bobbin 3 needs to be grasped, the first air cylinder 212 is operated first, and the first air cylinder 212 drives the pressing plate 211 to descend, so that the pressing plate 211 contacts the yarn bobbin 3 and presses the yarn bobbin 3, thereby ensuring the stability of the yarn bobbin 3 and preventing the yarn bobbin 3 from tipping over when grasping the yarn bobbin 3.

[0039] Since the center of the yarn tube 3 has a central axis hole, in a further embodiment, a guide rod 215 is also designed at the center of the bottom surface of the clamping plate 211, and the bottom end of the guide rod 215 is provided with a chamfer. When the clamping plate 211 moves downward toward the yarn tube 3, the guide rod 215 will be inserted into the central axis hole of the yarn tube 3, further ensuring the stable positioning of the yarn tube 3.

[0040] In some further embodiments, in order to prevent the excessive pressure when the lower connecting plate 25 descends and damages the yarn tube 3, a buffer plate 214 is also designed. The buffer plate 214 is connected to the bottom surface of the clamping plate 211, and the two are coaxially arranged. The guide rod 215 can also be arranged at the center of the bottom surface of the buffer plate 214.

[0041] In some further embodiments, in order to prevent the guide rod 215 from driving the pressing plate 211 to drop too much and damage the yarn tube 3, a limit seat 216 is connected below the lower connecting plate 25. There are three limit seats 216, and the three limit seats are on the same circle and the three limit seats are on the same plane. The grooves in the three limit seats 216 work together to ensure the limit effect of the pressing plate 211 and the safety of the yarn tube 3.

[0042] Furthermore, the circle formed by the three limiting seats 216 can also perform preliminary limiting and fixing of the yarn tube 3, providing convenience for subsequent grasping by the clamping mechanism.

[0043] like Figure 7 and Figure 8 As shown, the clamping mechanism includes a second cylinder 224 arranged between the middle connecting plate 24 and the lower connecting plate 25, a connecting seat 222 is fixed below the lower connecting plate 25, the output end of the second cylinder 224 passes through the bottom of the connecting seat 222 and is connected to a connecting head 223, the upper part of the clamping jaw 221 is movably connected to the connecting seat 222, the middle part of the clamping jaw 221 is hingedly connected to the connecting head 223, and the lower part of the clamping jaw 221 is used to clamp the yarn tube 3.

[0044] Furthermore, in one embodiment, the number of the clamps 221 is set to be the same as the number of the limit seats 216, which is also three. The lower parts of the three clamps are located between the three limit seats 216, and the lower parts of the clamps and the limit seats 216 together form a circle to limit the yarn tube 3.

[0045] When the connecting head 223 moves up and down, the clamping claw 221 is driven to rotate around the hinge point of the connecting seat 222 to grab, clamp or release the yarn tube 3.

[0046] In order to ensure that the clamping jaws can grip the yarn bobbin 3 safely and reliably, a clamping block 225 made of rubber material is further provided on the inner side of the clamping jaws 221 to ensure that the clamped yarn bobbin 3 is not damaged.

[0047] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A three-station quick-change feeding gripper, characterized in that: It comprises a connecting portion (1) and a plurality of clamping devices (2) mounted on the connecting portion (1) and used for grasping workpieces; The clamping device (2) comprises a clamping mechanism (21) and a clamping claw mechanism (22); the clamping mechanism (21) comprises a liftable clamping plate (211); The clamping jaw mechanism (22) comprises a clamping jaw (221), the upper portion of the clamping jaw (221) is movably connected to a connecting seat (222) above the pressing plate (211), the middle portion of the clamping jaw (221) is hingedly connected to a connecting head (223) above the pressing plate (211), the lower portion of the clamping jaw (221) is located below the outer periphery of the pressing plate (211), and the connecting head (223) is raised and lowered to drive the lower portion of the clamping jaw (221) to clamp or release a workpiece; It also includes an upper connecting plate (23), an intermediate connecting plate (24), and a lower connecting plate (25) which are connected in sequence from top to bottom; the upper connecting plate (23) is connected to the connecting portion (1); The connecting seat (222) is connected below the lower connecting plate (25); A limit seat (216) is connected below the lower connecting plate (25), and there are three limit seats (216), the three limit seats are on the same circle, and the three limit seats are on the same plane; The number of the clamping jaws (221) is set to be the same as the number of the limiting seats (216), which is also three. The lower parts of the three clamping jaws are located between the three limiting seats (216). The lower parts of the clamping jaws and the limiting seats (216) together form a circle to limit the yarn tube (3).

2. The three-station quick-change loading gripper according to claim 1 is characterized in that: The clamping mechanism (22) further comprises a second cylinder (224), the second cylinder (224) being connected between the lower connecting plate (25) and the middle connecting plate (24), the output end of the second cylinder (224) being connected to a connecting head (223) below the connecting seat (222).

3. The three-station quick-change loading gripper according to claim 1 is characterized in that: The number of the clamping jaws (221) is three.

4. The three-station quick-change loading gripper according to claim 1 is characterized in that: The centers of the connecting seat (222), the connecting head (223) and the pressing plate (211) are on the same straight line.

5. The three-station quick-change loading gripper according to claim 1 is characterized in that: The lower part of the clamping jaw (221) is connected to a clamping block (225).

6. The three-station quick-change loading gripper according to claim 2 is characterized in that: The clamping mechanism (21) comprises a first cylinder (212), the first cylinder (212) being connected between the middle connecting plate (24) and the upper connecting plate (23), the output end of the first cylinder (212) passing through the top of the upper connecting plate (23) and being connected to the clamping plate (211) via a sliding rod (213).

7. The three-station quick-change loading gripper according to claim 1 is characterized in that: The bottom surface of the pressing plate (211) is connected to a coaxial buffer plate (214).

8. The three-station quick-change loading gripper according to claim 7 is characterized in that: A guide rod (215) is connected to the center of the bottom surface of the buffer plate (214).

9. The three-station quick-change loading gripper according to claim 1 is characterized in that: The connecting portion (1) comprises a connecting frame (11) and a connecting plate (12) connected to the top surface of the connecting frame (11).

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