Mechanical gripper capable of preventing materials from toppling over

Abstract

The invention relates to the technical field of grippers, in particular to a mechanical gripper capable of preventing materials from toppling over. In order to solve the problem that the lasting lifting requirement of the special-shaped spool cannot be met, the following technical scheme is provided: the special-shaped spool lifting device comprises a spool, a limiting lantern ring is arranged on the upper surface of the spool, a clamping jaw is matched with the surface of the limiting lantern ring, the inner side surface of the clamping jaw is in contact with the spool, and a lifting cylinder is fixed at the top of the clamping jaw; a limiting lantern ring is arranged on the upper surface of the spool, a top slow-release assembly and a bottom energy dissipation assembly are arranged on the spool in a matched mode, the top slow-release assembly comprises a center ring rod arranged in the inner side face of the limiting lantern ring, and a slow-release sleeve buckle is slidably connected to the surface of the center ring rod. The clamping jaws are fixed to the lifting air cylinder, so that the surface of the yarn drum is subjected to a balanced inner clamping effect, and further, the yarn drum can generate shaking force during lifting through sliding connection of the slow-release sleeve buckle and the center ring rod.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and more specifically to a mechanical gripper for preventing materials from tipping over. Background Technology

[0002] Glass fiber is wound on a yarn bobbin. During transfer, the glass fiber is transferred by moving the yarn bobbin. The yarn bobbin is placed vertically on the production line. Because the yarn bobbin is placed vertically, it is easy to knock it over when it is grasped by a conventional gripper, which makes the transfer inconvenient.

[0003] In the prior art, such as the three-station quick-change feeding gripper with application number 202210722788.1, there is a connecting part and a plurality of clamping devices for gripping workpieces installed on the connecting part; the clamping device includes a pressing mechanism and a gripper mechanism, the pressing mechanism includes a lifting pressing plate; the gripper mechanism includes a gripper, the upper part of the gripper is movably connected to the connecting seat above the pressing plate, the middle part of the gripper is hinged to the connecting head above the pressing plate, and the lower part of the gripper is located below the outer periphery of the pressing plate.

[0004] The workpiece is pressed down on the station by the clamping plate, ensuring stability during workpiece gripping. The up-and-down movement of the connector head drives the lower part of the gripper to grip or release the workpiece, ensuring the gripping effect. This ensures the workpiece clamping function to a certain extent. However, after reviewing the technical solution, it was found that the yarn bobbin is a conical structure with a narrow top and a wide bottom. The lifting force of the gripper is stably provided by the cylinder. This constant lifting force cannot keep the yarn bobbin stable and prevent it from shaking. Therefore, it is necessary to add a slow-release structure to the top and bottom of the yarn bobbin to eliminate its own shaking and maintain the high-efficiency lifting function of the cylinder. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a mechanical claw for preventing material tipping, which can effectively solve the problem that the lifting force in the prior art cannot meet the long-term lifting requirements of irregularly shaped yarn bobbins.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides a mechanical claw for preventing material from tipping over, including a yarn bobbin, a limiting collar is provided on the upper surface of the yarn bobbin, a gripper is fitted on the surface of the limiting collar, the inner side of the gripper contacts the yarn bobbin, and a lifting cylinder is fixed on the top of the gripper. The yarn bobbin is fitted with a top slow-release component and a bottom energy dissipation component. The top slow-release assembly includes a central ring rod built into the inner side of the limiting collar. A slow-release buckle is slidably connected to the surface of the central ring rod. A tension spring is provided on the outer surface of the slow-release buckle, and one end of the tension spring is fixed to the yarn bobbin. A connecting support rod is fixed to the outer wall of the central ring rod. A sun wheel is rotatably sleeved on one end of the connecting support rod, and the sun wheel is provided with an inner fastener. Multiple yarn bobbins are provided, and a soft pad is sleeved on the bottom of each yarn bobbin. The soft pad is an integrally formed inner ring.

[0007] Furthermore, the inner fastener includes an inner stabilizing groove built into the center of the sun gear. The inner stabilizing groove has a concentric ring groove structure, and a vertical rod is fixed to the inner groove surface of the inner stabilizing groove. A locking angle plate is sleeved on the outer surface of the vertical rod. The end face of the locking angle plate is engaged with the outer groove surface of the inner stabilizing groove, and the inner stabilizing groove is made of a soft material.

[0008] Furthermore, the bottom energy dissipation component includes a multi-position disk adapted to be installed at the bottom of the yarn bobbin. The multi-position disk is slidably connected to a slide rod. A rigid frame is fixedly fixed through the outer surface of the slide rod, and an I-beam base is fixedly connected to one end of the slide rod.

[0009] Furthermore, an outer cylinder is mounted on one side of the multi-position disk, and an inner cylinder is slidably fitted into the inner cavity of the outer cylinder.

[0010] Furthermore, a positioning side rod is provided on the inner side of the rigid frame, and a locking hole is opened on the surface of the positioning side rod. The locking holes are distributed in an equidistant manner, and the inner cylinder is aligned and inserted into the locking hole.

[0011] Furthermore, there are several tension springs, and the several tension springs are distributed in a circular array.

[0012] Furthermore, the teeth of the sun gear can abut against the contact surface of the slow-release sleeve, thereby achieving stable locking of the slow-release sleeve.

[0013] Furthermore, triangular flexible plates are connected in series between the rigid frames, and the triangular flexible plates are arranged parallel to the rigid frames.

[0014] Furthermore, a support frame is snapped onto the outer surface of the lifting cylinder, a rotating chuck is fixed to the surface of the support frame, the inner side of the rotating chuck is clamped and fixed to the inner side of the lifting cylinder, and a sliding element is slidably fitted onto the outer side of the support frame.

[0015] Beneficial effects The technical solution provided by this invention has the following advantages compared with the known prior art: 1. By setting a limiting collar on the upper surface of the yarn bobbin, the yarn bobbin can be lifted upward by the grippers. The grippers are fixed to the lifting cylinder, allowing the lifting cylinder to apply force to the grippers, resulting in a balanced internal clamping effect on the yarn bobbin surface. Furthermore, the sliding connection between the slow-release buckle and the central ring rod allows the swaying force generated during lifting to be consumed by the sliding motion, reducing the yarn bobbin's sway amplitude. The slow-release buckle is also fixed to a tension spring, providing elastic support for its sliding motion and preventing excessive sliding, which would increase the yarn bobbin's sway amplitude. A connecting support rod is set on the outer wall of the central ring rod, with a sun wheel rotating on its end face. This allows the slow-release buckle to be locked at any position during sliding, achieving controllable and adjustable yarn bobbin sway amplitude. Finally, a soft pad is fitted at the bottom of the yarn bobbin, absorbing the sway frequency at the bottom and further reducing the yarn bobbin's sway.

[0016] Second, by incorporating an inner stabilizing groove at the center of the sun gear, the rotation of the sun gear becomes more uniform, while also providing stable locking to the inner side of the slow-release buckle, reducing the repeated shaking of the yarn bobbin in the same position. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the gripper structure in this invention; Figure 3 This is a schematic diagram of the structure that achieves the sustained-release effect at the top of the yarn tube in this invention; Figure 4 This is a schematic diagram of the structure of the parts that achieve the internal stabilization effect in this invention; Figure 5 This is a schematic diagram of the structure that achieves the stabilization effect at the bottom of the yarn bobbin in this invention; Figure 6 This is a schematic diagram of the structure that enables multi-position clamping in this invention. Reference numerals: 1. Yarn bobbin; 2. Limiting collar; 3. Gripper; 4. Lifting cylinder; 5. Top slow-release assembly; 51. Central ring rod; 52. Slow-release buckle; 53. Tension spring; 54. Connecting support rod; 55. Sun gear; 56. Inner fastener; 561. Inner stabilizing groove; 562. Upright rod; 563. Locking angle plate; 57. Soft pad; 58. Bottom energy dissipation assembly; 581. Multi-position plate; 582. Slide rod; 583. I-beam base; 584. Outer cylinder; 585. Inner cylinder; 586. Positioning side rod; 587. Locking hole; 588. Rigid frame; 589. Triangular flexible plate; 6. Support frame; 7. Rotary chuck; 8. Sliding component. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] The present invention will be further described below with reference to embodiments.

[0021] See attached document Figure 1-6 A mechanical claw for preventing material from tipping over includes a yarn tube 1, a limiting collar 2 is provided on the upper surface of the yarn tube 1, a gripper 3 is fitted on the surface of the limiting collar 2, the inner side of the gripper 3 contacts the yarn tube 1, and a lifting cylinder 4 is fixed on the top of the gripper 3. The yarn tube 1 is fitted with a top slow-release component 5 and a bottom energy dissipation component 58. The top slow-release component 5 includes a central ring rod 51 built into the inner side of the limiting collar 2. A slow-release buckle 52 is slidably connected to the surface of the central ring rod 51. A tension spring 53 is provided on the outer surface of the slow-release buckle 52, and one end of the tension spring 53 is fixed to the yarn tube 1. A connecting support rod 54 is fixed to the outer wall of the central ring rod 51. A sun wheel 55 is rotatably sleeved on one end of the connecting support rod 54, and the sun wheel 55 is provided with an inner fastener 56. The number of yarn tubes 1 is set to multiple. A soft pad 57 is sleeved on the bottom of the multiple yarn tubes 1. The soft pad 57 is an integrally formed inner ring.

[0022] By setting a limiting collar 2 on the upper surface of the yarn tube 1, the yarn tube 1 can be lifted upward by the gripper 3, and the gripper 3 is fixed to the lifting cylinder 4. This allows the lifting cylinder 4 to apply force to the gripper 3, resulting in a balanced inward clamping effect on the surface of the yarn tube 1. Furthermore, the sliding connection between the slow-release buckle 52 and the central ring rod 51 allows the swaying force generated by the yarn tube 1 during lifting to be consumed by the sliding motion, reducing the swaying amplitude of the yarn tube 1. The slow-release buckle 52 is also fixedly connected to the tension spring 53, allowing the slow-release buckle 52 to... The sliding motion is elastically supported to prevent excessive sliding of the release buckle 52, which would increase the swaying amplitude of the yarn tube 1. In addition, by setting a connecting support rod 54 on the outer wall of the central ring rod 51, and rotating the end face of the connecting support rod 54 to fit the sun wheel 55, the release buckle 52 can be locked by the sun wheel 55 at any position when sliding, so that the swaying amplitude of the yarn tube 1 can be controlled and adjusted. Finally, a soft pad 57 is fitted at the bottom of the yarn tube 1, so that the swaying frequency at the bottom of the yarn tube 1 is absorbed by the soft pad 57, further reducing the swaying of the yarn tube 1.

[0023] The inner fastener 56 includes an inner stabilizing groove 561 built into the center of the sun gear 55. The inner stabilizing groove 561 has a concentric ring groove structure, and a vertical rod 562 is fixed to the inner groove surface of the inner stabilizing groove 561. A locking angle plate 563 is sleeved on the outer surface of the vertical rod 562. The end face of the locking angle plate 563 is engaged with the outer groove surface of the inner stabilizing groove 561. The inner stabilizing groove 561 is made of soft material.

[0024] By incorporating an inner stabilizing groove 561 at the center of the sun gear 55, the rotation of the sun gear 55 becomes more uniform. This also provides stable locking to the inner side of the release buckle 52, reducing the repeated shaking of the yarn bobbin 1 in the same position. Furthermore, by engaging the locking angle plate 563 with the outer groove surface of the inner stabilizing groove 561, the pointed surface of the locking angle plate 563 engages and supports the inner stabilizing groove 561 after the locking angle plate 563 rotates with the sun gear 55. Since the inner stabilizing groove 561 is made of a soft material, this supporting force is converted into the external elastic force of the inner stabilizing groove 561, strengthening the internal support of the sun gear 55 and facilitating the stable sliding of the release buckle 52.

[0025] The bottom energy dissipation component 58 includes a multi-position disk 581 adapted to be installed at the bottom of the yarn tube 1. The multi-position disk 581 is slidably connected to a slide rod 582. A rigid frame 588 is fixedly fixed through the outer surface of the slide rod 582, and an I-beam seat 583 is fixedly connected to one end of the slide rod 582.

[0026] Since the lower part of the yarn tube 1 is heavier and the center of gravity tends to be lower, the swaying of the lower part of the yarn tube 1 caused by the sliding of the multi-position disk 581 and the slide bar 582 is directly canceled by the sliding of the center of gravity. At the same time, a rigid frame 588 is installed through the outer surface of the slide bar 582, which helps to reduce the self-vibration of the slide bar 582 when it slides, thereby ensuring a better sliding cancellation effect of the slide bar 582.

[0027] An outer cylinder 584 is installed on one side of the multi-position disk 581. An inner cylinder 585 is slidably fitted inside the inner cavity of the outer cylinder 584. A positioning side rod 586 is provided on the inner side of the rigid frame 588. A locking hole 587 is opened on the surface of the positioning side rod 586. The locking holes 587 are distributed in an equidistant manner, and the inner cylinder 585 is aligned and inserted into the locking hole 587.

[0028] The sliding fit between the inner cylinder 585 and the outer cylinder 584 allows the inner cylinder 585 to be aligned and inserted into the locking hole 587 of the positioning side rod 586, which facilitates the elimination of shaking at the bottom of the yarn tube 1.

[0029] There are several tension springs 53, which are arranged in a ring array. The teeth of the sun gear 55 can abut against the contact surface of the release sleeve 52 to achieve stable locking of the release sleeve 52. Triangular flexible plates 589 are connected in series between the rigid frames 588, and the triangular flexible plates 589 are set parallel to the rigid frames 588.

[0030] By setting several tension springs 53, the slow-release buckle 52 can be elastically stretched in all directions by the tension springs 53 when sliding, which facilitates more comprehensive vibration damping of the top of the yarn tube 1. The triangular flexible plate 589 can be set to form a combined support with the rigid frame 588 to avoid excessive stress on the rigid frame 588.

[0031] A support frame 6 is snapped onto the outer surface of the lifting cylinder 4. A rotating chuck 7 is fixed to the surface of the support frame 6. The inner side of the rotating chuck 7 is clamped and fixed to the inner side of the lifting cylinder 4, and a sliding member 8 is slidably fitted onto the outer side of the support frame 6.

[0032] By fixing the rotating chuck 7 to the inner clamp of the lifting cylinder 4, the lifting cylinder 4 can output power more stably, and the support frame 6 can cooperate with the sliding part 8, so that the whole device can clamp and feed the yarn tube 1 in a suitable position.

[0033] Working principle: First, align and install the yarn tube 1 with the limiting collar 2, then start the lifting cylinder 4, and use the gripper 3 to lift the yarn tube 1. When the yarn tube 1 is lifted, its own conical structure, which is narrow at the top and wide at the bottom, causes it to sway. When it sways, it causes the release buckle 52 to slide along the surface of the central ring rod 51. The tension spring 53 is pulled by the release buckle 52, which causes a stretching effect and achieves elastic support for the release buckle 52. Then, during the sliding process, the release buckle 52 contacts and engages with the sun wheel 55, causing the sun wheel 55 to rotate. The inner stabilizing groove 561 built into the inner cavity of the sun wheel 55 rotates synchronously. Then, the inner stabilizing groove 561 engages with the locking angle plate 563, causing the inner stabilizing groove 561 to elastically deform and react on the inner stabilizing groove 561 to strengthen the engaging function of the sun wheel 55. The swaying of the top of the yarn tube 1 is greatly reduced. Subsequently, the shaking at the bottom of the yarn tube 1 is further counteracted by the sliding of the multi-position disk 581 and the slide bar 582. Then, the inner cylinder 585 set on the side of the slide bar 582 will extend along the inner side of the outer cylinder 584 and then engage with the locking hole 587 opened on the surface of the positioning side rod 586 to lock it, thereby achieving timely stabilization of the bottom of the yarn tube 1.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical gripper for preventing material tipping, comprising a yarn bobbin (1), characterized in that: The upper surface of the yarn tube (1) is provided with a limiting collar (2), and the surface of the limiting collar (2) is fitted with a claw (3). The inner side of the claw (3) contacts the yarn tube (1), and a lifting cylinder (4) is fixed on the top of the claw (3). The yarn tube (1) is fitted with a top slow-release component (5) and a bottom energy dissipation component (58). The top slow-release component (5) includes a central ring rod (51) built into the inner side of the limiting collar (2). The surface of the central ring rod (51) is slidably connected with a slow-release buckle (52). The outer surface of the slow-release buckle (52) is provided with a tension spring (53), and one end of the tension spring (53) is fixed to the yarn bobbin (1). The outer wall of the central ring rod (51) is fixed with a connecting support rod (54). One end of the connecting support rod (54) is rotatably fitted with a sun wheel (55), and the sun wheel (55) is provided with an inner fastener (56). The number of yarn bobbins (1) is set to multiple. The bottom of the multiple yarn bobbins (1) is fitted with a soft pad (57), and the soft pad (57) is an integrally formed inner ring.

2. The mechanical gripper for preventing material tipping according to claim 1, characterized in that, The inner fastener (56) includes an inner stabilizing groove (561) built into the center of the sun gear (55). The inner stabilizing groove (561) has a concentric ring groove structure, and a vertical rod (562) is fixed on the inner groove surface of the inner stabilizing groove (561). A locking angle plate (563) is sleeved on the outer surface of the vertical rod (562). The end face of the locking angle plate (563) is engaged with the outer groove surface of the inner stabilizing groove (561). The inner stabilizing groove (561) is made of soft material.

3. A mechanical gripper for preventing material tipping according to claim 1, characterized in that, The bottom energy dissipation component (58) includes a multi-position disk (581) adapted to be installed at the bottom of the yarn bobbin (1). The multi-position disk (581) is slidably connected to a slide rod (582). A rigid frame (588) is fixed through the outer surface of the slide rod (582), and an I-beam seat (583) is fixedly connected to one end of the slide rod (582).

4. A mechanical gripper for preventing material tipping according to claim 3, characterized in that, An outer cylinder (584) is mounted on one side of the multi-position disk (581), and an inner cylinder (585) is slidably fitted inside the outer cylinder (584).

5. A mechanical gripper for preventing material tipping according to claim 3, characterized in that, The rigid frame (588) is provided with a positioning side rod (586) on its inner side. The surface of the positioning side rod (586) is provided with a locking hole (587). The locking holes (587) are distributed in an equidistant manner, and the inner cylinder (585) is aligned and inserted into the locking hole (587).

6. A mechanical gripper for preventing material tipping according to claim 1, characterized in that, There are several tension springs (53), and the distribution of the tension springs (53) is a ring array.

7. A mechanical gripper for preventing material tipping according to claim 1, characterized in that, The teeth of the sun gear (55) can abut against the contact surface of the slow-release buckle (52) to achieve stable locking of the slow-release buckle (52).

8. A mechanical gripper for preventing material tipping according to claim 3, characterized in that, A triangular flexible plate (589) is connected in series between the rigid frames (588), and the triangular flexible plate (589) is set parallel to the rigid frame (588).

9. A mechanical gripper for preventing material tipping according to claim 1, characterized in that, The outer surface of the lifting cylinder (4) is fitted with a support frame (6), and a rotating chuck (7) is fixed on the surface of the support frame (6). The inner side of the rotating chuck (7) is clamped and fixed to the lifting cylinder (4), and a sliding member (8) is slidably fitted on the outer side of the support frame (6).

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