Flexible grabbing device and method for subsequent packaging of chemical fiber spinning cakes

Abstract

The invention relates to the technical field of spinning cake packaging, and discloses a flexible grabbing device and method for chemical fiber spinning cake subsequent packaging, the flexible grabbing device comprises a grabbing mechanism, the grabbing mechanism is arranged above a double conveying roller way and a packaging area, and the grabbing mechanism comprises a mounting frame and a main grabbing module, a transverse dislocation adjusting module, a longitudinal dislocation adjusting module and an expansion avoiding module; the main grabbing module is composed of four sub-module arrays, and each sub-module drives a pneumatic claw to move relatively through a left-handed and right-handed T-shaped lead screw driven by a first gear motor, so that two spinning cakes at different intervals can be grabbed. The transverse dislocation adjusting module adjusts the transverse distance between the first module and the second module and the transverse distance between the third module and the second module, the longitudinal dislocation adjusting module achieves longitudinal dislocation of pneumatic claws on the first module, the third module and the second module, and the expansion avoiding module controls the fourth module to be close to or away from the third module. The grabbing operation of six-cake 2 * 3 layout or eight-cake 2 * 4 compact layout of spinning cakes can be flexibly switched, and therefore the packaging requirements of the spinning cakes of multiple specifications can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chemical fiber cake packaging, in particular to a flexible grabbing device and method for post-process packaging of chemical fiber cakes. BACKGROUND

[0002] In the production process of chemical fibers, the cake is the final product and needs to be neatly packed into a carton for storage and transportation. At present, there are various specifications of packaging cartons on the market, and the common ones are cartons containing 6 cakes (2 rows x 3 columns layout) and 8 cakes (2 rows x 4 columns layout). In the traditional post-process packaging process, the following methods are usually used: a special gripper is designed for a specific layout of the carton, and when the packaging specification needs to be changed, the entire gripper must be replaced or the mechanical structure must be adjusted, which is inefficient and has poor flexibility; the arrangement position of the cake is manually adjusted by the operator on the roller, which is labor-intensive, low in production efficiency, and prone to adjustment errors due to human factors, resulting in damage to the cake or uneven arrangement.

[0003] The prior art lacks a device that can quickly and automatically grab and layout change the cakes coming off the production line on the conveying roller according to the specifications of the target carton on the same production line, which leads to low equipment utilization, long changeover time, and low automation.

[0004] Therefore, we provide a flexible grabbing device and method for post-process packaging of chemical fiber cakes, which can adapt to multiple cake layout specifications, has a compact structure, and accurately performs flexible grabbing. SUMMARY

[0005] (I) Technical problems solved In view of the shortcomings of the prior art, the present application provides a flexible grabbing device and method for post-process packaging of chemical fiber cakes, which has the advantages of automatic change of multiple cake layout specifications, compact structure, and high automation, and solves the problems of human error in device adjustment, long changeover time, and low automation.

[0006] (II) Technical solutions To achieve the above-mentioned purpose, the present application provides the following technical solutions: A flexible grabbing device for post-process packaging of chemical fiber cakes, comprising a grabbing mechanism placed above the double conveying roller of the chemical fiber cake and the packaging area, the grabbing mechanism displaces the chemical fiber cake on the double conveying roller to the packaging area through the X-axis sliding table and Z-axis sliding table on the truss; The grabbing mechanism comprises a mounting rack, wherein a main grabbing module, a transverse stagger adjustment module, a longitudinal stagger adjustment module and an expansion avoidance module are arranged on the mounting rack; the main grabbing module is composed of a first module, a second module, a third module and a fourth module arranged in an array on the mounting rack, wherein each module is provided with a first left-right rotating T-shaped screw rod driven by a first speed reducer, and the first left-right rotating T-shaped screw rod drives the relative movement of the air claws on the two first sliders, so that each single grabbing module can grab and release two chemical fiber cake with different intervals; The transverse stagger adjustment module is connected below the first module and the third module, and the second module is transversely limited on the mounting rack by a positioning rack; the transverse stagger adjustment module is provided with a second left-right rotating T-shaped screw rod driven by a second speed reducer, and the second left-right rotating T-shaped screw rod drives the transverse relative displacement movement of the first module and the third module on the two second sliders, so that the first module and the third module are close to / away from the second module, and the transverse interval of the first module, the second module and the third module is adjustable; The longitudinal stagger adjustment module is connected below the transverse stagger adjustment module, and the longitudinal stagger adjustment module is provided with a first T-shaped screw rod driven by a third speed reducer, and the first T-shaped screw rod drives the longitudinal reciprocating displacement movement of the transverse stagger adjustment module on the third slider on the mounting rack, so that the air claws of the first module and the third module are staggered with the air claws on the second module; The expansion avoidance module is connected below the fourth module and located on the side away from the transverse stagger adjustment module on the mounting rack, and the transverse stagger adjustment module is provided with a second T-shaped screw rod driven by a fourth speed reducer, and the second T-shaped screw rod drives the fourth module on the fourth slider to be close to / away from the third module; When the main grabbing module grabs six chemical fiber cakes, the expansion avoidance module drives the fourth module to be away from the third module to form an avoidance area, and the first module, the second module and the third module perform 2*3 chemical fiber cake grabbing operation; when the main grabbing module grabs eight chemical fiber cakes, the expansion avoidance module drives the fourth module to be close to the third module, and the longitudinal stagger adjustment module makes the first module, the third module stagger with the second module and the fourth module, so that the main grabbing module changes from 2*3 layout to 2*4 layout.

[0007] Preferably, a transition piece is connected to the air claw, and a detection assembly is connected to the transition piece, the detection assembly comprises a second connecting plate connected to the transition piece, a first connecting plate is slidingly connected to the second connecting plate, and the first connecting plate is fixedly connected to the first slider in the main grabbing module.

[0008] Preferably, the detection assembly further comprises an inductive sheet arranged on the first connecting plate, a slot-shaped photoelectric sensor arranged on the second connecting plate and matched with the inductive sheet, the first connecting plate is slidably connected with the second connecting plate through a pin shaft, a spring is arranged on the periphery of the pin shaft and placed between the first connecting plate and the second connecting plate, and a cushion block matched with the insertion pipe on the chemical fiber cake is arranged on the hand of the air claw, and a polyurethane pad is arranged on the hand of the air claw.

[0009] Preferably, the air claw is provided with an anti-swing-off assembly, the anti-swing-off assembly comprises a rotating rod, the hand is provided with a C-shaped groove, the upper end of the C-shaped groove is formed with a missing groove, the rotating rod is rotatably connected with the C-shaped groove, the upper end of the rotating rod is provided with a limiting disc and a gear, the lower part of the air claw is detachably connected with a three-toothed plate, the limiting disc of the rotating rod is rotatably connected with the missing groove, and the gear of the rotating rod is meshingly connected with the rack of the three-toothed plate on the air claw.

[0010] Preferably, the bottom of the rotating rod is connected with a supporting plate, the L-shaped hand cooperates with the supporting plate to form an inverted U-shaped hand, the center of the three-toothed plate coincides with the center of the air claw base, the direction of the rack of the three-toothed plate is consistent with the displacement direction of the hand, and the distance between the lower end of the cushion block of the hand and the upper end of the supporting plate is slightly greater than the diameter of the insertion pipe.

[0011] Preferably, a tray is arranged on the double conveying roller, the tray is arranged in a T shape, a plug is arranged on the tray, the plug is slidably connected with the insertion pipe of the chemical fiber cake; the plug of the tray is connected with a conical cross plate, a limiting bevel is arranged on the periphery of the conical cross plate, and the outer periphery of the chemical fiber cake is connected with the conical cross plate.

[0012] Preferably, the main grabbing module further comprises a first bottom plate and a first mounting plate, the first bottom plate is provided with a first guide rail slidably connected with a first sliding block, the first mounting plate is provided with a first buffer block, the first bottom plate is provided with a second buffer block, and the first speed reducer is connected with the first left and right rotating T-shaped lead screw through a first coupling.

[0013] Preferably, the transverse staggered adjustment module further comprises a second bottom plate and a second mounting plate, the second bottom plate is provided with a second guide rail matched with a second sliding block and a fourth buffer block, the second mounting plate is provided with a third buffer block, and the second speed reducer is connected with the second left and right rotating T-shaped lead screw through a second coupling.

[0014] Preferably, the longitudinal staggered adjustment module further comprises a third bottom plate and a third mounting plate, the third bottom plate is provided with a third guide rail matched with a third sliding block, the third mounting plate is provided with a fifth buffer block, and the third speed reducer is connected with the first T-shaped lead screw through a third coupling. The expansion avoidance module further comprises a fourth bottom plate and a fourth mounting plate, the fourth bottom plate is provided with a fourth guide rail matched with a fourth sliding block, and the fourth mounting plate is provided with a sixth buffer block, and the fourth speed reducer and the second T-shaped screw rod are connected through a synchronous wheel and a synchronous belt.

[0015] A method for flexible grabbing device for post-process packaging of chemical fiber cake, comprising the following steps: S1, initial six cake grabbing: the grabbing mechanism on the truss moves above the initial position of the chemical fiber cake on the double conveying roller, the expansion avoidance module drives the fourth module away from the third module and forms an avoidance area, the controller controls the gripper on the main grabbing module to perform a six chemical fiber cake grabbing action, and the grabbing mechanism moves into the carton in the packaging area through the X-axis sliding table and the Z-axis sliding table to complete the six cake layout and carton operation; S2, six cake to eight cake layout change: the controller controls the transverse misalignment adjustment module to drive the first module and the third module to move towards the second module, so that the first module, the second module and the third module are closely spaced to leave space for the fourth module; S3, at the same time, the expansion avoidance module drives the fourth module to approach the third module, the controller controls the main grabbing module to perform a chemical fiber cake grabbing action, so that the fourth module grabs two additional chemical fiber cakes on the double conveying roller, and completes the eight cake grabbing operation; S4, after the main grabbing module completes the eight cake grabbing operation, the longitudinal misalignment adjustment module drives the transverse misalignment adjustment module to move longitudinally, so that the chemical fiber cakes on the first module and the third module are longitudinally misaligned with the chemical fiber cakes on the second module and the fourth module, then the transverse misalignment adjustment module continues to fine-tune the spacing of the first module and the third module, and the expansion avoidance module continues to fine-tune the spacing of the fourth module and the third module, so that the eight cakes on the main grabbing module are misaligned and closely fitted; S5, the grabbing mechanism moves into the carton in the packaging area through the X-axis sliding table and the Z-axis sliding table to complete the eight cake layout and carton operation.

[0016] (Three) beneficial effects Compared with the prior art, the present application provides a flexible grabbing device and method for post-process packaging of chemical fiber cake, which has the following beneficial effects: 1. The application sets up the collaborative action of the lateral misalignment adjustment module, the longitudinal misalignment adjustment module and the expansion avoidance module in the grabbing mechanism, the grabbing mechanism can be flexibly switched between 2*3 six-pie layout and 2*4 eight-pie layout, the manual adjustment operation or the replacement of the special grabbing module is not needed, the packaging specification requirements of various chemical fiber pie can be met, and the universality of the equipment is improved; when the eight-pie grabbing operation is performed, the longitudinal misalignment adjustment module is arranged to form the longitudinal misalignment layout of the groups of pie, and the lateral misalignment adjustment module and the expansion avoidance module are used to finely adjust the lateral spacing between the groups of pie, so that the pie in the eight-pie layout is compactly fitted, the compact boxing is realized, and the packaging space occupation is reduced; the device has high automation, the collaborative action of the modules is realized through the controller, the full-process automatic operation from grabbing, layout switching to boxing is completed, manual intervention and adjustment are not needed, the labor input is reduced, the misoperation caused by manual operation is avoided, and the standardization level and the efficiency of the chemical fiber pie packaging operation are improved.

[0017] 2. The application realizes the threefold fixation of the upper limit, the side clamping and the bottom supporting of the chemical fiber pie through the collaborative design of the air claw and the anti-shaking-off assembly. The pad block of the gripper abuts against the upper end of the chemical fiber pie insertion pipe to form the upper limit, the polyurethane pad on the gripper expands to clamp the side wall of the insertion pipe to form the lateral fixation, and the supporting plate is turned to support the bottom of the chemical fiber pie to form the bottom limit, so that the gripper forms the inverted U-shaped limiting structure on the chemical fiber pie, the pain point that the traditional single clamping of the lateral expansion of the gripper is easy to shake off is solved, the situation that the pie is damaged due to falling during the grabbing and transferring is effectively avoided, and the continuity of the assembly line operation is ensured.

[0018] 3. The rotating rod of the anti-shaking-off assembly is meshed with the gear and the three-toothed rack, and the displacement of the gripper forms a linkage mechanism. When the gripper expands outward to grab, the gear drives the rotating rod to rotate along the rack, and the supporting plate is synchronously turned to the bottom of the pie. When the gripper is reset, the supporting plate is automatically turned back to the avoidance position. The movement of the supporting plate does not need an additional power driving source, and the bottom supporting and the recovery avoidance of the supporting plate can be completed through the movement of the gripper, the structure is simplified, the action synchronism is realized, the smoothness of the automatic operation is improved, the recovery avoidance of the supporting plate can avoid scratching with the lower tray or other pie, especially when multiple batches are continuously grabbed, the avoidance of the supporting plate reduces the equipment wear and tear and prolongs the service life.

[0019] 4、The present application is equipped with a conical cross plate type tray, which is suitable for anti-shaking-off assembly and further ensures the stability of the chemical fiber cake conveying, the conical structure of the conical cross plate connected with the tray plug cooperates with the limiting inclined convex, on the one hand, the chemical fiber cake is not easy to fall off and displace when moving on the double conveying roller, which ensures the precision of the subsequent gripper positioning and grasping the chemical fiber cake, and provides a stable reference for grasping; on the other hand, the conical design forms an empty area between the plug and the cake insertion pipe, which reserves space for the rotation and displacement of the tray, ensures the smooth operation of the anti-shaking-off assembly, and achieves the double protection of stable transportation of chemical fiber cake and accurate grasping reference position.

[0020] 5、The detection assembly is arranged on each air claw, the anti-shaking-off assembly starts clamping and supporting action only after the detection assembly confirms that the gripper is lowered in place, forming closed-loop control of detection, positioning and fixing, avoiding the situation that the detection signal is incomplete due to the height difference of multiple chemical fiber cakes, and the chemical fiber cake grasping position is not in place, improving the standardization level of multiple batch grasping operation of chemical fiber cakes; the pad and the detection assembly can cooperate to adapt to the length of the insertion pipe of different specifications, even if the insertion pipe specifications of multiple chemical fiber cakes exist slight size fluctuation and height difference, the pad can cooperate with the detection assembly to realize accurate start and stop of the grasping operation of the grasping mechanism, and the adaptability of the equipment to working conditions is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a whole structure schematic view of the embodiment of the present application.

[0022] Figure 2 It is another view schematic view of the whole structure of the embodiment of the present application.

[0023] Figure 3 It is a double conveying roller structure schematic view of the embodiment of the present application.

[0024] Figure 4 It is a grasping mechanism structure schematic view of the embodiment of the present application.

[0025] Figure 5 It is a main grasping module structure schematic view of the embodiment of the present application.

[0026] Figure 6 It is a transverse adjustment misalignment module structure schematic view of the embodiment of the present application.

[0027] Figure 7 It is a longitudinal adjustment misalignment module structure schematic view of the embodiment of the present application.

[0028] Figure 8 It is an expansion avoidance module structure schematic view of the embodiment of the present application.

[0029] Figure 9Figure 1 is a schematic diagram of the air claw structure of the first embodiment of the present application.

[0030] Figure 10 Figure 6 is a schematic diagram of the six-pie layout changing eight-pie layout of the first embodiment of the present application.

[0031] Figure 11 Figure 7 is a schematic diagram of the six-pie layout structure of the grabbing mechanism of the first embodiment of the present application.

[0032] Figure 12 Figure 8 is a schematic diagram of the eight-pie layout structure of the grabbing mechanism of the first embodiment of the present application.

[0033] Figure 13 Figure 9 is a schematic diagram of the air claw gripper avoiding the chemical fiber pie insertion tube of the second embodiment of the present application.

[0034] Figure 14 Figure 10 is a schematic diagram of the gripper supporting plate and the chemical fiber pie cooperation structure of the second embodiment of the present application.

[0035] Figure 15 Figure 11 is a schematic diagram of the tray and the chemical fiber pie cooperation of the second embodiment of the present application.

[0036] Figure 16 Figure 12 is a schematic diagram of the tray structure of the second embodiment of the present application.

[0037] Figure 17 Figure 13 is a schematic diagram of the anti-throwing-off assembly recovery state of the second embodiment of the present application.

[0038] Figure 18 Figure 14 is a schematic diagram of the anti-throwing-off assembly expansion state of the second embodiment of the present application.

[0039] Figure 19 Figure 15 is an exploded view of the anti-throwing-off assembly of the second embodiment of the present application.

[0040] Figure 20 Figure 16 is a schematic diagram of the gripper and the rotating rod structure of the second embodiment of the present application.

[0041] Figure 21 Figure 17 is a schematic diagram of the gripper and the rotating rod structure of the second embodiment of the present application from another perspective.

[0042] Figure 22 Figure 18 is a schematic diagram of the gripper and the three-toothed plate cooperation of the second embodiment of the present application.

[0043] Figure 23 Figure 19 is a schematic diagram of the gripper and the three-toothed plate cooperation of the second embodiment of the present application from another perspective.

[0044] Figure 24 Figure 20 is a schematic diagram of the gripper and the chemical fiber pie cooperation of the second embodiment of the present application.

[0045] Figure 21 is a schematic diagram of the chemical fiber pie cooperation of the second embodiment of the present application. 1, truss; 2, X-axis sliding table; 3, Z-axis sliding table; 4, mounting frame; 5, grabbing mechanism; 51, first module; 511, first bottom plate; 512, first mounting plate; 513, first buffer block; 514, first guide rail; 515, second buffer block; 516, first sliding block; 517, first left and right T-shaped screw rod; 518, first speed reducer motor; 519, first coupling; 521, first connecting plate; 522, second connecting plate; 523, spring; 524, inductive sheet; 525, slot photoelectric sensor; 526, transition piece; 527, air claw; 528, grab hand; 5281, C-shaped groove; 5282, missing groove; 529, polyurethane pad; 530, three-toothed plate; 531, rotating rod; 532, supporting plate; 533, gear; 534, limiting disc; 52, second module; 53, third module; 54, fourth module; 55, transverse misalignment adjustment module; 551, second bottom plate; 552, second mounting plate; 553, second guide rail; 554, third buffer block; 555, second sliding block; 556, fourth buffer block; 557, second left and right T-shaped screw rod; 558, second speed reducer motor; 559, second coupling; 56, longitudinal misalignment adjustment module; 561, third bottom plate; 562, third guide rail; 563, third mounting plate; 564, fifth buffer block; 565, third sliding block; 566, first T-shaped screw rod; 567, third speed reducer motor; 568, third coupling; 57, avoidance module; 571, fourth bottom plate; 572, fourth guide rail; 573, fourth sliding block; 574, sixth buffer block; 575, second T-shaped screw rod; 576, fourth speed reducer motor; 577, synchronous belt; 6, double conveying roller; 60, avoidance area; 61, tray; 611, plug; 612, conical cross; 613, limiting inclined convex; 7, packaging area; 8, chemical fiber cake; 801, cannula. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0048] In addition, fixed connection refers to the connection after fixing the parts or components without any relative movement; transmission connection refers to a connection mode of transmitting mechanical movement or torque to other working components through transmission parts; sliding connection refers to a connection mode that two objects are in contact but not fixed, and can slide relative to each other; rotating connection refers to a connection mode that two objects are in contact but not fixed, and can rotate relative to each other.

[0049] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0050] Embodiment one: The embodiment provides a flexible grabbing device and method for post-packaging of chemical fiber cake, which has the following technical features.

[0051] Please refer to Figures 1-12 A flexible grabbing device for post-packaging of chemical fiber cake, comprising a grabbing mechanism 5 placed above the double conveying roller 6 and the packaging area 7 of the chemical fiber cake 8, the grabbing mechanism 5 is displaced through the X-axis sliding table 2 and the Z-axis sliding table 3 on the truss 1, and the chemical fiber cake 8 on the double conveying roller 6 is transferred to the packaging area 7; The grabbing mechanism 5 comprises a mounting frame 4, the mounting frame 4 is provided with a main grabbing module, a transverse staggered adjustment module 55, a longitudinal staggered adjustment module 56 and an expansion avoidance module 57; the main grabbing module is composed of a first module 51, a second module 52, a third module 53 and a fourth module 54 arranged on the mounting frame 4, wherein each module is provided with a first left-right rotating T-shaped screw rod 517 driven by a first speed reducer motor 518, the first left-right rotating T-shaped screw rod 517 drives the relative movement of the air claws 527 on the two first sliding blocks 516, so that each grabbing module can grab and release two chemical fiber cakes 8 with different spacings; The transverse dislocation adjustment module 55 is connected below the first module 51 and the third module 53, and the second module 52 is transversely limited on the mounting rack 4 through a positioning rack; the transverse dislocation adjustment module 55 is provided with a second left-right rotating T-shaped screw rod 557 driven by a second speed reducer motor 558, the second left-right rotating T-shaped screw rod 557 drives the first module 51 and the third module 53 on the two second sliding blocks 555 to move in transverse relative displacement, so that the first module 51 and the third module 53 are close to / away from the second module 52, and the transverse spacing of the first module 51, the second module 52 and the third module 53 is adjustable; The longitudinal dislocation adjustment module 56 is connected below the transverse dislocation adjustment module 55, and the longitudinal dislocation adjustment module 56 is provided with a first T-shaped screw rod 566 driven by a third speed reducer motor 567, the first T-shaped screw rod 566 drives the transverse dislocation adjustment module 55 on the third sliding block 565 to move in longitudinal reciprocating displacement on the mounting rack 4, so that the air claw 527 of the first module 51 and the third module 53 is dislocated from the air claw 527 on the second module 52; The expansion avoidance module 57 is connected below the fourth module 54 and located on the side away from the transverse dislocation adjustment module 55 on the mounting rack 4, and the transverse dislocation adjustment module 55 is provided with a second T-shaped screw rod 575 driven by a fourth speed reducer motor 576, the second T-shaped screw rod 575 drives the fourth module 54 on the fourth sliding block 573 to be close to / away from the third module 53; When the main grabbing module grabs six chemical fiber cake 8, the expansion avoidance module 57 drives the fourth module 54 to be away from the third module 53 to form an avoidance area 60, and the first module 51, the second module 52 and the third module 53 perform 2*3 chemical fiber cake 8 grabbing operation; when the main grabbing module grabs eight chemical fiber cake 8, the expansion avoidance module 57 drives the fourth module 54 to be close to the third module 53, and the longitudinal dislocation adjustment module 56 dislocates the first module 51, the third module 53 from the second module 52 and the fourth module 54, so that the main grabbing module changes from 2*3 layout to 2*4 layout.

[0052] The air claw 527 is connected with a transition piece 526, the transition piece 526 is connected with a detection assembly, the detection assembly comprises a second connecting plate 522 connected with the transition piece 526, the second connecting plate 522 is slidingly connected with a first connecting plate 521, and the first connecting plate 521 is fixedly connected with the first sliding block 516 in the main grabbing module.

[0053] The detection assembly further comprises an inductive sheet 524 arranged on the first connecting plate 521, and a slot-shaped photoelectric sensor 525 arranged on the second connecting plate 522 and matched with the inductive sheet 524; the first connecting plate 521 is slidably connected with the second connecting plate 522 through a pin shaft, and a spring 523 is arranged on the periphery of the pin shaft and placed between the first connecting plate 521 and the second connecting plate 522; and a pad and a polyurethane pad 529 are arranged on the gripper 528 of the air claw 527 and matched with the insertion pipe 801 of the chemical fiber cake 8.

[0054] The tray 61 is arranged on the double conveying roller 6 and is arranged in a T shape, and the tray 61 is provided with a plug 611 which is slidably connected with the insertion pipe 801 of the chemical fiber cake 8.

[0055] The main grabbing module further comprises a first bottom plate 511 and a first mounting plate 512, the first bottom plate 511 is provided with a first guide rail 514 slidably connected with the first sliding block 516, the first mounting plate 512 is provided with a first buffer block 513, the first bottom plate 511 is provided with a second buffer block 515, and the first speed reducer 518 is connected with the first left-right rotating T-shaped lead screw 517 through the first coupling 519.

[0056] The transverse stagger adjustment module 55 further comprises a second bottom plate 551 and a second mounting plate 552, the second bottom plate 551 is provided with a second guide rail 553 matched with the second sliding block 555 and a fourth buffer block 556, the second mounting plate 552 is provided with a third buffer block 554, and the second speed reducer 558 is connected with the second left-right rotating T-shaped lead screw 557 through the second coupling 559.

[0057] The longitudinal stagger adjustment module 56 further comprises a third bottom plate 561 and a third mounting plate 563, the third bottom plate 561 is provided with a third guide rail 562 matched with the third sliding block 565, the third mounting plate 563 is provided with a fifth buffer block 564, and the third speed reducer 567 is connected with the first T-shaped lead screw 566 through the third coupling 568. The expansion avoidance module 57 further comprises a fourth bottom plate 571 and a fourth mounting plate, the fourth bottom plate 571 is provided with a fourth guide rail 572 matched with the fourth sliding block 573, the fourth mounting plate is provided with a sixth buffer block 574, and the fourth speed reducer 576 is connected with the second T-shaped lead screw 575 through the synchronous wheel and the synchronous belt 577.

[0058] A method for a flexible grabbing device for chemical fiber cake post-packaging, comprising the following steps: S1, initial six-pie grabbing: the grabbing mechanism 5 on the truss 1 moves above the initial position of the chemical fiber pie 8 on the double conveying roller 6, the expansion avoidance module 57 drives the fourth module 54 away from the third module 53 and forms an avoidance area 60, the controller controls the gripper 528 on the main grabbing module to perform a six-chemical fiber pie 8 grabbing action, and the grabbing mechanism 5 moves to the carton in the packaging area 7 through the X-axis sliding table 2 and the Z-axis sliding table 3 to complete the six-pie layout cartoning operation; S2, six-pie to eight-pie layout change: the controller controls the transverse displacement adjustment module 55 to drive the first module 51 and the third module 53 to move towards the second module 52, so that the first module 51, the second module 52 and the third module 53 are closely spaced to leave space for the fourth module 54; S3, at the same time, the expansion avoidance module 57 drives the fourth module 54 to approach the third module 53, and the controller controls the main grabbing module to perform a chemical fiber pie 8 grabbing action, so that the fourth module 54 grabs two extra chemical fiber pies 8 on the double conveying roller 6, and completes the eight-pie grabbing operation; S4, after the main grabbing module completes the eight-pie grabbing operation, the longitudinal displacement adjustment module 56 drives the transverse displacement adjustment module 55 to perform longitudinal displacement, so that the chemical fiber pies 8 on the first module 51 and the third module 53 are longitudinally displaced from the chemical fiber pies 8 on the second module 52 and the fourth module 54, then the transverse displacement adjustment module 55 continues to fine-tune the spacing of the first module 51 and the third module 53, and the expansion avoidance module 57 continues to fine-tune the spacing of the fourth module 54 and the third module 53, so that the eight pies on the main grabbing module are closely and tightly fitted; S5, the grabbing mechanism 5 moves to the carton in the packaging area 7 through the X-axis sliding table 2 and the Z-axis sliding table 3 to complete the eight-pie layout cartoning operation.

[0059] The horizontal stagger adjustment module 55, the longitudinal stagger adjustment module 56 and the expansion avoidance module 57 are cooperated, the main grabbing module can be switched between the 2*3 six-pie layout and the 2*4 eight-pie layout, the manual adjustment operation or the special grabbing module needs to be replaced, the packaging specification requirement of the various chemical fiber pie 8 can be met, and the universality of the equipment is improved; when the eight-pie grabbing operation is performed, the longitudinal stagger adjustment module 56 is arranged, the longitudinal stagger layout of the groups of pie is formed, the horizontal stagger adjustment module 55 and the expansion avoidance module 57 are arranged, the horizontal distance between the groups of pie is finely adjusted, the pie in the eight-pie layout is compactly matched, the compact boxing is realized, and the packaging space occupation is reduced; meanwhile, the X-axis and Z-axis sliding tables of the truss are quickly displaced, the pie transfer time is shortened, the continuity and the efficiency of the subsequent packaging are greatly improved; the device has high automation, the controller is used to realize the cooperative action of the modules, the full-process automatic operation from the grabbing, the layout switching to the boxing is completed, the manual intervention and adjustment are not needed, the labor input is reduced, the misoperation caused by the manual operation is avoided, and the standardization level and the efficiency of the packaging operation are improved.

[0060] Embodiment two: The embodiment provides a flexible grabbing device and method for chemical fiber pie subsequent packaging.

[0061] Please refer to Figures 13 to 24 The air claw 527 is provided with an anti-swing-off assembly, the anti-swing-off assembly comprises a rotating rod 531, the gripper 528 is provided with a C-shaped groove 5281, the upper end of the C-shaped groove 5281 is formed with a missing groove 5282, the rotating rod 531 is rotationally connected with the C-shaped groove 5281, the upper end of the rotating rod 531 is provided with a limiting disc 534 and a gear 533, the lower part of the air claw 527 is detachably connected with a three-toothed plate 530, the limiting disc 534 of the rotating rod 531 is rotationally connected with the missing groove 5282, and the gear 533 of the rotating rod 531 is meshed with the gear rack of the three-toothed plate 530 of the air claw 527. The bottom of the rotating rod 531 is connected with a supporting plate 532, the L-shaped gripper 528 and the supporting plate 532 cooperatively form an inverted U-shaped gripper 528, the center of the three-toothed plate 530 coincides with the center of the bottom disc of the air claw 527, the direction of the gear rack of the three-toothed plate 530 is consistent with the displacement direction of the gripper 528, and the distance between the lower end of the cushion block of the gripper 528 and the upper end of the supporting plate 532 is slightly greater than the diameter of the insertion pipe 801. The plug 611 of the tray 61 is connected with a conical cross disc 612, the outer periphery of the conical cross disc 612 is provided with a limiting inclined convex 613, and the outer periphery of the chemical fiber pie 8 is arranged on the conical cross disc 612.

[0062] The difference between the second embodiment and the first embodiment is that the tray 61 is different. The plug 611 of the tray 61 of the second embodiment is circumscribed by a conical cross plate 612. The outer edge of the conical cross plate 612 is provided with a limiting inclined convex 613, so that the chemical fiber cake 8 can be well seated on the conical cross plate 612, and the middle part is conical, so that there is an empty area between the plug 611 of the tray 61 and the plug pipe 801 of the chemical fiber cake 8. The formation of the empty area facilitates the displacement and rotation of the supporting plate 532 in the anti-throwing-off assembly in this area, and achieves the effect of limiting and supporting the chemical fiber cake 8. When the gas claw 527 descends into the plug pipe 801, the pad block on the gripper 528 abuts against the upper end of the plug pipe 801, and the groove photoelectric sensor 525 on the second connecting plate 522 detects the sensing sheet 524 on the first connecting plate 521, the controller stops the descending operation of the gas claw 527, and controls the gripper 528 to perform a grabbing action. When the gripper 528 moves outwardly and expands, the rotating rod 531 in the C-shaped groove 5281 rotates through the gear 533 under the cooperation of the rack of the three-toothed plate 530. The rotation of the rotating rod 531 drives the supporting plate 532 connected to the bottom of the rotating rod 531 to rotate, so that the L-shaped gripper 528 cooperates with the supporting plate 532 to form an inverted U-shaped gripper 528. The supporting plate 532 limits the bottom of the chemical fiber cake 8, and the pad block on the gripper 528 limits the upper part of the chemical fiber cake 8. The polyurethane pad 529 of the gripper 528 expands and clamps the plug pipe 801 of the chemical fiber cake 8, so that the chemical fiber cake 8 is subjected to multiple limitations. Conversely, when the gripper 528 returns to the original position, the supporting plate 532 at the bottom of the rotating rod 531 rotates and returns to the original position under the cooperation of the three-toothed plate 530 and the gear 533. The setting of the anti-throwing-off assembly avoids the situation that the traditional chemical fiber cake 8 grabbing operation relies only on the expansion and clamping limitation of the gripper 528, which is easy to throw off, and guarantees the efficiency of the product transportation and packaging flow operation, and avoids the situation that the product is damaged due to falling during the product grabbing and transportation process.

[0063] The anti-throwing-off assembly has a simple and clear structure design, without complex design. The rotating rod 531, the gear 533, the supporting plate 532, and other components are integrated on the gripper 528. The three-toothed plate 530 is detachably connected to the lower part of the gas claw 527. The structure is compact and does not occupy additional space, and is convenient for later maintenance and replacement. The linkage structure does not need complex control logic, and can be realized only by the displacement of the existing gripper 528 linkage rotating rod 531, without complex and large-scale equipment modification, and is suitable for the original automatic control system, which improves the universality of the equipment.

[0064] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. The scope of the present application shall be limited only by the claims.

[0065] While the embodiments of the application have been shown and described herein, it is to be understood that the application is not limited to these embodiments. Rather, numerous modifications are possible without departing from the spirit and scope of the present application as disclosed here. Therefore, the scope of the present application is not to be determined strictly by the description of the embodiments above, but by the claims appended hereto and their equivalents.

Claims

1. A flexible gripping device for downstream packaging of chemical fiber cakes, comprising a gripping mechanism (5) positioned above the double conveyor rollers (6) of the chemical fiber cake (8) and the packaging area (7), characterized in that, The gripping mechanism (5) moves by the X-axis slide (2) and Z-axis slide (3) on the truss (1) to transfer the chemical fiber cake (8) on the double conveyor roller (6) to the packaging area (7). The gripping mechanism (5) includes a mounting frame (4), on which a main gripping module, a lateral misalignment adjustment module (55), a longitudinal misalignment adjustment module (56), and an extended avoidance module (57) are provided; the main gripping module consists of a first module (51), a second module (52), a third module (53), and a fourth module (54) arrayed on the mounting frame (4), and the main gripping module grips and releases multiple chemical fiber cakes (8) with different spacing; The lateral misalignment adjustment module (55) moves the first module (51) and the third module (53) closer to / away from the second module (52), making the lateral spacing between the first module (51), the second module (52) and the third module (53) adjustable; the longitudinal misalignment adjustment module (56) moves the first module (51) and the third module (53) to be misaligned with the second module (52); the extended avoidance module (57) moves the fourth module (54) closer to / away from the third module (53); The extended avoidance module (57) drives the fourth module (54) away from the third module (53) to form an avoidance zone (60), so that the main gripping module completes the 2×3 layout; the extended avoidance module (57) drives the fourth module (54) to approach the third module (53), and the longitudinal misalignment adjustment module (56) drives the first module (51) and the third module (53) to connect with the second module (52) and the fourth module (54) to misalign, so that the main gripping module completes the 2×4 layout.

2. The flexible gripping device for downstream packaging of chemical fiber cakes according to claim 1, characterized in that, Multiple modules in the main gripping module are equipped with a first left-right rotating T-shaped lead screw (517) driven by a first reduction motor (518). The first left-right rotating T-shaped lead screw (517) drives the pneumatic grippers (527) on the two first sliders (516) to move relative to each other. The lateral misalignment adjustment module (55) is connected below the first module (51) and the third module (53). The second module (52) is laterally limited on the mounting frame (4) by a positioning frame. The lateral misalignment adjustment module (55) is provided with a second left-right rotating T-shaped lead screw (557) driven by a second reduction motor (558). The second left-right rotating T-shaped lead screw (557) drives the first module (51) and the third module (53) on the two second sliders (555) to make lateral relative displacement movements. The longitudinal misalignment adjustment module (56) is connected below the transverse misalignment adjustment module (55). The longitudinal misalignment adjustment module (56) is provided with a first T-shaped lead screw (566) driven by a third reduction motor (567). The first T-shaped lead screw (566) drives the transverse misalignment adjustment module (55) on the third slider (565) to move longitudinally back and forth on the mounting frame (4). The extended avoidance module (57) is connected below the fourth module (54) and is located on the side away from the lateral misalignment adjustment module (55) on the mounting bracket (4). The lateral misalignment adjustment module (55) is provided with a second T-shaped lead screw (575) driven by a fourth reduction motor (576). The second T-shaped lead screw (575) drives the fourth module (54) on the fourth slider (573) to move closer to / away from the third module (53).

3. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 2, characterized in that, A transition piece (526) is connected to the pneumatic gripper (527), and a detection component is connected to the transition piece (526). The detection component includes a second connecting plate (522) connected to the transition piece (526). The second connecting plate (522) is slidably connected to a first connecting plate (521). The first connecting plate (521) is fixedly connected to a first slider (516) in the main gripping module. The detection assembly also includes a sensing plate (524) disposed on the first connecting plate (521), and a slotted photoelectric sensor (525) that cooperates with the sensing plate (524) disposed on the second connecting plate (522). The first connecting plate (521) is slidably connected to the second connecting plate (522) by a pin. A spring (523) is disposed on the periphery of the pin and placed between the first connecting plate (521) and the second connecting plate (522). The gripper (527) of the pneumatic gripper (527) is provided with a pad and a polyurethane pad (529) that cooperate with the insertion tube (801) on the chemical fiber cake (8).

4. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 3, characterized in that, The pneumatic gripper (527) is provided with an anti-slip assembly, which includes a rotating rod (531). The gripper (528) has a C-shaped groove (5281) with a notch (5282) at the upper end of the C-shaped groove (5281). The rotating rod (531) is rotatably connected to the C-shaped groove (5281). The upper end of the rotating rod (531) is provided with a limiting plate (534) and a gear (533). The lower part of the pneumatic gripper (527) is detachably connected to a three-tooth plate (530). The limiting plate (534) of the rotating rod (531) is rotatably connected to the notch (5282). The gear (533) of the rotating rod (531) meshes with the rack of the three-tooth plate (530) on the pneumatic gripper (527).

5. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 4, characterized in that, The bottom of the rotating rod (531) is connected to a support plate (532). The L-shaped gripper (528) and the support plate (532) cooperate to form an inverted U-shaped gripper (528). The center of the three-tooth plate (530) coincides with the center of the pneumatic gripper (527) chassis. The direction of the rack of the three-tooth plate (530) is consistent with the displacement direction of the gripper (528). The distance between the lower end of the pad of the gripper (528) and the upper end of the support plate (532) is slightly larger than the diameter of the insertion tube (801).

6. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 5, characterized in that, A tray (61) is provided on the double conveyor roller (6). The tray (61) is T-shaped and has a plug (611) on it. The plug (611) is slidably connected to the insertion tube (801) of the chemical fiber cake (8). The plug (611) of the tray (61) is connected to a conical cross disc (612). The outer edge of the conical cross disc (612) is provided with a limiting oblique protrusion (613). The outer bottom of the chemical fiber cake (8) is connected to the conical cross disc (612).

7. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 6, characterized in that, The main gripping module also includes a first base plate (511) and a first mounting plate (512). The first base plate (511) is provided with a first guide rail (514) that is slidably connected to the first slider (516). The first mounting plate (512) is provided with a first buffer block (513). The first base plate (511) is provided with a second buffer block (515). A first coupling (519) is connected between the first reduction motor (518) and the first left-right rotating T-shaped lead screw (517).

8. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 7, characterized in that, The lateral misalignment adjustment module (55) also includes a second base plate (551) and a second mounting plate (552). The second base plate (551) is provided with a second guide rail (553) that cooperates with the second slider (555) and a fourth buffer block (556). The second mounting plate (552) is provided with a third buffer block (554). A second coupling (559) is connected between the second reduction motor (558) and the second left and right rotating T-shaped lead screw (557).

9. A flexible gripping device for downstream packaging of chemical fiber cakes according to claim 8, characterized in that, The longitudinal misalignment adjustment module (56) also includes a third base plate (561) and a third mounting plate (563). The third base plate (561) is provided with a third guide rail (562) that cooperates with the third slider (565). The third mounting plate (563) is provided with a fifth buffer block (564). A third coupling (568) is connected between the third reduction motor (567) and the first T-shaped lead screw (566). The extended avoidance module (57) also includes a fourth base plate (571) and a fourth mounting plate. The fourth base plate (571) is provided with a fourth guide rail (572) that cooperates with the fourth slider (573). The fourth mounting plate is provided with a sixth buffer block (574). The fourth reduction motor (576) and the second T-shaped lead screw (575) are linked by a synchronous pulley and a synchronous belt (577).

10. A method for a flexible gripping device for downstream packaging of chemical fiber cakes, applied to the flexible gripping device for downstream packaging of chemical fiber cakes as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The controller controls the extended avoidance module (57) to drive the fourth module (54) away from the third module (53) to form an avoidance zone (60), so that the main gripping module can grip the six chemical fiber cakes (8) in a 2×3 six-cake layout. S2. The controller controls the operation of the lateral misalignment adjustment module (55) and the extended avoidance module (57), and adjusts the spacing of the first module (51), the second module (52), the third module (53) and the fourth module (54) so ​​that the main gripping module grips the eight chemical fiber cakes (8) in a 2×4 eight-cake layout. S3. The controller controls the longitudinal misalignment adjustment module (56) to drive the lateral misalignment adjustment module (55) to perform longitudinal fine adjustment. The lateral misalignment adjustment module (55) drives the first module (51) and the third module (53) to perform lateral fine adjustment. The extended avoidance module (57) drives the fourth module (54) to perform lateral fine adjustment, so that the eight chemical fiber cakes (8) on the main gripping module are misaligned and tightly fitted.

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