A special clamping device for bobbin bag stacking

Abstract

The present application relates to a kind of special clamping device for yarn bobbin sack material, including base, the top of the base is fixedly installed with support column, the top of the support column is fixedly installed with rotating shaft, the top of the rotating shaft is rotatably installed with rotary disc, the top of the rotary disc is fixedly installed with drive motor A, the back of the rotary disc is fixedly installed with drive motor B, the front of the rotary disc is rotatably installed with driving curved arm, the top end of the driving curved arm is rotatably installed with driven curved arm, the back of the driven curved arm is fixedly installed with drive motor C, the bottom end of the driven curved arm is fixedly installed with rotating seat.The present application can be achieved in the inside of special jaw module 16 that yarn bobbin sack material is stretched into two bands to be grabbed to extract entire material, can be achieved predetermined trajectory, and it has good reliability good process and big strength, single jaw can lift 15kg, claw head can be moved 2-3cm downwards, jaw can be opened and closed 7-8cm, also effectively for yarn bobbin sack material is stacked and is carried out stacking operation.

Description

Technical Field

[0001] This invention relates to the field of palletizing robot technology, specifically to a special clamping device for stacking yarn tubes and burlap sacks. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs. They provide higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. Palletizing robots greatly save labor and space. They are flexible, precise, fast, efficient, and highly stable, resulting in high operational efficiency.

[0003] Palletizing robots are increasingly being used in cargo handling, such as the palletizing robot proposed in Chinese Patent 202410671401.3, which improves the efficiency of equipment use. However, there is a lack of palletizing robots specifically designed for gripping burlap sacks with a central control area. To ensure stable material extraction and placement, grippers are needed to grip burlap sacks while moving downwards. Therefore, a dedicated gripping device for burlap sacks is proposed to solve the above problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a dedicated gripping device for stacking yarn tubes and burlap sacks. This device offers advantages such as stable and secure gripping of yarn tubes and burlap sacks, solving the problem that existing palletizing robots, which lack a central control area for gripping burlap sacks, require claws that can move downwards while gripping to ensure stable material extraction and placement.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a special clamping device for stacking yarn tubes and burlap sacks, comprising a base, a support column fixedly installed on the top of the base, a rotating shaft fixedly installed on the top of the support column, a turntable rotatably installed on the top of the rotating shaft, a drive motor A fixedly installed on the top of the turntable, a drive motor B fixedly installed on the back of the turntable, an active curved arm rotatably installed on the front of the turntable, a driven curved arm rotatably installed on the top of the active curved arm, a drive motor C fixedly installed on the back of the driven curved arm, a rotating seat fixedly installed at the bottom of the driven curved arm, a drive motor D fixedly installed on the top of the rotating seat, an active rod rotatably installed at the bottom of the rotating seat, a driven rod rotatably installed on the active rod, a drive motor E fixedly installed on the top of the driven rod, and a suspension rotatably installed at the bottom of the driven rod, with gripper modules threadedly installed at both ends of the suspension;

[0006] The gripper module includes a mounting base. Mounting bases are fixedly mounted at both ends of the suspension. A stepper motor is fixedly mounted on each mounting base. Side plates are fixedly mounted on the front and rear sides of the bottom of the mounting base. Two active levers are rotatably mounted between the side plates. Grippers A are rotatably mounted at the bottom of each of the two active levers. Claws are fixedly mounted at the bottom ends of each of the two grippers A. A lead screw is fixedly mounted on the output shaft of the stepper motor. A movable base is rotatably mounted between the two active levers. A nut threadedly connected to the lead screw is fixedly mounted on the top of the movable base. A connecting shaft is fixedly mounted in the middle of each of the two active levers. A driven lever is rotatably mounted on the top of each of the two grippers A.

[0007] Furthermore, the output shaft of the drive motor A passes through the turntable and is fixedly connected to the rotating shaft, and the output shaft of the drive motor B passes through the turntable and is fixedly connected to the active crank arm.

[0008] Furthermore, the output shaft of the drive motor C passes through the driven crank arm and is fixedly connected to the driving crank arm, and the output shaft of the drive motor D passes through the rotary seat and is fixedly connected to the driving rod.

[0009] Furthermore, the output shaft of the drive motor E passes through the driven rod and is fixedly connected to the suspension. The drive rod and the driven rod are rotatably connected by the drive motor F, which is fixedly installed on the back of the drive rod.

[0010] Furthermore, the active lever is rotatably mounted between the two side plates via a connecting shaft, and the top of the driven lever is rotatably mounted between the two side plates via a connecting shaft.

[0011] Furthermore, a support rod is fixedly installed between the two side plates, and the driven lever is located inside the active lever.

[0012] Furthermore, the top end of the active lever is rotatably connected to the movable seat, the lead screw is rotatably installed inside the movable seat, and the output shaft of the stepper motor passes through the mounting seat.

[0013] Furthermore, the center of the movable seat is a cylinder, and connecting plates are fixedly installed on both sides. The length of the two connecting plates is 42mm. The length from the top of the active lever to the connecting shaft is 60mm, the length from the bottom of the active lever to the connecting shaft is 80mm, the length of the driven lever is 60mm, the distance between the connecting shaft and the lead screw is 100mm, the distance between the top of the driven lever and the lead screw is 70mm, the length of the gripper A is 222.6mm, the installation distance between the active lever 1604 and the driven lever 1611 on the gripper A1605 is 50mm, the distance from the bottom of the driven lever to the bottom of the gripper A is 181mm, and the maximum opening distance of the two grippers A is 80mm.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] 1. This invention uses a special gripper module 16 to grab two cable ties inside the yarn tube and burlap sack to extract the entire material. It can achieve a predetermined trajectory and has good reliability, good processability and high strength. A single gripper can lift 15kg, the gripper head can move downward 2-3cm, and the gripper can open and close 7-8cm. It is also effective for stacking yarn tube and burlap sack materials.

[0016] 2. This invention uses a lead screw drive with a self-locking function to better maintain the clamping. The precise design of the dimensions of the drive jaw opening and closing components ensures the progress of jaw opening and closing and guarantees the tightness of the jaw after closing. It will not fall off due to excessive weight of yarn tubes and burlap sacks. Multi-motor drive robotic arms realize the automation of palletizing operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is the left view of the present invention;

[0019] Figure 3 This is a schematic diagram of the gripper module structure of the present invention;

[0020] Figure 4 This is a schematic diagram of the internal structure of the gripper module of the present invention.

[0021] In the diagram: 1. Base; 2. Support column; 3. Rotating shaft; 4. Turntable; 5. Drive motor A; 6. Drive motor B; 7. Active crank arm; 8. Driven crank arm; 9. Drive motor C; 10. Rotary seat; 11. Drive motor D; 12. Active rod; 13. Driven rod; 14. Drive motor E; 15. Suspension; 16. Gripper module; 1601. Mounting base; 1602. Stepper motor; 1603. Side plate; 1604. Active lever; 1605. Gripper A; 1607. Lead screw; 1608. Moving seat; 1609. Nut; 1610. Connecting shaft; 1611. Driven lever. Detailed Implementation

[0022] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1-4This embodiment of a clamping device for stacking yarn tubes and burlap sacks includes a base 1, a support column 2 fixedly mounted on the top of the base 1, a rotating shaft 3 fixedly mounted on the top of the support column 2, a turntable 4 rotatably mounted on the top of the rotating shaft 3, a drive motor A5 fixedly mounted on the top of the turntable 4, a drive motor B6 fixedly mounted on the back of the turntable 4, an active crank arm 7 rotatably mounted on the front of the turntable 4, a driven crank arm 8 rotatably mounted on the top of the active crank arm 7, a drive motor C9 fixedly mounted on the back of the driven crank arm 8, a rotating seat 10 fixedly mounted on the bottom of the driven crank arm 8, a drive motor D11 fixedly mounted on the top of the rotating seat 10, an active rod 12 rotatably mounted on the bottom of the rotating seat 10, a driven rod 13 rotatably mounted on the active rod 12, a drive motor E14 fixedly mounted on the top of the driven rod 13, a suspension 15 rotatably mounted on the bottom of the driven rod 13, and gripper modules 16 threadedly mounted on both ends of the suspension 15.

[0024] The gripper module 16 includes a mounting base 1601. Mounting bases 1601 are fixedly mounted on both the left and right ends of the suspension 15. A stepper motor 1602 is fixedly mounted on the mounting base 1601. Side plates 1603 are fixedly mounted on the front and rear sides of the bottom of the mounting base 1601. Two active levers 1604 are rotatably mounted between the side plates 1603. Grippers A1605 are rotatably mounted on the bottom of each of the two active levers 1604. Claw hooks 1606 are fixedly mounted on the bottom of each of the two grippers A1605. A lead screw 1607 is fixedly mounted on the output shaft of the stepper motor 1602. A movable seat 1608 is rotatably mounted between the two active levers 1604. A nut 1609, threadedly connected to the lead screw 1607, is fixedly mounted on the top of the movable seat 1608. A connecting shaft 1610 is fixedly mounted in the middle of each of the two active levers 1604. A driven lever 1611 is rotatably mounted on the top of each of the two grippers A1605.

[0025] like Figure 1 and Figure 2 As shown, the output shaft of the drive motor A5 drives the turntable 4 to rotate on the top of the rotating shaft 3, thereby realizing the rotation of the robotic arm. The drive motor B6 drives the active curved arm 7 to rotate in front of the turntable 4, and the height of the top of the active curved arm 7 can be adjusted.

[0026] like Figure 1 and Figure 2 As shown, the driven crank arm 8 is driven to rotate on the active crank arm 7 by the drive motor C9, which can realize the adjustment of the angle between the active crank arm 7 and the driven crank arm 8. The active rod 12 is driven to rotate around the rotating seat 10 by the drive motor D11.

[0027] like Figure 1 and Figure 2As shown, the drive motor E14 drives the suspension 15 to rotate at the bottom of the driven rod 13. The drive rod 12 and the driven rod 13 are transmitted through the drive motor F. The drive motor F is fixedly installed on the back of the drive rod 12 and drives the driven rod 13 to rotate through the output shaft.

[0028] In the above embodiment, the drive motor is intelligently controlled by the controller, the system sets the working trajectory of the robotic arm, and the working trajectory is executed by the control command. The robotic arm system consists of a robotic arm system and a main control computer, wherein the robotic arm system includes a modular robotic arm and a dexterous hand.

[0029] like Figure 3 and Figure 4 As shown, the active lever 1604 is rotatably mounted between two side plates 1603 by the connecting shaft 1610. The left end of the active lever 1604 is driven by the movable seat 1608 to rotate around the connecting shaft 1610, and the bottom end will drive the gripper A1605 to perform opening and closing operations.

[0030] like Figure 4 As shown, the lead screw 1607 is driven to rotate by the output shaft of the stepper motor 1602. The rotation will drive the nut 1609 to rotate. Since the nut 1609 is restricted by the moving seat 1608, the two ends of the moving seat 1608 are connected to the two active levers 1604. The nut 1609 converts the rotational force into the up-and-down movement force, thereby pushing the moving seat 1608 to move up and down to drive the active levers 1604 on both sides.

[0031] Specifically, one end of the driven lever 1611 is rotatably mounted between the two side plates 1603, and the other end is connected to the gripper A1605. When the driving lever 1604 lifts the gripper A1605, it serves as the lever center point of the gripper A, causing the gripper A1605 to rotate around the connection point of the driven lever 1611.

[0032] In this embodiment, the lengths of the connecting plates on both sides of the movable seat 1608 are both set to 42mm, the length from the top of the active lever 1604 to the connecting shaft 1610 is set to 60mm, the length from the bottom of the active lever 1604 to the connecting shaft 1610 is set to 80mm, the length of the driven lever 1611 is set to 60mm, the distance between the connecting shaft 1610 and the lead screw 1607 is set to 100mm, the distance between the top of the driven lever 1611 and the lead screw 1607 is set to 70mm, the length of the gripper A1605 is set to 222.6mm, the installation distance between the active lever 1604 and the driven lever 1611 on the gripper A1605 is set to 50mm, and the distance from the bottom of the driven lever 1611 to the bottom of the gripper A1605 is set to 181mm, so that the maximum opening distance of the two grippers A1605 is 80mm.

[0033] In summary, this invention, through a special gripper module 16, can grasp two cable ties inside the yarn tube / burlap sack to extract the entire material. It can achieve a predetermined trajectory and boasts high reliability, good manufacturability, and high strength. A single gripper can lift 15kg, the gripper head can move downwards 2-3cm, and the gripper can open and close 7-8cm. It is also effective for stacking yarn tube / burlap sack materials. The invention employs a screw drive with a self-locking function to better maintain the clamping position. Precise design of the gripper opening and closing components ensures the progress of the gripper opening and closing, guaranteeing the gripper's tightness after closure and preventing it from falling off due to the weight of the yarn tube / burlap sack. The multi-motor driven robotic arm automates the stacking operation, solving the problem in existing technologies where there is a lack of palletizing robots specifically designed for yarn tube / burlap sack stacks with a central control area. To ensure stable material extraction and placement, the gripper needs to be able to move downwards while gripping the yarn tube / burlap sack.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A special clamping device for stacking yarn tubes and burlap sacks, comprising a base (1), characterized in that: A support column (2) is fixedly installed on the top of the base (1). A rotating shaft (3) is fixedly installed on the top of the support column (2). A turntable (4) is rotatably installed on the top of the rotating shaft (3). A drive motor A (5) is fixedly installed on the top of the turntable (4). A drive motor B (6) is fixedly installed on the back of the turntable (4). An active crank arm (7) is rotatably installed on the front of the turntable (4). A driven crank arm (8) is rotatably installed on the top of the active crank arm (7). A drive motor is fixedly installed on the back of the driven crank arm (8). C(9), a rotating seat (10) is fixedly installed at the bottom end of the driven crank arm (8), a drive motor D (11) is fixedly installed at the top end of the rotating seat (10), an active rod (12) is rotatably installed at the bottom end of the rotating seat (10), a driven rod (13) is rotatably installed on the active rod (12), a drive motor E (14) is fixedly installed at the top of the driven rod (13), a suspension (15) is rotatably installed at the bottom end of the driven rod (13), and a gripper module (16) is threadedly fixedly installed at both ends of the suspension (15); The gripper module (16) includes a mounting base (1601). Mounting bases (1601) are fixedly mounted on both the left and right ends of the suspension (15). A stepper motor (1602) is fixedly mounted on the mounting base (1601). Side plates (1603) are fixedly mounted on the front and rear sides of the bottom of the mounting base (1601). Two active levers (1604) are rotatably mounted between the two side plates (1603). Grippers A (1605) are rotatably mounted on the bottom of each of the two active levers (1604). The bottom end of each of the two active levers (1604) is fixedly equipped with a claw hook (1606), the output shaft of the stepper motor (1602) is fixedly equipped with a lead screw (1607), a movable seat (1608) is rotatably installed between the two active levers (1604), the top end of the movable seat (1608) is fixedly equipped with a nut (1609) that is threadedly connected to the lead screw (1607), a connecting shaft (1610) is fixedly installed in the middle of each of the two active levers (1604), and a driven lever (1611) is rotatably installed on the top of each of the two grippers A (1605).

2. The special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The output shaft of the drive motor A (5) passes through the turntable (4) and is fixedly connected to the rotating shaft (3), and the output shaft of the drive motor B (6) passes through the turntable (4) and is fixedly connected to the active crank arm (7).

3. The special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The output shaft of the drive motor C (9) passes through the driven crank arm (8) and is fixedly connected to the driving crank arm (7), and the output shaft of the drive motor D (11) passes through the rotating seat (10) and is fixedly connected to the driving rod (12).

4. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The output shaft of the drive motor E (14) passes through the driven rod (13) and is fixedly connected to the suspension (15). The drive rod (12) and the driven rod (13) are rotatably connected by the drive motor F, which is fixedly installed on the back of the drive rod (12).

5. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The active lever (1604) is rotatably mounted between the two side plates (1603) via a connecting shaft (1610), and the top of the driven lever (1611) is rotatably mounted between the two side plates (1603) via a connecting shaft (1610).

6. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: A support rod is fixedly installed between the two side plates (1603), and the driven lever (1611) is located inside the active lever (1604).

7. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The top of the active lever (1604) is rotatably connected to the movable seat (1608), the lead screw (1607) is rotatably mounted inside the movable seat (1608), and the output shaft of the stepper motor (1602) passes through the mounting base (1601).

8. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The center of the movable seat (1608) is a cylinder, and connecting plates are fixedly installed on both sides. The length of the two connecting plates is 42mm. The length from the top of the active lever (1604) to the connecting shaft (1610) is 60mm, the length from the bottom of the active lever (1604) to the connecting shaft (1610) is 80mm, and the length of the driven lever (1611) is 60mm.

9. A special clamping device for stacking yarn tubes and burlap sacks according to claim 1, characterized in that: The distance between the connecting shaft (1610) and the lead screw (1607) is 100mm, the distance between the top of the driven lever (1611) and the lead screw (1607) is 70mm, the length of the gripper A (1605) is 222.6mm, the installation distance between the driving lever (1604) and the driven lever (1611) on the gripper A (1605) is 50mm, the distance from the bottom of the driven lever (1611) to the bottom of the gripper A (1605) is 181mm, and the maximum opening distance of the two grippers A (1605) is 80mm.

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