Dual station pick-up mechanism suitable for a variety of shaped and sized bobbins

Abstract

The application discloses a double-station grabbing mechanism suitable for yarn bobbins of various shapes and sizes, characterized in that the double-station grabbing mechanism comprises a clamping mechanism I, a clamping mechanism II, a distance adjusting mechanism and a pushing mechanism. The double-station grabbing mechanism can be widely applied to the textile industry, is efficient and reliable, has a simple structure, a distance-adjustable function and is suitable for yarn bobbins of various shapes and sizes. The double-station grabbing mechanism also has the function of pushing out the yarn bobbins, can be installed on automatic equipment such as robots and can be widely applied to scenarios such as yarn bobbin automatic stacking and feeding.

Description

Technical Field

[0001] This invention relates to a dual-station gripping mechanism for yarn bobbins of various shapes and sizes, which can be applied to automated yarn bobbin stacking and loading / unloading scenarios, and belongs to the field of textile automation technology. Background Technology

[0002] In the textile industry, yarn is typically wound in a regular pattern onto cylindrical or conical yarn tubes to form large-capacity, well-shaped yarn bobbins, facilitating storage, transportation, and subsequent processing. Appropriate clamps are needed to grip the yarn bobbins during application. Commonly used yarn bobbins are classified by shape into cylindrical and conical bobbins, and by gripping position into outer circumferential clamping and inner circumferential support clamping.

[0003] Generally, the outer circumference of a yarn bobbin is large, corresponding to a large clamping jaw, which can easily damage the yarn. Internal support clamping jaws extend into the yarn tube of the bobbin and then expand outwards. Currently, there are various types of internal support clamping mechanisms, but the main problem is:

[0004] (1) It is generally only applicable to yarn tubes of a single shape and size, and cannot be used to grip yarn tubes of multiple shapes and sizes; (2) Mostly single-station grasping, resulting in low efficiency; (3) Very few dual-station gripping mechanisms and can only grip yarn bobbins with a fixed spacing.

[0005] Therefore, it is of great significance to develop a gripping mechanism that is applicable to yarn bobbins of various shapes and sizes and has variable spacing. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that existing yarn bobbin gripping mechanisms are not applicable to yarn bobbins of various shapes and sizes, and most of them are single-station yarn bobbin gripping mechanisms with low efficiency. Very few dual-station gripping mechanisms can only grip yarn bobbins with a fixed spacing.

[0007] To solve the above-mentioned technical problems, the present invention discloses a dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes, characterized in that it includes: Clamping mechanism one and clamping mechanism two are respectively used to clamp a yarn tube, and can adapt to and clamp yarn tubes of different shapes and sizes by conforming to the inner wall of the yarn tube; The distance adjustment mechanism is used to adjust the distance between the clamping mechanism one and the clamping mechanism two so that the clamping mechanism one and the clamping mechanism two can grip yarn bobbins with different spacing. An ejection mechanism is used to simultaneously eject the two yarn bobbins on clamping mechanism one and clamping mechanism two.

[0008] Preferably, the clamping mechanism one and the clamping mechanism two have the same structure and are arranged symmetrically.

[0009] Preferably, the clamping mechanism one or the clamping mechanism two includes a hinged chain assembly, which is driven by a clamping motor to expand outward or retract inward; when the hinged chain assembly expands outward, it fits against the inner wall of a yarn bobbin of different shapes and sizes, thereby clamping the yarn bobbin; when the hinged chain assembly retracts inward, it forms a gap with the inner wall of the yarn bobbin, thereby releasing the yarn bobbin.

[0010] Preferably, the articulated support chain group contains N articulated supports, where N≥3. The upper ends of the N articulated supports are evenly distributed and fixed to the upper and lower ends of the guide sleeve one along the circumferential direction. The guide sleeve one is disposed outside the guide post one driven to rotate by the clamping motor. When the clamping motor drives the guide post one to rotate in one direction, the guide sleeve one slides along the guide post one in one direction, thereby causing the N articulated supports to spread outward and fit against the inner wall of the yarn bobbin of different shapes and sizes. When the clamping motor drives the guide post one to rotate in another direction, the guide sleeve one slides along the guide post one in another direction, thereby causing the N articulated supports to retract inward and form a gap with the inner wall of the yarn bobbin.

[0011] Preferably, the clamping mechanism one and the clamping mechanism two are respectively disposed on the clamping mechanism base one and the clamping mechanism base two. The distance adjustment mechanism drives the clamping mechanism one and the clamping mechanism two to move through the clamping mechanism base one and the clamping mechanism base two, so as to adjust the distance between the clamping mechanism one and the clamping mechanism two.

[0012] Preferably, the adjusting mechanism includes an adjusting motor, the output shaft of which is fixedly connected to the hollow input shaft of a right-angle reducer. The left output shaft of the right-angle reducer is connected to guide post four via coupling one, and the right output shaft of the right-angle reducer is connected to guide post five via coupling four. Clamping mechanism base one and clamping mechanism base two are respectively sleeved on guide post four and guide post five, and their bottoms are respectively provided on guide rail one and guide rail two. When the adjusting motor rotates, it drives clamping mechanism base one and clamping mechanism base two to move towards or away from each other along guide rail one and guide rail two via guide post four and guide post five, so as to adjust the distance between clamping mechanism one and clamping mechanism two.

[0013] Preferably, the adjustable pitch motor is a stepper motor.

[0014] Preferably, with the right-angle reducer as the center, the left and right sides of the adjusting mechanism have the same structure.

[0015] Preferably, the ejection mechanism includes an ejection motor bracket, an ejection motor mounted on the lower mounting surface of the ejection motor bracket, a bushing on the output shaft of the ejection motor, the bushing being connected to a guide post two, a baffle mounted on the guide post two, the left and right ends of the baffle being Y-shaped to avoid the clamping mechanisms one and two at the same position while ejecting the yarn bobbin at the same position, a guide rod one and a guide rod two respectively on the left and right sides of the baffle, a bearing seat one and a bearing seat two respectively sleeved on the guide rod one and the guide rod two, the bearing seat one and the bearing seat two being fixed on the ejection motor bracket, when the ejection motor rotates, it drives the bushing to rotate, causing the guide post two to drive the baffle to move up and down along the guide rod one and the guide rod two, so as to eject the yarn bobbin or reset the yarn bobbin after it is ejected.

[0016] Preferably, the dual-station gripping mechanism is mounted and fixed on the automated equipment via a mounting bracket.

[0017] This invention provides a dual-station gripping mechanism that is widely applicable in the textile industry, highly efficient and reliable, simple in structure, with adjustable spacing, and suitable for yarn bobbins of various shapes and sizes. This dual-station gripping mechanism also has the function of ejecting yarn bobbins and can be installed on automated equipment such as robots. It can be widely used in automated yarn bobbin palletizing and loading / unloading scenarios. Compared with existing technologies, it has the following specific advantages: (1) It has a dual-station clamping mechanism, which can grab two yarn bobbins at once, thus improving production efficiency; (2) The gripper mechanism has three evenly distributed hinged branches, which can fit the inner wall of various shapes of yarn tubes and clamp the yarn tubes; (3) The distance adjustment mechanism adjusts the distance between the two clamping mechanisms by rotating the distance adjustment motor, thereby gripping yarn bobbins with different distances; (4) The ejection mechanism drives the bushing to rotate by the ejection motor, which causes the guide column to move the baffle up and down, ejecting the yarn tube on the gripper mechanism or resetting after ejection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the present invention; Figure 2 The diagram shows the clamping mechanism, where (a) illustrates the overall structure and (b) illustrates the positional assembly relationship between the clamping motor 5, coupling 7, and guide column fixing bracket 10. Figure 3 This is a schematic diagram of the pitch adjustment mechanism, where (a) is a schematic diagram in one direction and (b) is a schematic diagram in another direction; Figure 4 A schematic diagram of the launching mechanism.

[0019] In the diagram, 1-Mounting bracket, 2-Cover plate one, 3-Coupling one, 4-Right-angle reducer front mounting plate, 5-Clamping motor one, 6-Clamping motor bracket one, 7-Coupling two, 8-First set of hinged support chains, 9-Guide post one, 10-Guide post fixing bracket one, 11-Guide rod one, 12-Bearing seat one, 13-Baffle, 14-Guide post two, 15-Shaft sleeve, 16-Guide rod two, 17-Bearing seat two, 18-Guide post three, 19-Guide post fixing bracket two, 20-Second set of hinged support chains, 21-Coupling Component 3, 22-Clamping motor bracket 2, 23-Clamping motor 2, 24-Coupling 4, 25-Cover plate 2, 26-Jewel box, 27-Clamping motor base 1, 28-Guide sleeve 1, 29-Adjustable pitch motor bracket, 30-Guide rail 1, 31-Guide sleeve 2, 32-Guide post 4, 33-Right angle reducer rear mounting plate, 34-Right angle reducer, 35-Guide post 5, 36-Guide rail 2, 37-Clamping motor base 2, 38-Adjustable pitch motor, 39-Guide sleeve 3, 40-Ejecting motor bracket, 41-Ejecting motor. Detailed Implementation

[0020] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0021] This invention discloses a dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes. This mechanism is highly efficient, reliable, and simple in structure, capable of gripping two yarn bobbins simultaneously. It can be widely applied in automated yarn bobbin stacking and loading / unloading scenarios. The mechanism includes two identical and symmetrically installed clamping mechanisms, a spacing adjustment mechanism, a push-out mechanism, a mounting bracket 1, and a wiring box 26. The mounting bracket 1 can be installed on automated equipment such as robots. The wiring box 26, mounted on the mounting bracket 1, is used to secure the wiring harness of the yarn bobbin gripping mechanism.

[0022] Combining Figure 1 and Figure 2The clamping mechanism includes a clamping motor 5, which is mounted inside a clamping motor bracket 6. The clamping motor bracket 6 is fixedly connected to a clamping motor base 27. The first set of hinged branches 8 contains three hinged branches, the upper ends of which are evenly fixedly connected to the guide sleeve 28, and the lower ends of which are evenly fixedly connected to the guide post fixing frame 10. The output shaft of the clamping motor 5 is fixedly connected to the lower end of the guide post 9 via a coupling 7. The guide post 9 is mounted inside the guide post fixing frame 10. The guide sleeve 28 is threadedly connected to the guide post 9. When the clamping motor 5 rotates, it drives the guide post 9 to rotate: when the clamping motor 5 rotates in the forward direction, the guide sleeve 28 slides downward along the guide post 9, and the first set of hinged branches 8 is raised, fitting against the inner wall of yarn bobbins of various shapes and sizes and clamping the yarn bobbins; when the clamping motor 5 rotates in the reverse direction, the guide sleeve 28 slides upward along the guide post 9, and the first set of hinged branches 8 retracts, releasing the yarn bobbins.

[0023] Combination Figure 1 , Figure 2 and Figure 3 The pitch adjustment mechanism includes a pitch adjustment motor 38. The output shaft of the pitch adjustment motor 38 is fixedly connected to the hollow input shaft of the right-angle reducer 34 and is mounted on a pitch adjustment motor bracket 29. The pitch adjustment motor bracket 29 is fixedly connected to a mounting bracket 1. The front and rear mounting surfaces of the right-angle reducer 34 are fixedly connected to the lower ends of the front mounting plate 4 and the rear mounting plate 33 of the right-angle reducer, respectively. The lower end of the right-angle reducer 34 is fixedly connected to the pitch adjustment motor bracket 29. Its left output shaft is fixedly connected to the right end of the guide post 32 via coupling 3, and its right output shaft is fixedly connected to the left end of the guide post 35 via coupling 24. The left end of the guide post 32 and the right end of the guide post 35 are both fixedly connected to the pitch adjustment motor bracket 29. The guide sleeve 31 is installed inside the clamping motor seat 27 of the left clamping mechanism and is fitted onto the guide post 32. The lower end of the clamping motor seat 27 is mounted on the guide rail 30. With the right-angle reducer 34 as the center, the structures on both sides of the pitch adjustment mechanism are identical. Guide sleeve 39 is installed inside clamping motor seat 2 37 of the right clamping mechanism and fitted onto guide post 5 35. The lower end of clamping motor seat 2 37 is mounted on guide rail 2 36. Adjustment motor 38 rotates, causing clamping motor seat 1 27 and clamping motor seat 2 37 to slide along guide post 4 32, guide rail 1 30 and guide post 5 35, guide rail 2 36 respectively, thereby adjusting the distance between the two clamping mechanisms.

[0024] Combination Figure 1 and Figure 4The ejection mechanism includes an ejection motor bracket 40, whose front and rear mounting surfaces are fixedly connected to the upper ends of the front mounting plate 4 and rear mounting plate 33 of the right-angle reducer, respectively. The flange end of the ejection motor 41 is fixedly connected to the lower mounting surface of the ejection motor bracket 40. The output shaft of the ejection motor 41 is fixedly connected to the lower end of the bushing 15. The upper end of the bushing 15 is threadedly connected to the lower end of the guide post 14. The upper end of the guide post 14 is fixedly connected to the baffle 13. Bearing housing 12 and bearing housing 17 are fixedly connected to the upper mounting surface of the ejection motor bracket 40. Guide rod 11 and guide rod 16 are respectively fitted into bearing housing 12 and bearing housing 17, and their upper ends are fixedly connected to the baffle 13, serving to fix the position of the baffle 13 and the ejection motor bracket 40. The motor 41 rotates, driving the bushing 15 to rotate, causing the guide post 14 to drive the baffle 13 to move up and down along the guide rod 11 and the guide rod 16, pushing out the yarn bobbin on the gripper mechanism, or pushing it out and then resetting it.

[0025] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this invention can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0026] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present invention, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes, characterized in that, include: Clamping mechanism one and clamping mechanism two are respectively used to clamp a yarn tube, and can adapt to and clamp yarn tubes of different shapes and sizes by conforming to the inner wall of the yarn tube; The distance adjustment mechanism is used to adjust the distance between the clamping mechanism one and the clamping mechanism two so that the clamping mechanism one and the clamping mechanism two can grip yarn bobbins with different spacing. An ejection mechanism is used to simultaneously eject the two yarn bobbins on clamping mechanism one and clamping mechanism two.

2. The dual-station gripping mechanism for yarn bobbins of various shapes and sizes as described in claim 1, characterized in that, The clamping mechanism one and the clamping mechanism two have the same structure and are arranged symmetrically.

3. The dual-station gripping mechanism for yarn bobbins of various shapes and sizes as described in claim 2, characterized in that, The clamping mechanism one or the clamping mechanism two includes a hinged chain assembly, which is driven by a clamping motor to expand outward or retract inward. When the hinged chain assembly expands outward, it fits against the inner wall of a yarn bobbin of different shapes and sizes, thereby clamping the yarn bobbin. When the hinged chain assembly retracts inward, it forms a gap with the inner wall of the yarn bobbin, thereby releasing the yarn bobbin.

4. The dual-station gripping mechanism for yarn bobbins of various shapes and sizes as described in claim 3, characterized in that, The articulated support chain group contains N articulated supports, where N≥3. The upper ends of the N articulated supports are evenly distributed and fixed to the upper and lower ends of the guide sleeve one along the circumferential direction. The guide sleeve one is set outside the guide post one driven to rotate by the clamping motor. When the clamping motor drives the guide post one to rotate in one direction, the guide sleeve one slides along the guide post one in one direction, thereby causing the N articulated supports to spread outward and fit against the inner wall of the yarn bobbin of different shapes and sizes. When the clamping motor drives the guide post one to rotate in another direction, the guide sleeve one slides along the guide post one in another direction, thereby causing the N articulated supports to retract inward and form a gap with the inner wall of the yarn bobbin.

5. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 1, characterized in that, The clamping mechanism one and the clamping mechanism two are respectively mounted on the clamping mechanism base one and the clamping mechanism base two. The distance adjustment mechanism drives the clamping mechanism one and the clamping mechanism two to move through the clamping mechanism base one and the clamping mechanism base two, so as to adjust the distance between the clamping mechanism one and the clamping mechanism two.

6. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 5, characterized in that, The adjusting mechanism includes an adjusting motor, whose output shaft is fixedly connected to the hollow input shaft of a right-angle reducer. The left output shaft of the right-angle reducer is connected to guide post four via coupling one, and the right output shaft of the right-angle reducer is connected to guide post five via coupling four. Clamping mechanism base one and clamping mechanism base two are respectively sleeved on guide post four and guide post five, and their bottoms are respectively located on guide rail one and guide rail two. When the adjusting motor rotates, it drives clamping mechanism base one and clamping mechanism base two to move towards or away from each other along guide rail one and guide rail two via guide post four and guide post five, so as to adjust the distance between clamping mechanism one and clamping mechanism two.

7. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 6, characterized in that, The adjustable pitch motor is a stepper motor.

8. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 6, characterized in that, With the right-angle reducer as the center, the left and right sides of the adjusting mechanism have the same structure.

9. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 1, characterized in that, The ejection mechanism includes an ejection motor bracket, an ejection motor mounted on the lower mounting surface of the ejection motor bracket, a bushing on the output shaft of the ejection motor, the bushing being connected to a guide post two, a baffle mounted on the guide post two, the left and right ends of the baffle being Y-shaped to avoid the clamping mechanisms one and two at the same position while ejecting the yarn bobbin at the same position, a guide rod one and a guide rod two respectively on the left and right sides of the baffle, a bearing seat one and a bearing seat two respectively sleeved on the guide rod one and the guide rod two, the bearing seat one and the bearing seat two being fixed on the ejection motor bracket, when the ejection motor rotates, it drives the bushing to rotate, causing the guide post two to drive the baffle to move up and down along the guide rod one and the guide rod two, so as to eject the yarn bobbin or reset the yarn bobbin after it is ejected.

10. A dual-station gripping mechanism suitable for yarn bobbins of various shapes and sizes as described in claim 1, characterized in that, The dual-station gripping mechanism is mounted and fixed on the automated equipment via a mounting bracket.

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