Multi-station steel ring gripper for truss manipulator of wrapping machine

Abstract

The utility model provides a multi-station steel ring gripper for a truss manipulator of a cloth wrapping machine, which belongs to the field of corollary equipment of the cloth wrapping machine and comprises a truss and a gripping mechanism capable of moving along x-axis, y-axis and z-axis directions of the truss, the gripping mechanism comprises a connecting frame, a plurality of gripper groups are connected in the connecting frame in a penetrating manner through connecting shafts, and the gripper groups are connected with the truss through connecting shafts. The gripper group comprises a gripper plate and a gripper capable of being lifted and pressed on the gripper plate, the gripper is used for taking and placing the steel ring, and after the steel ring is placed on the wrapping machine, the gripper group rotates towards the outer side to give way for placing the steel ring at the next station. The steel ring clamping device has the advantages that a plurality of steel rings can be clamped at the same time and then placed on the corresponding wrapping machines one by one, and a production line is perfected.

Description

Technical Field

[0001] The utility model belongs to the field of supporting equipment for cloth wrapping machines, in particular to a multi-station steel ring gripper of a truss manipulator of a cloth wrapping machine. Background Art

[0002] The wrapping machine is a device that wraps the wrapping cloth around the steel ring. Initially, the steel ring was placed on the wrapping machine manually. After the wrapping machine completed the processing, the processed steel ring was taken away manually. In order to form a systematic production line, robots are now used to complete the placement and removal of steel rings.

[0003] However, in the prior art, the robot can only clamp one steel ring. When facing multiple wrapping machines, the steel rings are also placed one by one, which is relatively inefficient. In order to further optimize the production line, this application is proposed. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a multi-station steel ring gripper for a cloth wrapping machine truss robot, which can clamp multiple steel rings at the same time and then place them one by one on the corresponding cloth wrapping machines to improve the production line.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a multi-station steel ring gripper of a truss robot for a cloth wrapping machine, including a truss and a gripping mechanism that can move along the x-axis, y-axis, and z-axis directions of the truss, the gripping mechanism includes a connecting frame, and a plurality of gripper groups are connected in the connecting frame through connecting shafts, the gripper group includes a gripper plate and a gripper that can be lifted and pressed on the gripper plate, the gripper is used for taking and placing steel rings, and after the steel rings are placed in the cloth wrapping machine, the gripper group rotates outward to make way for the placement of the steel rings at the next station.

[0006] Furthermore, the gripper assembly includes a driving arm connected to the gripper plate, and the driving arm is rotatably connected to the connecting shaft.

[0007] Furthermore, two grippers are arranged opposite to each other on the gripper plate, and the grippers can be lifted and pressed by a gripper cylinder.

[0008] Furthermore, a transmission part is arranged on one side of the upper end of the driving arm.

[0009] Furthermore, the multiple gripper groups are divided into a fixed gripper group and a movable gripper group, the driving arm of the fixed gripper group is fixedly connected to the inner wall of the connecting frame, the movable gripper group is located at the rear side of the fixed gripper group, the fixed gripper group is provided with one group, and the movable gripper group is provided with at least one group.

[0010] Furthermore, a driving device is provided on the connecting frame at a side opposite to the transmission part, and the driving device is linked to the movable gripper group.

[0011] Furthermore, the driving device adopts a driving cylinder, the end of which is rotatably connected to a fixed shaft of the connecting frame, and a push rod of the driving cylinder is hinged to the transmission part.

[0012] Furthermore, a spacer sleeve for spacing a plurality of the gripper groups is sleeved on the connecting shaft.

[0013] Furthermore, a blocking plate is provided on one side of the connecting frame to limit the initial positions of the plurality of gripper groups.

[0014] Furthermore, a movable seat sliding along the x-axis direction is arranged at the upper end of the truss, a fixed frame sliding along the z-axis direction is arranged on the movable seat, a lifting seat sliding along the y-axis is arranged on the fixed frame, and the grasping mechanism is connected to the lifting seat through a crank frame.

[0015] The advantages and positive effects of the utility model are:

[0016] 1. Due to the adoption of the above technical solution, through the setting of multiple gripper groups, the gripping mechanism can clamp more steel rings on the steel ring placement rack at the same time, without the need for individual clamping. When the steel ring is placed on the cloth wrapping machine, the gripper group rotates outward to make way and does not hinder the placement of the steel ring of the cloth wrapping machine at the next station.

[0017] 2. The gripper group at the rear side places the steel ring on the cloth wrapping machine first, and then rotates outward to make way. Then the next gripper group places the steel ring on the cloth wrapping machine at the next station. The rotation sequence of multiple gripper groups is carried out from back to front, so that the placement of steel rings is carried out in an orderly manner. The gripper group at the front side places the last steel ring. Since there is no need to make way for the next station, the gripper group at the front side is a fixed gripper group.

[0018] 3. The steel ring is picked up and placed by the gripper plate and the gripper that can be lifted and pressed. The gripper plate allows the steel ring to be sent to the cloth wrapping machine in parallel to prevent the steel ring from being offset from the cloth wrapping machine. The moving seat, fixed frame and lifting seat meet the movement of the grabbing mechanism on the x-axis, y-axis and z-axis, making the production line smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the utility model;

[0020] Figure 2 It is a schematic diagram of the grabbing mechanism of the utility model;

[0021] Figure 3 It is a schematic diagram of the driving device of the utility model.

[0022] In the figure:

[0023] 1. Truss; 101. Upper slide rail; 2. Moving seat; 21. Side slide rail;

[0024] 3. Fixed frame; 31. Lifting rail;

[0025] 4. Lifting seat; 5. Crank arm frame;

[0026] 6. Connecting frame; 61. Connecting shaft; 611. Spacer; 62. Fixed shaft; 63. Driving cylinder;

[0027] 7. Driving arm; 71. Transmission unit; 8. Gripper plate; 81. Gripper; 82. Gripper cylinder. DETAILED DESCRIPTION

[0028] The utility model is further described below in conjunction with embodiments and drawings.

[0029] like Figures 1 to 3 As shown, the present embodiment provides a multi-station steel ring gripper of a truss robot for a cloth wrapping machine, comprising a truss 1 and a gripping mechanism movable along the x-axis, y-axis and z-axis directions of the truss 1, the gripping mechanism comprising a connecting frame 6, in which a plurality of gripper groups are connected via a connecting shaft 61, the gripper groups comprising a gripper plate 8 and grippers 81 which can be lifted and pressed on the gripper plate 8, two grippers 81 being relatively arranged on both sides of the lower end of the gripper plate 8, the steel ring being clamped and placed through the cooperation between the grippers 81 and the gripper plate 8, the gripper group at the rearmost side places the steel ring first, and when the steel ring is placed on the cloth wrapping machine, the gripper group rotates outward to make way for the placement of the steel ring at the next station.

[0030] The gripper group includes a driving arm 7 connected to the gripper plate 8, and the driving arm 7 is rotatably set on the connecting shaft 61. In order to arrange multiple gripper groups equidistantly, a spacer sleeve 61 is also provided on the connecting shaft 61 for spacing adjacent driving arms 7. The gripper 81 is rotatably connected to the gripper plate 8 and driven by the gripper cylinder 82. Specifically, the gripper cylinder 82 is vertically arranged, and its rear end is rotatably connected to the gripper plate 8. Its push rod is hinged to the gripper 81, and the gripper 81 is lifted and pressed by the extension and retraction of the push rod of the gripper cylinder 82.

[0031] A transmission part 71 is provided on one side of the upper end of the driving arm 7, and a driving device is provided on the side of the connecting frame 6 that is opposite to the transmission part 71. The driving device pulls the transmission part 71 to drive the driving arm 7 to rotate. The driving device adopts a driving cylinder 63, and the end of the driving cylinder can be rotatably connected to the fixed shaft 62 of the connecting frame 6, and its push rod is hinged with the transmission part 71.

[0032] In this embodiment, the multiple gripper groups are divided into a fixed gripper group and a movable gripper group. The driving arm of the fixed gripper group is connected to the connecting frame 6 by bolts to fix the driving arm in the fixed gripper group. The fixed gripper group is located on the front side of the movable gripper group, and there is one group of fixed gripper groups and two groups of movable gripper groups. The driving device is linked to the movable gripper group.

[0033] In another embodiment, the plurality of gripper groups may all be movable gripper groups, and the movable gripper group located at the frontmost side may be kept stationary by not operating the driving device, and will not rotate after the steel ring is placed.

[0034] In order to limit the initial position of the gripper assembly, a blocking plate is provided on the side of the connecting frame 6 opposite to the rotation direction of the driving arm 7 .

[0035] An upper slide rail 101 and an upper rack are provided at the upper end of the truss 1, and the moving seat 2 is provided on the slider of the upper slide rail 101, so that the moving seat 2 can move along the upper slide rail 101 in the x-axis direction, that is, displacement to the left and right. An A motor is provided on the moving seat 2, and a gear meshing with the upper rack is provided at its output end;

[0036] The fixed frame 3 is divided into two parts, front and rear, in an inverted "T" shape. A side slide rail 21 is arranged at the lower end of the rear side of the fixed frame 3. The slider of the side slide rail 21 is fixed on the moving seat 2, so that the fixed frame 3 can move along the side slide rail 21 in the z-axis direction, that is, the front and rear displacement. A side rack is arranged at the side end of the rear side of the fixed frame 3, and a B motor is arranged on the moving seat 2, and a gear meshing with the side rack is arranged at its output end;

[0037] A lifting rail 31 and a lifting rack are vertically arranged on the front side of the fixed frame 3. The lifting seat 4 is arranged on the slider of the lifting rail 31, so that the lifting seat 4 can move along the lifting rail 31 in the y-axis direction, that is, move up and down. A C motor is arranged on the lifting seat 4, and a gear meshing with the lifting rack is arranged at the output end of the C motor. The grabbing mechanism is connected to the lifting seat 4 through the crank arm frame 5.

[0038] The working process of this example:

[0039] The utility model is used in conjunction with a plurality of cloth wrapping machines, the number of which corresponds to the number of gripper groups. In the present embodiment, three cloth wrapping machines are adjacently arranged.

[0040] The movable seat 1 drives the grabbing mechanism to move toward the steel ring placement rack, the push rod of the gripper cylinder 82 retracts to lift the gripper 81, and the lifting seat 4 drives the grabbing mechanism to descend. The three gripper groups are pushed out by the push rod of the gripper cylinder 82 so that the steel ring is picked up by the grabbing mechanism, and the movable seat 1 drives the grabbing mechanism to move toward the cloth wrapping machine;

[0041] The gripper group at the rear side places the steel ring on the cloth wrapping machine by retracting the push rod of the gripper cylinder 82, and then drives the push rod of the cylinder 63 to retract, linking the gripper group at the rear side to rotate outward to make way for the placement of the steel ring at the next station;

[0042] The movable seat 1 drives the grabbing mechanism to arrive at the next cloth wrapping machine in sequence, and drives the grabbing mechanism to move inward through the fixed frame 3, so that the steel ring on the middle gripper group corresponds to the cloth wrapping machine, and the gripper cylinder 82 drives the gripper 81 to place the steel ring on the cloth wrapping machine, and then drives the cylinder 63 to rotate the middle gripper group to the outside to make way for the placement of the steel ring at the next station;

[0043] The movable seat 1 drives the grabbing mechanism to reach the last wrapping machine in sequence, and drives the grabbing mechanism to move inward through the fixed frame 3, and drives the grabbing hand 81 through the grabbing hand cylinder 82 to place the steel ring on the last wrapping machine. The placement of the steel rings of the three wrapping machines is completed, and the grabbing mechanism returns to the steel ring placement rack, and this cycle is repeated. The finished steel rings wound on the wrapping machine are taken away by another robot.

[0044] In another embodiment, the finished steel rims can also be taken away by the utility model, that is, the gripper groups located in the middle and the rear side rotate outward, and the finished steel rims are first taken away by the gripper group on the front side, and then the middle gripper group is driven to be lowered by the cylinder to take away the finished steel rims of the next station, and finally, the gripper group on the rear side is driven to be lowered by the cylinder to take away the finished steel rims of the next station, and the gripper mechanism transfers the finished steel rims to the finished product placement rack.

[0045] The above describes one or more embodiments of the utility model in detail, but the above contents are only preferred embodiments of the utility model and cannot be considered to limit the scope of implementation of the utility model. All equivalent changes and improvements made within the scope of application of the utility model shall still fall within the scope of the patent coverage of the utility model.

Claims

1. A multi-station steel ring gripper for a truss manipulator of a cloth wrapping machine, comprising a truss (1) and a gripping mechanism movable along the x-axis, y-axis and z-axis directions of the truss (1), characterized in that: The gripping mechanism comprises a connecting frame (6), a plurality of gripper groups are connected in the connecting frame (6) via a connecting shaft (61), the gripper group comprises a gripper plate (8) and a gripper (81) that can be lifted and pressed on the gripper plate (8), the gripper (81) is used for taking and placing the steel ring, and after the steel ring is placed in the cloth wrapping machine, the gripper group rotates outward to make way for the placement of the steel ring at the next workstation.

2. According to claim 1, a multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine is characterized by: The gripper assembly comprises a driving arm (7) connected to the gripper plate (8), and the driving arm (7) is rotatably connected to the connecting shaft (61).

3. According to claim 2, a multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine is characterized by: Two grippers (81) are arranged opposite to each other on the gripper plate (8), and the grippers (81) can be lifted and pressed by a gripper cylinder (82).

4. According to claim 2, a multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine is characterized by: A transmission part (71) is arranged on one side of the upper end of the driving arm (7).

5. According to claim 4, a multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine is characterized by: The plurality of gripper groups are divided into a fixed gripper group and a movable gripper group, the driving arm of the fixed gripper group is fixedly connected to the inner wall of the connecting frame (6), the movable gripper group is located at the rear side of the fixed gripper group, the fixed gripper group is provided with one group, and the movable gripper group is provided with at least one group.

6. The multi-station steel ring gripper of the truss manipulator of the cloth wrapping machine according to claim 5 is characterized by: A driving device is provided on the connecting frame (6) at a side opposite to the transmission part (71), and the driving device is linked to the movable gripper group.

7. The multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine according to claim 6, characterized in that: The driving device adopts a driving cylinder (63), the end of which is rotatably connected to a fixed shaft (62) of the connecting frame (6), and the push rod of the driving cylinder (63) is hinged to the transmission part (71).

8. The multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine according to claim 1, characterized in that: A spacer sleeve (611) for spacing a plurality of gripper groups is sleeved on the connecting shaft (61).

9. The multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine according to claim 1, characterized in that: A blocking plate is provided on one side of the connecting frame (6) for limiting the initial positions of the plurality of gripper groups.

10. The multi-station steel ring gripper of a truss manipulator for a cloth wrapping machine according to claim 1, characterized in that: A movable seat (2) that slides along the x-axis direction is arranged at the upper end of the truss (1), a fixed frame (3) that slides along the z-axis direction is arranged on the movable seat (2), a lifting seat (4) that slides along the y-axis is arranged on the fixed frame (3), and the grasping mechanism is connected to the lifting seat (4) via a crank frame (5).

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