Yarn feeding mechanical arm clamping jaw device, yarn feeding mechanical arm and yarn feeding robot

Abstract

The utility model relates to a yarn feeding mechanical arm clamping jaw device, a yarn feeding mechanical arm and a yarn feeding robot. The yarn feeding mechanical arm clamping jaw device comprises an installation base. The multiple clamping jaws are all arranged on one side of the mounting base, and the bottoms of at least two clamping jaws are slidably arranged on the mounting base in the first direction; the guide piece is arranged on the mounting seat; the driving part is mounted on the mounting seat, is connected with the guide part and is used for driving the guide part to move relative to the mounting seat along a second direction intersected with the first direction; wherein the guide piece is connected with the slidable clamping jaw so as to guide the clamping jaw to slide relative to the mounting seat in the process of moving relative to the mounting seat. When the positions of all the current clamping jaws need to be adjusted to be suitable for the current yarn library, the driving piece can be started to drive the guiding piece to move in the second direction, then the at least two clamping jaws are driven to slide in the first direction, the relative positions of the multiple clamping jaws are changed, then the mechanical arm adapts to the current yarn library, and the yarn feeding process of the mechanical arm to the yarn library is reliable.

Description

Technical Field

[0001] The present application relates to the technical field of textile machinery, and in particular to a yarn throwing robot arm clamping device, a yarn throwing robot arm and a yarn throwing robot. Background Art

[0002] The common self-winding host yarn magazines on the market have certain appearance differences due to their own size, installation angle, etc., which are mainly reflected in the arc formed in the center of the yarn magazine.

[0003] However, the robotic arm that throws yarn into the yarn library of the self-winding host has multiple clamps that can clamp multiple tubes of yarn at the same time. The positions of the multiple clamps are usually unchanged. Therefore, the yarn throwing position of the tube of yarn cannot be changed, resulting in the robotic arm being unable to adapt to different types of yarn libraries. Utility Model Content

[0004] Based on this, it is necessary to provide a yarn throwing robot arm clamping device, a yarn throwing robot arm and a yarn throwing robot that can improve the adaptability to different yarn stores in order to address the problem that the existing robot arm cannot adapt to different types of yarn stores.

[0005] A yarn throwing robot arm clamping device, comprising:

[0006] Mounting seat;

[0007] A plurality of clamping jaws are all disposed on one side of the mounting seat, and the bottoms of at least two clamping jaws are slidably disposed on the mounting seat along a first direction;

[0008] A guide member, disposed on the mounting seat; and

[0009] A driving member, mounted on the mounting seat and connected to the guide member, for driving the guide member to move relative to the mounting seat along a second direction intersecting the first direction;

[0010] The guide member is connected to the slidable clamping claw so as to guide the clamping claw to slide relative to the mounting seat during the movement relative to the mounting seat.

[0011] In one embodiment, the guide member is provided with a guide portion, and the slidable clamping jaw is provided with a matching portion, and the guide portion matches with the matching portion to guide the clamping jaw to slide relative to the mounting seat.

[0012] In one embodiment, the clamp includes a sliding base and a clamp body, one side of the sliding base is slidably connected to the mounting seat, and the clamp body is arranged on a side of the sliding base away from the mounting seat;

[0013] The sliding base is provided with a bracket protruding outwards, and the matching part is installed on the bracket.

[0014] In one embodiment, the matching portion includes a bearing, the guiding portion includes a guiding groove, and the outer periphery of the bearing matches with the inner wall of the guiding groove.

[0015] In one embodiment, the guide portions include at least two guide portions that are spaced apart from each other, and the matching portion of each clamping jaw matches with a corresponding guide portion.

[0016] In one embodiment, at least two guide portions are symmetrically arranged relative to a center line of the guide member, and an output end of the driving member is connected to a middle portion of the guide member.

[0017] In one embodiment, at least one of the plurality of clamping jaws is fixed to the mounting base.

[0018] In one embodiment, the guide member extends along the third direction and is located on the same side of the plurality of clamping jaws, and the first direction, the second direction and the third direction intersect each other.

[0019] In another aspect of the present application, a yarn throwing robot arm is provided, comprising the yarn throwing robot arm clamping device in any of the above embodiments.

[0020] In another aspect of the present application, a yarn throwing robot is provided, comprising the above-mentioned yarn throwing robot arm.

[0021] The above-mentioned yarn throwing robot arm clamping device, yarn throwing robot arm and yarn throwing robot can start the driving member to drive the guide member to move along the second direction when it is necessary to adjust the positions of all the current clamping members to adapt to the current yarn library, thereby driving at least two clamping members to slide along the first direction to change the relative positions between the multiple clamping members, thereby adapting to the current yarn library, so that the yarn throwing process of the robot arm to the yarn library is reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG. 1 is a schematic structural diagram of a yarn throwing robot arm clamping device in one or more embodiments of the present application.

[0023] FIG. 2 is a schematic structural diagram of the yarn throwing robot arm clamping device shown in FIG. 1 from another perspective.

[0024] Figure 3 It is a top view of a partial structure of the clamping device of the yarn throwing robot arm shown in FIG1.

[0025] Description Figure Numbers:

[0026] The yarn throwing robot arm clamp device 100, the mounting seat 10, the sliding guide rail 11, the clamp 20, the sliding base 21, the matching part 211, the bracket 212, the clamp body 22, the guide member 30, the guide part 31, and the driving member 40. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] FIG. 1 is a schematic diagram of the structure of a yarn throwing robot arm clamping device in one or more embodiments of the present application, FIG. 2 is a schematic diagram of the structure of the yarn throwing robot arm clamping device shown in FIG. 1 from another perspective, Figure 3 FIG. 1 is a top view of a portion of the structure of the yarn throwing robot arm clamping device shown in FIG. Figure 3 A yarn throwing robot arm clamping device 100 provided in one embodiment of the present application includes a mounting seat 10, a plurality of clamping jaws 20, a guide member 30 and a driving member 40.

[0034] A plurality of clamping jaws 20 are disposed on one side of the mounting seat 10, and the bottoms of at least two clamping jaws 20 are slidably disposed on the mounting seat 10 along a first direction, a guide member 30 is disposed on the mounting seat 10, and a driving member 40 is mounted on the mounting seat 10 and connected to the guide member 30, and is used to drive the guide member 30 to move relative to the mounting seat 10 along a second direction intersecting the first direction. The guide member 30 is connected to the slidable clamping jaw 20 to guide the clamping jaw 20 to slide relative to the mounting seat 10 during the movement relative to the mounting seat 10.

[0035] The mounting base 10 is a structure that provides a mounting base for other components. The mounting base 10 can be in the form of a plate, or can be formed by combining a plurality of brackets, which is not specifically limited.

[0036] The clamp 20 is a structure for obtaining the cop. The structure of the clamp 20 is not limited to a claw shape, and includes a plurality of movable claws, which are closed or opened to clamp or release the cop. The clamp 20 can also be a clamp sleeve, which has a suction channel, and the cop can be sucked into the sleeve by the suction force in the suction channel.

[0037] The guide member 20 is a structure for guiding the clamping jaw 20 to move relative to the mounting seat 10. The driving member 40 can be a driving cylinder, a driving motor, and the like.

[0038] In the implementation manner of the present application, the first direction is Figure 3 The a1 direction is shown, and the second direction is Figure 3 The first direction and the second direction may intersect at an angle of 45 degrees.

[0039] The yarn throwing robot arm clamp device 100 of the embodiment of the present application can start the driving member 40 to drive the guide member 20 to move along the second direction when it is necessary to adjust the positions of all the current clamps 20 to adapt to the current yarn library, thereby driving at least two clamps 20 to slide along the first direction to change the relative positions between the multiple clamps 20, thereby adapting to the current yarn library, so that the robot arm can throw the yarn into the yarn library reliably.

[0040] Specifically, in the embodiment of the present application, at least one of the plurality of clamping jaws 20 is fixed on the mounting base 10. Since the driving member 40 can drive the other at least two clamping jaws 20 to slide relative to the mounting base 10, not only the relative positions of the other two clamping jaws 20 change, but also the relative positions of the other two clamping jaws 20 relative to the fixed clamping jaw 20 can change, thereby simplifying the process of adjusting the position of the clamping jaw 20.

[0041] Specifically, the embodiment of the present application includes three clamping jaws 20 , wherein the middle clamping jaw 20 among the three clamping jaws 20 is fixed on the mounting seat 10 , and the two clamping jaws 20 on both sides can slide relative to the mounting seat 10 .

[0042] It should be pointed out that the guide member 30 of the present application can guide at least two slidable jaws 20 to slide simultaneously, or guide all slidable jaws 20 to slide, without specific limitation.

[0043] In some embodiments, the clamp 20 includes a sliding base 21 and a clamp body 22 . One side of the sliding base 21 is slidably connected to the mounting seat 10 , and the clamp body 22 is disposed on a side of the sliding base 21 away from the mounting seat 10 .

[0044] By providing one side of the sliding base 21 to be slidably connected to the mounting seat 10 , on the one hand, the installation reliability of the clamping jaw 20 on the mounting seat 10 is improved, and on the other hand, the sliding is made more reliable.

[0045] Specifically, the mounting seat 10 is provided with a sliding guide rail 11 extending along the first direction, and one side of the sliding base 21 is slidably matched with the sliding guide rail 11 .

[0046] In some embodiments, the guide member 30 is provided with a guide portion 31 , and the slidable clamping jaw 20 is provided with a matching portion 211 , and the guide portion 31 matches with the matching portion 211 to guide the clamping jaw 20 to slide relative to the mounting seat 10 .

[0047] The guide portion 31 and the matching portion 211 are matched to guide the clamping jaw 20 to slide relative to the mounting seat 10 in a more reliable manner.

[0048] Specifically, the sliding base 21 has the matching portion 211. Compared with the matching portion 211 being provided on the clamp body 22, the matching portion 211 being provided on the sliding base 21 can make the matching portion 211 closer to the sliding part of the sliding base 21, thereby improving the reliability of guiding the sliding. In addition, the matching portion 211 is a force-bearing part. If it is provided on the clamp body 22, it will affect the structural strength of the clamp body 22, and will also increase the risk of force deviation of the clamp body 22, affecting the accuracy of its clamping of the bobbin.

[0049] More specifically, a bracket 212 protrudes outward from the sliding base 21 , and the matching portion 211 is installed on the bracket 212 .

[0050] By installing the matching portion 211 on the bracket 212 protruding from the sliding base 21, a certain distance can be provided between the sliding portion of the sliding base 21 and the guide member 30, so that the sliding path of the sliding base 21 relative to the mounting base 10 can be longer, which is more conducive to the position adjustment of the clamping claw 20. In addition, the protruding bracket 212 occupies less space and does not affect the arrangement of other structures, thereby improving the compactness of the structure of the clamping claw device 100 of the yarn throwing robot arm.

[0051] Specifically in some embodiments of the present application, the matching portion 211 includes a bearing, the guide portion 31 includes a guide groove, and the outer periphery of the bearing matches with the inner wall of the guide groove.

[0052] The bearing structure has high strength and has a rotating outer peripheral surface, so when it moves in coordination with the inner wall of the guide groove, the friction between the two is smaller, the movement is easier, and it is not easy to be damaged.

[0053] In other embodiments, the matching portion 211 may also be replaced by other rotating structures, such as a rotating column, a rotating ball, etc. Of course, the matching portion 211 may not rotate.

[0054] In some embodiments, the guide portions 31 include at least two guide portions 31 spaced apart from each other, and the matching portion 211 of each clamping jaw 20 matches with a corresponding guide portion 31 .

[0055] By providing at least two spaced guide portions 31 and arranging each guide portion 31 in one-to-one correspondence with each matching portion 211 , the reliability of the guidance can be improved and the guided movements between the slidable clamping jaws 20 will not interfere with each other.

[0056] Furthermore, at least two guide portions 31 are symmetrically arranged relative to the center line of the guide member 30 , and the output end of the driving member 40 is connected to the middle of the guide member 30 .

[0057] By arranging a plurality of guide parts 31 symmetrically and connecting the output end of the driving member 40 to the middle of the guiding member 30 , when the driving member 40 drives the guiding member 30 to move, the forces on both sides of the guiding member 30 are uniform, thereby making the guiding process smoother.

[0058] Specifically in the embodiment of the present application, the guide parts 31 include two, the matching parts 211 of the two clamping jaws 20 correspond to the two guide parts 31 one by one, the two guide parts 31 are symmetrically arranged relative to the center line of the guide member 30, and the output end of the driving member 40 is connected to the middle part of the guide member 30.

[0059] In some embodiments, the guide member 30 extends along the third direction and is located on the same side of the plurality of clamping jaws 20 , and the first direction, the second direction and the third direction intersect each other.

[0060] Specifically, the third direction is Figure 3 a3 direction shown.

[0061] By setting the guide member 30 to extend along the third direction so as to intersect with the sliding direction of the clamp 20 and the moving direction of the guide member 30 itself, the space in other directions can be fully utilized to guide the clamp 20, thereby expanding the sliding range of the clamp 20 in a limited space.

[0062] Specifically, the guide portion 31 also extends along the third direction.

[0063] In an embodiment of the present application, when the clamping jaws 20 include three, and the two clamping jaws 20 on both sides are slidable relative to the mounting seat 10, and the middle clamping jaw 20 is fixed relative to the mounting seat 10, the guide member 30 and the two sliding guide rails 11 on the mounting seat 10 corresponding to the two clamping jaws 20 on both sides are arranged in a triangle.

[0064] In some embodiments, the driving member 40 and the plurality of clamping jaws 20 are disposed on the same side of the mounting base 10 , and the driving member 40 is located between the plurality of clamping jaws and the mounting base 10 .

[0065] In this way, the interference of the driver 40 with the positions of other components can be reduced.

[0066] In order to make the driving member 40 drive the guide member 30 to move more smoothly, a movable push plate is provided at the output end of the driving member 40 , and the movable push plate is connected to the guide member 30 .

[0067] By providing a movable push plate, the connection area between the driving member 40 and the guide member 30 can be increased, thereby improving the stability of movement.

[0068] Furthermore, a slide groove may be provided on the mounting seat 10, and the guide member 30 may be provided with a corresponding slider. The slide groove and the slider cooperate with each other to guide the guide member 30 to move along the second direction.

[0069] Based on the same inventive concept, the present application also provides a yarn throwing robot arm, comprising the yarn throwing robot arm clamping device 100 in any of the above embodiments.

[0070] Specifically, the yarn throwing robot arm further comprises an arm body, and the yarn throwing robot arm clamping device 100 is connected to the arm body.

[0071] Furthermore, the arm body may include a plurality of rotating arms, the plurality of rotating arms are connected in sequence, and any two rotating arms are rotationally connected, and the yarn throwing robot arm clamping device 100 may be arranged on the rotating arm at the end.

[0072] By providing a plurality of rotating arms, the yarn throwing robot arm can be rotated to drive the yarn throwing robot arm clamping device 100 to perform corresponding operations at a plurality of workstations, such as grabbing the bobbin, throwing the bobbin, etc.

[0073] The yarn throwing robot arm of the embodiment of the present application can start the driving member 40 to drive the guide member 20 to move along the second direction when it is necessary to adjust the positions of all the current jaws 20 to adapt to the current yarn library, thereby driving at least two jaws 20 to slide along the first direction to change the relative positions between the multiple jaws 20, thereby adapting to the current yarn library, so that the yarn throwing process of the robot arm to the yarn library is reliable.

[0074] Based on the same inventive concept, the present application also provides a yarn throwing robot, including the yarn throwing robot arm in any of the above embodiments.

[0075] The yarn throwing robot of the embodiment of the present application can start the driving member 40 to drive the guide member 20 to move along the second direction when it is necessary to adjust the positions of all the current jaws 20 to adapt to the current yarn library, thereby driving at least two jaws 20 to slide along the first direction to change the relative positions between the multiple jaws 20, thereby adapting to the current yarn library, so that the robot arm can reliably throw yarn into the yarn library.

[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A yarn throwing robot arm clamping device, characterized in that: include: Mounting seat; A plurality of clamping jaws are all disposed on one side of the mounting seat, and the bottoms of at least two of the clamping jaws are slidably disposed on the mounting seat along a first direction; A guide member, arranged on the mounting seat; as well as a driving member, mounted on the mounting seat and connected to the guide member, for driving the guide member to move relative to the mounting seat along a second direction intersecting the first direction; Wherein, the guide member is connected to the slidable clamping claw so as to guide the clamping claw to slide relative to the mounting seat during the movement relative to the mounting seat.

2. The yarn throwing robot arm clamping device according to claim 1 is characterized in that: The guide member is provided with a guide portion, and the slidable clamping jaw is provided with a matching portion, and the guide portion matches with the matching portion to guide the clamping jaw to slide relative to the mounting seat.

3. The yarn throwing robot arm clamping device according to claim 2 is characterized in that: The clamping claw comprises a sliding base and a clamping claw body, one side of the sliding base is slidably connected to the mounting seat, and the clamping claw body is arranged on a side of the sliding base away from the mounting seat; The sliding base is provided with a bracket protruding outwardly, and the matching portion is installed on the bracket.

4. The yarn throwing robot arm clamping device according to claim 3 is characterized in that: The matching portion includes a bearing, the guiding portion includes a guiding groove, and the outer periphery of the bearing matches with the inner wall of the guiding groove.

5. The yarn throwing robot arm clamping device according to claim 2, characterized in that: The guide parts include at least two guide parts which are arranged at intervals, and the matching part of each clamping jaw matches with a corresponding guide part.

6. The yarn throwing robot arm clamping device according to claim 5, characterized in that: At least two of the guide parts are symmetrically arranged relative to the center line of the guide member, and the output end of the driving member is connected to the middle part of the guide member.

7. The yarn throwing robot arm clamping device according to any one of claims 1 to 6, characterized in that: At least one of the plurality of clamps is fixed to the mounting seat.

8. The yarn throwing robot arm clamping device according to any one of claims 1 to 6, characterized in that: The guide member extends along a third direction and is located on a same side of the plurality of clamping jaws, and the first direction, the second direction and the third direction intersect each other.

9. A yarn throwing robot arm, characterized in that: It comprises a yarn throwing robot arm clamping device as described in any one of claims 1 to 8.

10. A yarn throwing robot, characterized in that: It comprises the yarn throwing robot arm as claimed in claim 9.

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