Clamping jaw and composite robot

Abstract

The clamping jaw comprises a first installation part and at least one set of grabbing assembly, and each grabbing assembly comprises a second installation part, a first clamping jaw part, a first air cylinder, a plurality of second clamping jaw parts and a plurality of second air cylinders. And the first clamping jaw part and the second clamping jaw part are matched to grab two grabbing parts on the spool. The composite robot comprises a material receiving mechanism, an industrial robot, the clamping jaw and a visual system. The device can be used for taking down the bobbins on the trolley of the electric rotary table (the trolley is full of the material frame connection station), and can also be used for placing the bobbins on the trolley of the electric rotary table (the trolley is empty of the material frame connection station). The bobbin grabbing device has the advantages of being simple and reliable in structure, stable in bobbin grabbing, capable of reducing manual workload and capable of improving efficiency.

Description

Technical Field

[0001] The utility model relates to textile processing, in particular to a clamping claw and a composite robot. Background Art

[0002] In textile processing, yarn is generally wound on a bobbin, and multiple bobbins are put together on the rod of the trolley. By moving the trolley, multiple bobbins can be transferred. Different types of yarns are sometimes equipped with different bobbins. For glass fiber, the bobbins are relatively large, and after the glass fiber is wound, the mass of the bobbins is also relatively heavy. At present, some existing grippers cannot adapt to the bobbins used for glass fiber, and it is difficult to stably grasp and transfer such bobbins. Therefore, the steps of placing the bobbin on the rod of the trolley and removing the bobbin from the rod of the trolley are all done manually. Manually completing these two steps is labor-intensive and inefficient. Utility Model Content

[0003] The present application provides a gripper and a composite robot, which can solve the problems raised in the background technology.

[0004] In the present application, in a first aspect, a clamp is provided, comprising: a first mounting portion and at least one group of gripping components mounted on the first mounting portion; the gripping components comprising:

[0005] A second mounting portion, wherein the first side surface is mounted on the first mounting portion, and the second side surface opposite to the first side surface is provided with a through hole for the top of the yarn supply tube to enter;

[0006] A first clamping claw portion is slidably connected to the second mounting portion and forms a gripping position with a second side surface of the second mounting portion;

[0007] A first cylinder drives the first clamping jaw to slide;

[0008] A plurality of second clamping claws, movably connected to a position between the first side surface and the second side surface of the second mounting portion, and arranged in a circular array around the axis of the through hole;

[0009] The second cylinder drives the plurality of the second clamping jaws to move synchronously, thereby achieving the grasping and releasing of the plurality of the second clamping jaws.

[0010] Furthermore, the grabbing components are divided into two groups.

[0011] Furthermore, it also includes: two pneumatic slides, which are respectively installed on the first installation parts, and the second installation parts of the two groups of grabbing components are respectively installed on the two pneumatic slides, so that the distance between the two groups of grabbing components is adjustable.

[0012] Furthermore, the plurality of second clamping jaws slide along the radial direction of the through hole.

[0013] Furthermore, a connecting strip is hingedly provided between the second cylinder and the plurality of second clamping jaws.

[0014] In the second aspect of the present application, a composite robot is provided, characterized in that it includes:

[0015] Material receiving mechanism with an electric turntable for the trolley to be placed;

[0016] The tracking trolley drives the material receiving structure to move;

[0017] An industrial robot installed on the material receiving mechanism;

[0018] The gripper of the first aspect is mounted on the industrial robot;

[0019] A visual system is installed on the industrial robot.

[0020] In summary, in the present application, the clamp includes a first installation and at least one group of grabbing components, and the grabbing components include a second installation part, a first clamp part, a first cylinder, a plurality of second clamp parts and a plurality of second cylinders. The first clamp part and the second clamp part cooperate to grab the two grabbing parts on the yarn tube. The composite robot includes a material receiving mechanism, an industrial robot, the above-mentioned clamp and a visual system. It can be responsible for removing the yarn tube from the trolley of the electric turntable (full material rack docking station), and can also place the yarn tube on the trolley of the electric turntable (empty material rack docking station). The beneficial effects are: simple and reliable structure, stable yarn tube grabbing, reduced manual workload and improved efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0022] Figure 1 is a schematic diagram of the gripper;

[0023] Figure 2 A schematic diagram of the arrangement between the second cylinder and the second clamping jaw portion;

[0024] Figure 3 is a schematic diagram of a yarn tube;

[0025] Figure 4 It is a cross-sectional view after the gripper grabs the yarn tube;

[0026] Figure 5 for Figure 4 A magnified schematic diagram of part A;

[0027] Figure 6 is a schematic diagram of a composite robot;

[0028] Figure 7 Schematic diagram of the industrial robot and gripper setup.

[0029] In the figure,

[0030] 1. A first mounting portion;

[0031] 2. Grabbing assembly; 2a. Second mounting portion; 2a1. Through hole; 2a2. Mounting tube; 2a3. End cover; 2a4. First slider; 2b. First clamping jaw portion; 2b1. Optical axis; 2b2. Connecting plate; 2c. First cylinder; 2d. Second clamping jaw portion; 2e. Second cylinder; 2e1. Second slider; 2e2. Connecting strip;

[0032] 3. Pneumatic slide table;

[0033] 4. yarn tube; 4a. first grabbing part; 4b. second grabbing part;

[0034] 5. Material receiving mechanism; 5a. Electric turntable; 5a1. Groove;

[0035] 6. Tracking car;

[0036] 7. Industrial robots;

[0037] 8. Visual system. DETAILED DESCRIPTION

[0038] The following is further explained in conjunction with the accompanying drawings. Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0039] See also Figure 1 and Figure 3 A clamp comprises a first mounting portion and at least one group of grabbing components 2, wherein the grabbing components 2 are mounted on the first mounting portion 1.

[0040] The grabbing assembly is used to grab the yarn tube 4 placed on the trolley. Specifically, the top of the yarn tube 4 is a stepped first grabbing part 4a, and there is a second annular grabbing part 4b near the top; the yarn tube 4 also has a through hole along the axis, and multiple horizontal sleeve rods are arranged on both sides of the trolley. The through hole of the yarn tube 4 and the sleeve rod are transitionally matched and inserted into the sleeve rod to complete the installation of the yarn tube 4 on the trolley.

[0041] Considering the weight of the yarn wound on the yarn bobbin 4, preferably, the grabbing assembly 2 is composed of two groups, that is, the clamping claws can grab two yarn bobbins 4 at one time.

[0042] See also Figure 1 and Figure 4 The gripping assembly 2 includes a second mounting portion 2a, a first clamping jaw portion 2b, a first cylinder 2c, a plurality of second clamping jaw portions 2d and a plurality of second cylinders 2e.

[0043] The first side surface of the second mounting portion 2a is used for mounting on the first mounting portion 1, and the second side surface opposite to the first side surface has a through hole 2a1 for the top of the yarn tube 4 to enter, that is, for the stepped first grabbing portion 4a to enter.

[0044] The first clamping claw part 2b is slidably connected to the second mounting part 2a, and forms a gripping position with the second side surface of the second mounting part 2a, and the gripping position is used to grip the second gripping part of the yarn tube 4. That is, the sliding direction of the first clamping part is from the first side surface to the second side surface or from the second side surface to the first side surface along the second mounting part 2a. Specifically, two groups of linear bearings can be fixedly connected to the second mounting part 2a, and each group of axial bearings is slidably connected to an optical axis 2b1, and the first clamping claw part 2b is in an arc shape, and is fixedly connected to one end of these optical axes 2b1 passing through the second side surface of the second mounting part 2a.

[0045] The first cylinder 2c drives the first clamping claw 2b to slide, that is, the first cylinder 2c controls the gripping and releasing of the above-mentioned gripping position. Specifically, the other end of the above-mentioned optical axis 2b1 passes through the first side surface of the second mounting portion 2a and is fixedly connected with an arc-shaped connecting plate 2b2, the cylinder body of the first cylinder 2c is fixedly connected to the bottom surface of the second mounting portion 2a, and the piston rod is fixedly connected to the connecting plate 2b2.

[0046] The plurality of second clamping claws 2d are movably connected between the first side surface and the second side surface of the second mounting portion 2a, and are arranged in a circular array around the axis of the through hole 2a1. That is, the stepped first grasping portion 4a on the yarn tube 4 is grasped by the plurality of second clamping claws 2d.

[0047] See also Figure 2 , Figure 4 and Figure 5The second clamping jaw portion 2d may be L-shaped, and the movable connection between the second mounting portion 2a may be a hinge or a sliding connection. Preferably, the second clamping jaw portion 2d and the second mounting portion 2a are connected by sliding, and the sliding direction is along the radial direction of the through hole 2a1. Specifically, a mounting cylinder 2a2 is fixedly provided on the second mounting portion 2a, and an end of the mounting cylinder 2a2 close to the through hole 2a1 is detachably connected to an end cover 2a3; the end cover 2a3 is provided with an extension portion of the same number as the second clamping jaw portion 2d, and the extension portion is provided with a slide groove connected to the end cover 2a3, and a first slider 2a4 is slidably connected in the slide groove, and a portion of the first slider 2a4 passes through the end surface of the end cover 2a3 close to the through hole 2a1 for fixed connection with the second clamping jaw portion 2d. Compared with the hinge, the sliding requires less space and is more convenient to set up.

[0048] The second cylinder 2e drives the multiple second clamping jaws 2d to move synchronously, so as to realize the grasping and releasing of the multiple second clamping jaws 2d. The second clamping jaws 2d are connected to the sliding part, and a groove pin pair can be set between the piston rod of the second cylinder 2e and the first slider 2a4, or a connecting strip 2e2 can be hingedly set. Both settings can convert the linear motion of the piston rod along the axial direction of the through hole 2a1 into the linear motion of the second clamping jaws 2d along the radial direction of the through hole 2a1. Preferably, a connecting strip 2e2 is hingedly set between the second cylinder 2e and the multiple second clamping jaws 2d.

[0049] Specifically, the second slider 2e1 can be slidably connected in the mounting tube 2a2, the cylinder body of the second cylinder 2e is fixedly connected to the second mounting part 2a, the piston rod extends into the mounting tube 2a2 and is fixedly connected to the second slider 2e1, and the two ends of the connecting strip 2e2 are respectively hinged to the first slider 2a4 and the second slider 2e1.

[0050] See also Figure 1 In some embodiments, the gripping components 2 are combined into two groups, and the gripper further includes two pneumatic slides 3. The two pneumatic slides 3 are respectively mounted on the first mounting portion 1, and the second mounting portions 2a of the two groups of gripping components 2 are respectively mounted on the two pneumatic slides 3, so that the spacing between the two groups of gripping components 2 is adjustable.

[0051] In this way, the distance between the two groups of grabbing components 2 can be adjusted to accommodate two yarn tubes 4 with different distances.

[0052] See also Figure 6 and Figure 7 A composite robot comprises a material receiving mechanism 5, an industrial robot 7, the above-mentioned gripper and a visual system 8.

[0053] The material receiving mechanism 5 has an electric turntable 5a for placing the trolley. Specifically, the electric turntable 5a is concave and can be driven to rotate by a servo motor. The top surfaces of the two sides of the notch are provided with grooves 5a1, and the trolley is placed in the two grooves 5a1.

[0054] The tracking trolley 6 drives the material receiving mechanism 5 to move, that is, the material receiving structure is installed on the tracking trolley 6. Specifically, an AGV tracking trolley 6 can be used to enable the composite robot to move between a full rack docking station and an empty rack docking station.

[0055] The industrial robot 7 is installed on the material receiving mechanism 5 .

[0056] The gripper is mounted on the industrial robot 7, that is, the gripper is driven by the industrial robot 7 to move close to the trolley.

[0057] The visual system 8 is installed on the industrial robot 7, identifies the sleeve rod on which the yarn supply bobbin 4 on the trolley is installed or the yarn bobbin 4 installed on the sleeve rod, and controls the movement of the industrial robot 7, that is, controls the movement of the gripper.

[0058] The composite robot can be responsible for taking the bobbin 4 off the trolley of the electric turntable 5a (full rack docking station), or placing the bobbin 4 on the trolley of the electric turntable 5a (empty rack docking station). When one side of the trolley completes the corresponding operation, the electric rotation rotates to change the side of the trolley.

Claims

1. A clamping jaw, comprising: A first mounting portion (1) and at least one group of gripping components (2) mounted on the first mounting portion (1); characterized in that the gripping components (2) comprise: A second mounting portion (2a), a first side surface of which is mounted on the first mounting portion (1), and a second side surface opposite to the first side surface is provided with an outlet hole (2a1) for the top of the yarn supply tube (4) to enter; A first clamping claw portion (2b) is slidably connected to the second mounting portion (2a) and forms a gripping position with a second side surface of the second mounting portion (2a); A first cylinder (2c) drives the first clamping claw portion (2b) to slide; A plurality of second clamping claw portions (2d) movably connected to a position between the first side surface and the second side surface of the second mounting portion (2a) and arranged in a circular array around the axis of the through hole (2a1); The second cylinder (2e) drives the plurality of second clamping claw parts (2d) to move synchronously, thereby achieving the grasping and releasing of the plurality of second clamping claw parts (2d).

2. A clamping jaw according to claim 1, characterized in that: The grabbing components (2) are divided into two groups.

3. A clamping jaw according to claim 2, characterized in that: It also comprises: two pneumatic slides (3) respectively mounted on the first mounting parts (1); the second mounting parts (2a) of the two groups of grabbing assemblies (2) are respectively mounted on the two pneumatic slides (3), so that the distance between the two groups of grabbing assemblies (2) is adjustable.

4. A clamping jaw according to claim 1, characterized in that: The plurality of second clamping claws (2d) slide along the radial direction of the through hole (2a1).

5. A clamping jaw according to claim 4, characterized in that: A connecting strip (2e2) is hingedly provided between the second cylinder (2e) and the plurality of second clamping claws (2d).

6. A composite robot, characterized in that: include: A material receiving mechanism (5) having an electric turntable (5a) for placing a trolley; The tracking trolley (6) drives the material receiving structure to move; An industrial robot (7) installed on the material receiving mechanism (5); The gripper according to any one of claims 1 to 5, mounted on the industrial robot (7); A visual system (8) is installed on the industrial robot (7).

Images