Servo variable-pitch clamp

Abstract

The servo variable-pitch clamp comprises a rack, a linear guide rail, a pitch adjusting mechanism and a driving assembly are arranged on the rack, four moving seats are connected to the linear guide rail in a sliding mode, and the four moving seats are the first moving seat, the second moving seat, the third moving seat and the fourth moving seat in sequence in the length direction of the rack; the distance adjusting mechanism comprises a first two-way lead screw and a second two-way lead screw which are rotationally arranged on the rack, and two sections of rod bodies, opposite in thread rotation direction, of the first two-way lead screw and the second two-way lead screw are both in threaded connection with connecting bases. The first moving seat and the second moving seat are detachably arranged on the first two-way screw rod through connecting seats, and the second moving seat and the third moving seat are detachably arranged on the second two-way screw rod through connecting seats. The spinning cake transfer device has the effect of improving the spinning cake transfer efficiency.

Description

Technical Field

[0001] This application relates to the technical field of the textile industry, and in particular to a servo variable pitch clamp. Background Technology

[0002] In textile production, yarn cakes (i.e., bobbins fully wound with yarn) serve as the finished product carrier in the spinning process and are typically stored and transported using multi-layer stacking. According to warehousing regulations, partitions must be installed between each layer of yarn cakes to physically separate them and prevent the yarn from being squeezed and deformed between layers. When it is necessary to transfer the yarn cakes to the warping machine for subsequent processing, a robotic arm equipped with a special clamp is usually used to perform the gripping, transfer, and yarn hanging operations.

[0003] Currently, traditional clamps are usually equipped with multiple clamping components to simultaneously grip multiple yarn cakes. However, different textile manufacturing companies use different stacking rack specifications, meaning that the center distance between two adjacent yarn cakes is different. Before use, workers need to adjust the relative positions between the clamping components according to the center distance of the yarn cakes. During adjustment, the positioning components need to be manually disassembled, repeatedly measured and calibrated, and then the positioning components need to be re-locked. The entire adjustment process takes a lot of time, which prolongs the transfer time of the yarn cakes and reduces the transfer efficiency of the yarn cakes, resulting in obvious shortcomings. Utility Model Content

[0004] To improve the transfer efficiency of the silk cake, this application provides a servo variable pitch clamp.

[0005] The servo-controlled variable pitch fixture provided in this application adopts the following technical solution:

[0006] A servo variable pitch fixture includes a frame, on which a linear guide rail is provided, and four movable seats are slidably connected to the linear guide rail. The four movable seats are sequentially arranged as a first movable seat, a second movable seat, a third movable seat, and a fourth movable seat along the length direction of the frame, and each movable seat is provided with a gripping component.

[0007] An adjusting mechanism includes a first bidirectional lead screw and a second bidirectional lead screw rotatably mounted on the frame. Both the first and second bidirectional lead screws are parallel to the length direction of the frame. Connecting seats are threaded onto two sections of the first and second bidirectional lead screws with opposite thread directions. A first movable seat and a second movable seat are detachably mounted on the first bidirectional lead screw via the connecting seats. A second movable seat and a third movable seat are detachably mounted on the second bidirectional lead screw via the connecting seats.

[0008] A drive assembly for driving the first bidirectional lead screw and the second bidirectional lead screw to rotate.

[0009] By adopting the above technical solution, when it is necessary to adjust the clamping components according to the center distance of the yarn cake, the drive component drives the first bidirectional lead screw and the second bidirectional lead screw to rotate. Under the guidance and limitation of the linear guide rail, the rotation of the first bidirectional lead screw drives the first moving seat and the fourth moving seat to move relative to or away from each other, and the rotation of the second bidirectional lead screw drives the second moving seat and the third moving seat to move relative to or away from each other, thereby realizing the adjustment of the spacing between multiple clamping components, so that the clamp matches the center distance of different stack types of yarn cakes. Compared with manual adjustment, the setting of the spacing adjustment mechanism realizes the automated and rapid operation of the adjustment process, thereby improving the transfer efficiency of the yarn cake.

[0010] Optionally, the drive assembly includes a servo motor mounted on the frame, with an active synchronous pulley coaxially mounted on the output shaft of the servo motor, and driven synchronous pulleys coaxially mounted on the ends of the first and second bidirectional lead screws, with a synchronous belt sleeved on the outer surfaces of the active and driven synchronous pulleys.

[0011] By adopting the above technical solution, when adjustment is required, the servo motor starts and drives the active synchronous wheel to rotate. The active synchronous wheel drives the two driven synchronous wheels to rotate through the transmission action of the synchronous belt. The driven synchronous wheels drive the first bidirectional lead screw and the second bidirectional lead screw to rotate, thereby realizing the adjustment of the distance between multiple gripping components. This setting realizes the synchronous rotation of the first bidirectional lead screw and the second bidirectional lead screw, thereby achieving precise and symmetrical adjustment of the distance between the gripping components and effectively avoiding the problem of adjustment error of the gripping components caused by asynchronous rotation.

[0012] Optionally, the clamping assembly includes a gear rotatably disposed within the movable seat, with rack plates meshing at opposite ends of the gear, and a clamping plate disposed on each rack plate. The clamping plates are slidably connected to the movable seat, and a clamping cylinder is disposed on the movable seat to drive the gear to rotate.

[0013] By adopting the above technical solution, when it is necessary to clamp the wire drum, the clamping cylinder drives the gear to rotate, the gear drives the rack plate to move in a direction away from each other, and the rack plate drives the clamping plate to abut against the inner wall of the wire drum, thereby realizing the clamping of the wire drum.

[0014] Optionally, the movable seat is provided with slide rails that correspond one-to-one with the two gripping plates, and each slide rail is slidably connected with a slider, and the gripping plate is disposed on the slider corresponding to the slide rail.

[0015] By adopting the above technical solution, under the guidance and limitation of the slider and the slide rail, the clamping plate can only move along the length direction of the slide rail, which improves the stability of the clamping assembly when clamping the wire drum and ensures the smooth progress of the clamping process.

[0016] Optionally, the frame is provided with sponge suction cups.

[0017] By adopting the above technical solution, after all the yarn cakes on the partition are grabbed, the sponge suction cups pick up the partition after the robotic arm flips, thereby realizing the automatic sorting and storage of the partition and realizing the mechanical automation of the yarn cake loading process.

[0018] Optionally, a vision camera is provided at the end of the frame away from the sponge suction cup, and the vision camera is electrically connected to the servo motor through a control system.

[0019] By adopting the above technical solution, the vision camera can monitor the relative position of the clamping component and the silk cake in real time before clamping the silk cake. If a positional deviation is found between the silk cake and the clamping component, it will be immediately fed back to the control system for dynamic correction. The control system will control the servo motor to ensure that each clamping component can be accurately aligned with the center of the silk cake, avoiding clamping failure caused by the offset of the clamping component, thereby further improving the transfer efficiency of the silk cake.

[0020] Optionally, the frame is provided with overtravel proximity switches corresponding one-to-one with the plurality of movable seats, and the overtravel proximity switches are electrically connected to the servo motor through the control system.

[0021] By adopting the above technical solution, when the moving seat moves to the limit position during the adjustment process, the over-travel proximity switch can detect the position of the moving seat in real time and immediately feed back to the control system to shut down the servo motor, so as to prevent the moving seat from falling off the linear guide rail due to excessive movement, and effectively prevent mechanical damage and safety accidents.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] 1. This application, by setting an adjustment mechanism and a drive component, when it is necessary to adjust the clamping components according to the center distance of the yarn cake, the drive component drives the first bidirectional lead screw and the second bidirectional lead screw to rotate. Under the guidance and limitation of the linear guide rail, the rotation of the first bidirectional lead screw drives the first moving seat and the fourth moving seat to move relative to or away from each other, and the rotation of the second bidirectional lead screw drives the second moving seat and the third moving seat to move relative to or away from each other, thereby realizing the adjustment of the spacing between multiple clamping components, so that the clamp matches the center distance of different stack types of yarn cakes. Compared with manual adjustment, the setting of the adjustment mechanism realizes the automated and rapid operation of the adjustment process, thereby improving the transfer efficiency of the yarn cake;

[0024] 2. By setting up sponge suction cups, after all the yarn cakes on the partition are grabbed, the sponge suction cups pick up the partition after the robotic arm flips, thereby realizing the automatic sorting and storage of the partition and realizing the mechanical automation of the yarn cake loading process.

[0025] 3. By setting up a vision camera, this application can monitor the relative position of the clamping component and the silk cake in real time before clamping the silk cake. If a positional deviation is found between the silk cake and the clamping component, it will immediately feed back to the control system for dynamic correction. The control system will control the servo motor to ensure that each clamping component can be accurately aligned with the center of the silk cake, avoiding clamping failure caused by the offset of the clamping component, thereby further improving the transfer efficiency of the silk cake. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this application.

[0027] Figure 2 This is a schematic diagram of the adjusting mechanism in the embodiments of this application.

[0028] Figure 3 This is a schematic diagram of the gripping component in an embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the slide rail and slider in the embodiments of this application.

[0030] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Linear guide rail; 3. Moving seat; 31. First moving seat; 32. Second moving seat; 33. Third moving seat; 34. Fourth moving seat; 4. Adjustment mechanism; 5. Drive assembly; 6. Clamping assembly; 41. First bidirectional lead screw; 42. Second bidirectional lead screw; 43. Connecting seat; 51. Servo motor; 52. Active synchronous pulley; 53. Driven synchronous pulley; 54. Synchronous belt; 7. Vision camera; 8. Overtravel proximity switch; 61. Gear; 62. Rack plate; 63. Clamping plate; 64. Clamping cylinder; 9. Slide rail; 91. Slider; 10. Sponge suction cup. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0032] This application discloses a servo variable pitch fixture.

[0033] Reference Figure 1 and Figure 2 A servo variable pitch gripper includes a frame 1 for connecting to the free end of a robot arm. The frame 1 is provided with a linear guide rail 2, a pitch adjustment mechanism 4, and a drive assembly 5. The linear guide rail 2 is fixedly installed on the frame 1 and parallel to the frame 1. Four movable seats 3 are slidably connected to the linear guide rail 2 along its length direction, namely a first movable seat 31, a second movable seat 32, a third movable seat 33, and a fourth movable seat 34. Each movable seat 3 is provided with a gripping assembly 6.

[0034] Reference Figure 1 and Figure 2The adjusting mechanism 4 includes a first bidirectional lead screw 41 and a second bidirectional lead screw 42 rotatably connected to the frame 1. Both the first bidirectional lead screw 41 and the second bidirectional lead screw 42 are parallel to the length direction of the frame 1. Both sections of the first bidirectional lead screw 41 and the second bidirectional lead screw 42 with opposite thread directions are threaded with connecting seats 43. In this embodiment, the connecting seat 43 includes a sliding seat (not shown in the figure) and a connecting rod (not shown in the figure). The sliding seat is slidably connected to the frame 1. One end of the connecting rod is fixedly connected to the sliding seat, and the other end is detachably connected to the movable seat 3 by a hexagonal bolt. The connecting rod is parallel to the length direction of the frame 1. The first movable seat 31 and the second movable seat 32 are detachably connected to the first bidirectional lead screw 41 through the connecting seat 43. The second movable seat 32 and the third movable seat 33 are detachably connected to the second bidirectional lead screw 42 through the connecting seat 43.

[0035] Reference Figure 1 and Figure 2 The drive assembly 5 includes a servo motor 51 fixedly mounted at the end of the frame 1. The output shaft of the servo motor 51 is coaxially fixedly connected to an active synchronous pulley 52. ​​The ends of the first bidirectional lead screw 41 and the second bidirectional lead screw 42 are both fixedly connected to driven synchronous pulleys 53. The outer surfaces of the active synchronous pulley 52 and the driven synchronous pulley 53 are jointly fitted with a synchronous belt 54.

[0036] Reference Figure 1 and Figure 2 A vision camera 7 is fixedly installed at the end of the frame 1. The vision camera 7 is located at the center of the frame 1 and is electrically connected to the servo motor 51 through the control system.

[0037] Before gripping the silk cake, the vision camera 7 monitors the relative position of the gripping component 6 and the silk cake in real time. When a positional deviation is detected between the silk cake and the gripping component 6, it immediately feeds back to the control system for dynamic correction. The control system controls the servo motor 51 to start, and the servo motor 51 drives the active synchronous wheel 52 to rotate. The active synchronous wheel 52 drives the two driven synchronous wheels 53 to rotate through the transmission action of the synchronous belt 54. The driven synchronous wheels 53 drive the first bidirectional lead screw 41 and the second bidirectional lead screw 42 to rotate. Under the guidance and limitation of the linear guide rail 2, the rotation of the first bidirectional lead screw 41 drives the first moving seat 31 and the fourth moving seat 34 to move relative to or away from each other. The rotation of the second bidirectional lead screw 42 drives the second moving seat 32 and the third moving seat 33 to move relative to or away from each other. This achieves the adjustment of the spacing between the multiple gripping components 6, so that the clamp matches the center distance of different stack types of silk cakes. Compared with manual adjustment, the setting of the spacing adjustment mechanism 4 realizes the automated and rapid operation of the adjustment process, thereby improving the transfer efficiency of the silk cake.

[0038] Reference Figure 1 and Figure 2The frame 1 is fixedly equipped with overtravel proximity switches 8 corresponding to the four moving seats 3 one by one. The overtravel proximity switches 8 are electrically connected to the servo motor 51 through the control system. When the moving seat 3 moves to the limit position during the adjustment process, the overtravel proximity switch 8 can detect the position of the moving seat 3 in real time and immediately feed back to the control system to shut down the servo motor 51, so as to prevent the moving seat 3 from falling off the linear guide 2 due to excessive movement, and effectively prevent mechanical damage and safety accidents.

[0039] Reference Figure 3 and Figure 4 The clamping assembly 6 includes a gear 61 rotatably connected in the movable seat 3. Both ends of the gear 61 are meshed with rack plates 62. The two rack plates 62 are arranged parallel to each other. Each rack plate 62 is fixedly connected with a clamping plate 63. The clamping plate 63 is slidably connected to the movable seat 3. The movable seat 3 is equipped with a clamping cylinder 64 that drives the gear 61 to rotate.

[0040] After the adjustment mechanism 4 is adjusted, the robot arm drives multiple clamping components 6 to extend into the mounting hole of the yarn cylinder. Then, the clamping cylinder 64 drives the gear 61 to rotate, and the gear 61 drives the rack plate 62 to move in a direction away from each other. The rack plate 62 drives the clamping plate 63 to abut against the inner wall of the yarn cylinder, thereby realizing the clamping of the yarn cylinder.

[0041] Reference Figure 3 and Figure 4 To further improve the stability of the gripping, the movable seat 3 is fixedly installed with slide rails 9 corresponding to the two gripping plates 63 one by one. Each slide rail 9 is slidably connected with a slider 91. The gripping plate 63 is fixedly connected to the slider 91 of the corresponding slide rail 9. This ensures that the gripping plate 63 remains stable during movement and reduces the risk of shaking and tilting.

[0042] Reference Figure 1 and Figure 2 A sponge suction cup 10 is fixedly connected to the end of the frame 1 away from the vision camera 7. In this embodiment, the sponge suction cup 10 is controlled by a solenoid valve. After all the yarn cakes on the partition are grabbed, the sponge suction cup 10 picks up the partition after the robotic arm flips, thereby realizing the automatic sorting and storage of the partition and realizing the mechanical automation of the yarn cake loading process.

[0043] The implementation principle of a servo variable-pitch fixture in this application embodiment is as follows: Before clamping the silk cake, the vision camera 7 monitors the relative position of the clamping component 6 and the silk cake in real time. When a positional deviation is detected between the silk cake and the clamping component 6, it immediately feeds back to the control system for dynamic correction. The control system controls the servo motor 51 to start, and the servo motor 51 drives the active synchronous wheel 52 to rotate. The active synchronous wheel 52 drives the two driven synchronous wheels 53 to rotate through the transmission action of the synchronous belt 54. The driven synchronous wheels 53 drive the first bidirectional lead screw 41 and the second bidirectional lead screw 42 to rotate. Under the guidance and limitation of the linear guide rail 2, the rotation of the first bidirectional lead screw 41 drives the first moving seat 31 and the fourth moving seat 34 to move relative to or away from each other. The rotation of the second bidirectional lead screw 42 drives the second moving seat 32 and the third moving seat 33 to move relative to or away from each other, thereby realizing the adjustment of the spacing between multiple clamping components 6, so that the fixture matches the center distance of different stack types of silk cakes. Compared with manual adjustment, the setting of the spacing adjustment mechanism 4 realizes the automated and rapid operation of the adjustment process, thereby improving the transfer efficiency of the silk cake.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A servo-controlled variable pitch fixture, characterized in that, Includes a frame (1), on which a linear guide rail (2) is provided, and four movable seats (3) are slidably connected on the linear guide rail (2). The four movable seats (3) are arranged sequentially along the length direction of the frame (1) as a first movable seat (31), a second movable seat (32), a third movable seat (33), and a fourth movable seat (34). Each movable seat (3) is provided with a clamping component (6). An adjusting mechanism (4) includes a first bidirectional lead screw (41) and a second bidirectional lead screw (42) rotatably mounted on the frame (1). Both the first bidirectional lead screw (41) and the second bidirectional lead screw (42) are parallel to the length direction of the frame (1). Connecting seats (43) are threaded onto the two sections of the first bidirectional lead screw (41) and the second bidirectional lead screw (42) with opposite thread directions. The first movable seat (31) and the second movable seat (32) are detachably mounted on the first bidirectional lead screw (41) via the connecting seats (43). The second movable seat (32) and the third movable seat (33) are detachably mounted on the second bidirectional lead screw (42) via the connecting seats (43). A drive assembly (5) is used to drive the first bidirectional lead screw (41) and the second bidirectional lead screw (42) to rotate.

2. The servo variable pitch fixture according to claim 1, characterized in that, The drive assembly (5) includes a servo motor (51) mounted on the frame (1). The output shaft of the servo motor (51) is coaxially provided with an active synchronous pulley (52). The ends of the first bidirectional lead screw (41) and the second bidirectional lead screw (42) are coaxially provided with driven synchronous pulleys (53). The outer surfaces of the active synchronous pulley (52) and the driven synchronous pulley (53) are jointly fitted with a synchronous belt (54).

3. A servo variable pitch fixture according to claim 1, characterized in that, The clamping assembly (6) includes a gear (61) rotatably disposed in the movable seat (3). Both ends of the gear (61) are meshed with rack plates (62). Each rack plate (62) is provided with a clamping plate (63). The clamping plate (63) is slidably connected to the movable seat (3). The movable seat (3) is provided with a clamping cylinder (64) that drives the gear (61) to rotate.

4. A servo variable pitch fixture according to claim 3, characterized in that, The movable seat (3) is provided with slide rails (9) that correspond one-to-one with the two clamping plates (63). Each slide rail (9) is slidably connected with a slider (91). The clamping plate (63) is set on the slider (91) corresponding to the slide rail (9).

5. A servo variable pitch fixture according to claim 2, characterized in that, The frame (1) is equipped with a sponge suction cup (10).

6. A servo variable pitch fixture according to claim 5, characterized in that, A vision camera (7) is provided at one end of the frame (1) away from the sponge suction cup (10), and the vision camera (7) is electrically connected to the servo motor (51) through the control system.

7. A servo variable pitch fixture according to claim 2, characterized in that, The frame (1) is provided with overtravel proximity switches (8) corresponding one-to-one with the multiple moving seats (3), and the overtravel proximity switches (8) are electrically connected to the servo motor (51) through the control system.

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