CN105386134B - Universal manipulator - Google Patents
Universal manipulator Download PDFInfo
- Publication number
- CN105386134B CN105386134B CN201510883562.XA CN201510883562A CN105386134B CN 105386134 B CN105386134 B CN 105386134B CN 201510883562 A CN201510883562 A CN 201510883562A CN 105386134 B CN105386134 B CN 105386134B
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- Prior art keywords
- guide sleeve
- guided
- horizontally
- vertically directed
- mechanical arm
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Classifications
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D4/00—Spinnerette packs; Cleaning thereof
- D01D4/04—Cleaning spinnerettes or other parts of the spinnerette packs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D13/00—Complete machines for producing artificial threads
- D01D13/02—Elements of machines in combination
Abstract
The present invention relates to a kind of universal manipulator, belong to spinning technical field of auxiliary facilities.It is made up of controlling organization, steering mechanism, guiding mechanism and grasping mechanism, described guiding mechanism includes being vertically directed and horizontally-guided, steering mechanism is connected with horizontally-guided, and the steering mechanism is connected positioned at top, grasping mechanism is vertically directed with horizontally-guided.Apply the present invention to the replacing and cleaning of filament spinning component in spinning moulding, both the installation of filament spinning component had been facilitated, people is farthest avoided to contact with the direct of operating environment, it can realize in grasping mechanism that Component tray is comprehensive, the change of multi-angle position again, be more suitable for the demand of spinning environment.
Description
Technical field
The present invention relates to a kind of universal manipulator, belong to spinning technical field of auxiliary equipment.
Background technology
Filament spinning component is the part that a comparison is crucial in spinning moulding, and in use, the part will be directly with melting
Body contacts, and bears HTHP, the precision of filament spinning component will directly affect spinning moulding, and then influence product quality and spinning
Silk consumption.Therefore, to ensure its precision, filament spinning component needs often to be changed and cleaned.And usual filament spinning component is upper
State processing to carry out at high operating temperatures more, and due to needing to bear high pressure, filament spinning component deadweight is larger, with terylene industrial
Exemplified by silk, component preheating temperature is 320 DEG C or so, and unit replacement needs to carry out at this temperature；A set of component weight assembled
Amount is in 100kg-200kg or so, it usually needs by means of auxiliary equipment.On the other hand, the installation of component is inaccurately easily brought Lou
The problems such as slurry, or even under the high temperature conditions, component stress and deformed damaged.
Based on this, present application is made.
The content of the invention
In order to improve component installation accuracy, labor intensity of operating staff, the problems such as avoiding high temperature from scalding are reduced.The present invention
There is provided it is a kind of can multi-angle turn to, highly with angle can synchronous adjustment, integrate automation and semi-automatic universal machinery
Hand.
To achieve the above object, the technical scheme that the present invention takes is as follows：
Universal manipulator, it is made up of controlling organization, steering mechanism, guiding mechanism and grasping mechanism, described guiding mechanism
Including being vertically directed and horizontally-guided, steering mechanism are connected with horizontally-guided, and the steering mechanism is positioned at being vertically directed top,
Grasping mechanism is connected with horizontally-guided；It is vertically directed and regulates and controls with horizontally-guided by controlling organization, is vertically directed and moves up and down,
Horizontally-guided is then moved forward and backward or rotated, and to realize that the direction of grasping mechanism changes, steering mechanism controlled level is oriented to and vertical
The direction of guiding, steering mechanism and controlling organization are by horizontally-guided and are vertically directed and realize changing for grasping mechanism position and direction
Become.
Further, as preferred：
Described is vertically directed including vertical pole and guide sleeve one, and vertical pole is connected with steering mechanism, guide sleeve
One is movably installed in vertical pole, and the guide sleeve one is connected with horizontally-guided, and guide sleeve one moves up and down along vertical pole,
Drive horizontally-guided to move up and down, and then drive the grasping mechanism being connected with horizontally-guided to move up and down.It is it is furthermore preferred that described
Guide sleeve one be connected with cylinder, controlling organization drives guide sleeve one to move up and down by cylinder.
Described horizontally-guided includes guide sleeve two, mechanical arm and guide rail, and horizontally-guided is by guide sleeve two with leading vertically
To being connected, steering mechanism is connected by guide rail with horizontally-guided, and guide sleeve two is flexibly connected with mechanical arm, guide sleeve two-way
Mechanical arm is crossed with grasping mechanism to be connected.It is furthermore preferred that described guide sleeve two is set in outside mechanical arm, to realize mechanical arm
Stretching or retraction guide sleeve two.
Described steering mechanism includes support and rotating disk, and rotating disk is connected by support with horizontally-guided, and its bottom with
It is vertically directed and is connected, by the rotation of rotating disk, the direction for realize horizontally-guided, being vertically directed changes, and then realizes gripper
The direction of structure changes.
Described grasping mechanism includes Component tray and the spanner of control assembly pallet elasticity.
Described is vertically directed including vertical pole and guide sleeve one, and horizontally-guided includes guide sleeve two, mechanical arm and led
Rail, steering mechanism include support and rotating disk, and grasping mechanism includes Component tray and spanner, and vertical pole top is connected with rotating disk
Connect, guide sleeve one is movably installed in vertical pole, and the guide sleeve one is connected with guide sleeve two, and stent outer is provided with cunning
Rail, slide rail are located in guide rail, and support is connected by slide rail with guide rail, to realize the connection of rotating disk and guide sleeve two；Rotating disk is located at
On support, guide sleeve two is flexibly connected with mechanical arm, and guide sleeve two is connected by mechanical arm with Component tray, spanner then with group
Part pallet is connected, and by the rotation of spanner, realizes the opening and closing of fault of Component tray；Guide sleeve one is along above and below vertical pole
It is mobile, drive guide sleeve two, support, rotating disk, mechanical arm and Component tray to move up and down, the rotation of rotating disk, realize horizontally-guided,
The direction being vertically directed changes, and then realizes that the direction of grasping mechanism changes.
Described guide sleeve one is fixedly connected with guide sleeve two.
Described stent outer is provided with slide rail, and support is connected by slide rail with guide rail, to realize rotating disk and guide sleeve two
Connection.
Apply the present invention to the operation such as replacement, cleaning of filament spinning component, its working principle and beneficial effect is as follows：
1）The change of multi-angle, comprehensive position can be achieved.In this application, the mainly steering mechanism of its manipulation effect
And controlling organization, and realization is by horizontally-guided and is vertically directed, and most this effect is embodied in the group of grasping mechanism at last
In the change of part tray position：The guide sleeve one being vertically directed interfixes with the guide sleeve two of horizontally-guided and is integrally formed formula
Structure, and moving up and down for guide sleeve one is to control cylinder to realize its lifting by controlling organization（Move up and down）, it is oriented to
The drive guide sleeve two of set one moves up and down, and then drives the Component tray of grasping mechanism to move up and down；Mechanical arm can be with guide sleeve
Two occur relative elastic motion, you can change movable in the Component tray horizontal direction of grasping mechanism；Machinery
, in operation, can direct rotary guide sleeve two to be flexibly connected between arm and guide sleeve two, you can realize be vertically directed and
Component tray then carries out front and rear and upper and lower adjustment towards the change of angle in the angle, therefore, Component tray can it is upper,
Under, the enterprising line position of front, rear, left and right six direction put change, so as to realize that grasping mechanism is comprehensive, position adjustment of multi-angle.
2）Angle and height, front and rear synchronous adjustment can be achieved, suitable environment is wide.In operation, due to spinning group
Part local environment is complex, and some environmental operations are more convenient, can directly operation level be oriented to and be vertically directed it is i.e. achievable
The crawl of filament spinning component, however, most operating environment is more narrow, operating space is smaller, in this case, due to perpendicular
The guide sleeve one being directly oriented to is fixedly connected with the guide sleeve two of horizontally-guided, and the Component tray of grasping mechanism is installed on mechanical arm end
End, mechanical arm is flexibly connected with guide sleeve two in stretch mode, and rotating disk is then connected with the vertical pole being vertically directed, and is oriented to
Set one is set on vertical pole outer wall, therefore, rotates rotating disk, you can drive is vertically directed angle change, is vertically directed then band
Angle change occurs for dynamic horizontally-guided, and then drives the change of grasping mechanism angle, when the Component tray of grasping mechanism rotate to
During suitable location, you can rotary spanner, Component tray is captured and is fixed in the inner, then adjusted and be oriented to by controlling organization
Set one, the position of guide sleeve two, you can the installation and dismounting of real filament spinning component.
3）Automation can be achieved to operate with semi-automatic both of which.Guide sleeve two is directly connected with support by guide rail,
And slide rail is then set between guide rail and support, slide rail, guide rail mutual cooperation under, guide sleeve two can be rotated individually, together
Sample, also handle can be set on the outer wall of guide sleeve one, to facilitate it to be rotated manually, in that case, as half certainly
Dynamic direction changes；Also the change of angle by rotating rotating disk, can be vertically directed by driving, to realize horizontally-guided and grab
The change in mechanism direction is taken, two kinds of different modes, that is, realizes semiautomation operation and full-automatic operation, operation is more just
Victory, and operator is facilitated according to the flexible Application under different use environments.
Apply the present invention to the replacing and cleaning of filament spinning component in spinning moulding, both facilitate the installation of filament spinning component,
Farthest avoid people to contact with the direct of operating environment, can realize that Component tray is comprehensive, polygonal in grasping mechanism again
The change of position is spent, is more suitable for the demand of spinning environment.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram at another visual angles of Fig. 1；
Fig. 3 is Fig. 1 top view；
Fig. 4 is Fig. 1 side view；
Fig. 5 is M-M sectional views in Fig. 4；
Fig. 6 is N-N sectional views in Fig. 4.
Label in figure：1. controlling organization；2. steering mechanism；21. support；22. rotating disk；23. slide rail；3. crawl
Mechanism；31. Component tray；32. spanner；4. it is vertically directed；41. guide sleeve one；42. vertical pole；43. cylinder；44.
Pulley one；5. horizontally-guided；51. guide sleeve two；52. mechanical arm；53. handle；54. pulley two；55. catch.
Embodiment
Embodiment 1
The universal manipulator of the present embodiment, with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, by controlling organization 1, steering mechanism 2, Guiding machine
Structure and grasping mechanism 3 are formed, and guiding mechanism includes horizontally-guided 5 and is vertically directed 4, and steering mechanism 2 is connected with horizontally-guided 5
Connect, and the steering mechanism 2 is connected positioned at 4 tops, grasping mechanism 3 is vertically directed with horizontally-guided 5；It is vertically directed 4 and level
It is oriented to 5 by controlling organization 1 to regulate and control, is vertically directed 4 and moves up and down, horizontally-guided 5 is then moved forward and backward or rotated, to realize crawl
The direction of mechanism 3 changes, and the controlled level of steering mechanism 2 is oriented to 5 and is vertically directed 4 direction, steering mechanism 2 and controlling organization 1
By horizontally-guided 5 and it is vertically directed 4 changes for realizing the position and direction of grasping mechanism 3.Specific in the present embodiment, lead vertically
Include vertical pole 42, guide sleeve 1 and cylinder 43 to 4, vertical pole 42 is connected with steering mechanism 4, and guide sleeve 1 is lived
Dynamic to be sleeved in vertical pole 42, referring specifically to shown in Fig. 5, the guide sleeve 1 is connected with horizontally-guided 5, guide sleeve 1
Cylinder 43 is connected with, controlling organization 1 drives guide sleeve 1 to move up and down by cylinder 43, and guide sleeve 1 passes through pulley one
44 are set in vertical pole 42, and can be moved up and down along vertical pole 42, drive horizontally-guided 5 to move up and down, and then drive
The grasping mechanism 3 being connected with horizontally-guided 5 moves up and down.
When the application is applied into filament spinning component installation, mainly steering mechanism 2 and the controlling organization 1 of its manipulation effect,
And realization is by horizontally-guided 5 and is vertically directed 4, and most this effect is embodied in the change of the position of grasping mechanism 3 at last：
It is vertically directed 4 guide sleeve 1 to interfix with horizontally-guided, and moving up and down for guide sleeve 1 is by controlling organization 1
Cylinder 43 is controlled to realize its lifting（Move up and down）, guide sleeve 1 drives horizontally-guided 5 to move up and down, and then drives and grab
Mechanism 3 is taken to move up and down；Horizontally-guided 5 is movable, you can changes in the horizontal direction movable of grasping mechanism 3.
When the operating space of filament spinning component position is smaller, it is fixedly connected due to being vertically directed 4 with horizontally-guided 5,
Grasping mechanism 3 is connected with horizontally-guided 5, and steering mechanism 2 is then connected with being vertically directed 4 vertical pole 42, guide sleeve
One 41 are set on the outer wall of vertical pole 42, therefore, start steering mechanism 2, you can drive is vertically directed 4 angle changes, vertically
Being oriented to 4 then drives horizontally-guided 5 that angle change occurs, and then drives the change of the angle of grasping mechanism 3, when grasping mechanism 3 rotates
During to suitable location, filament spinning component is fastened, then position, the horizontally-guided for being vertically directed 4 vertical directions are adjusted by controlling organization 1
The position of 5 horizontal directions, you can the installation and dismounting of real filament spinning component.
The present embodiment is applied to the replacing and cleaning of filament spinning component in spinning moulding, had both facilitated the peace of filament spinning component
Dress, farthest avoid people and contacted with the direct of operating environment, can realize that Component tray is comprehensive, more in grasping mechanism again
The change of angle position, it is more suitable for the demand of spinning environment.
Embodiment 2
Universal manipulator, with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, by controlling organization 1, steering mechanism 2, guiding mechanism and crawl
Mechanism 3 is formed, and guiding mechanism includes horizontally-guided 5 and is vertically directed 4, and steering mechanism 2 is connected with horizontally-guided 5, and this turn
It is connected to mechanism 2 positioned at 4 tops, grasping mechanism 3 is vertically directed with horizontally-guided 5；Be vertically directed 4 and horizontally-guided 5 by
Controlling organization 1 regulates and controls, and is vertically directed 4 and moves up and down, and horizontally-guided 5 is then moved forward and backward or rotated, to realize the side of grasping mechanism 3
To change, the controlled level of steering mechanism 2 is oriented to 5 and is vertically directed 4 direction, and steering mechanism 2 is led with controlling organization 1 by level
To 5 and it is vertically directed 4 changes for realizing the position and direction of grasping mechanism 3.Specific to the present embodiment, horizontally-guided 5 includes being oriented to
2 51, mechanical arm 52 and guide rail are covered, horizontally-guided 5 is connected by guide sleeve 2 51 with being vertically directed 4, and steering mechanism 2 passes through
Guide rail is connected with horizontally-guided 5, and guide sleeve 2 51 is flexibly connected with mechanical arm 52, and guide sleeve 2 51 is by mechanical arm 52 with grabbing
Mechanism 3 is taken to be connected.Wherein, Fig. 6, the outside of mechanical arm 52 are provided with pulley 2 54, mechanical arm 52 passes through pulley 2 54
It is movably installed in guide sleeve 2 51, to realize the stretching of mechanical arm 52 or retraction guide sleeve 2 51.
For convenience of operation, handle 53 can also be installed additional on mechanical arm 52, by pull handle 53, driving mechanical arm 52
Stretch out outside guide sleeve 42 or be collapsible into guide sleeve 2 42, so as to change the front and back position of grasping mechanism 3, mechanical arm 52 is close to grab
Take one end of mechanism 3 to be provided with catch 55, avoid in the transition of mechanical arm 52 push-in guide sleeve 2 51.
Embodiment 3
The universal manipulator of the present embodiment, with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, by controlling organization 1, steering mechanism 2, Guiding machine
Structure and grasping mechanism 3 are formed, and guiding mechanism includes horizontally-guided 5 and is vertically directed 4, and steering mechanism 2 is connected with horizontally-guided 5
Connect, and the steering mechanism 2 is connected positioned at 4 tops, grasping mechanism 3 is vertically directed with horizontally-guided 5；It is vertically directed 4 and level
It is oriented to 5 by controlling organization 1 to regulate and control, is vertically directed 4 and moves up and down, horizontally-guided 5 is then moved forward and backward or rotated, to realize crawl
The direction of mechanism 3 changes, and the controlled level of steering mechanism 2 is oriented to 5 and is vertically directed 4 direction, steering mechanism 2 and controlling organization 1
By horizontally-guided 5 and it is vertically directed 4 changes for realizing the position and direction of grasping mechanism 3.Specific to the present embodiment, steering mechanism
2 include support 21 and rotating disk 22, and rotating disk 22 is connected by support 21 with horizontally-guided 5, and its bottom is connected with being vertically directed 4
Connect, by the rotation of rotating disk 22, realize horizontally-guided 5, be vertically directed 4 direction change, and then realize the direction of grasping mechanism 3
Change.
When operating space is limited, it is fixedly connected due to being vertically directed 4 with horizontally-guided 5, grasping mechanism 3 is installed on level
5 end is oriented to, and rotating disk 22 is then connected with being vertically directed 4, therefore, rotates rotating disk 22, you can drive is vertically directed 4 angles
Transformation, it is vertically directed 4 and drives horizontally-guided 5 that angle change occurs, and then drive the change of the angle of grasping mechanism 3, works as crawl
When mechanism 3 is rotated to suitable location, fasten filament spinning component, then by controlling organization 1 adjust horizontally-guided 5, be vertically directed 4 position
Put, you can the installation and dismounting of real filament spinning component.
Embodiment 4
The universal manipulator of the present embodiment, with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, by controlling organization 1, steering mechanism 2, Guiding machine
Structure and grasping mechanism 3 are formed, and guiding mechanism includes horizontally-guided 5 and is vertically directed 4, and steering mechanism 2 is connected with horizontally-guided 5
Connect, and the steering mechanism 2 is connected positioned at 4 tops, grasping mechanism 3 is vertically directed with horizontally-guided 5；It is vertically directed 4 and level
It is oriented to 5 by controlling organization 1 to regulate and control, is vertically directed 4 and moves up and down, horizontally-guided 5 is then moved forward and backward or rotated, to realize crawl
The direction of mechanism 3 changes, and the controlled level of steering mechanism 2 is oriented to 5 and is vertically directed 4 direction, steering mechanism 2 and controlling organization 1
By horizontally-guided 5 and it is vertically directed 4 changes for realizing the position and direction of grasping mechanism 3.In the present embodiment, steering mechanism 2 wraps
Support 21, rotating disk 22 and slide rail 23 are included, grasping mechanism 3 includes Component tray 31 and the spanner of the elasticity of control assembly pallet 31
32, horizontally-guided 5 includes guide sleeve 2 51, mechanical arm 52 and guide rail, and being vertically directed 4 includes guide sleeve 1, vertical pole 42
With cylinder 43, the top of vertical pole 42 is connected with rotating disk 22, and one 41 mode as shown in Figure 5 of guide sleeve is movably installed in vertical branch
On bar 42, the guide sleeve 1 is fixed as one with guide sleeve 2 51, the outside of support 21 is provided with slide rail 23, and slide rail 23 is located at
In guide rail, support 21 is connected by slide rail 23 with guide rail, to realize the connection of rotating disk 22 and guide sleeve 2 51；Rotating disk 22 is positioned at branch
On frame 21, guide sleeve 2 51 is flexibly connected with 52 mode as shown in Figure 6 of mechanical arm, and guide sleeve 2 51 passes through mechanical arm 52 and component
Pallet 31 is connected, and spanner 32 is then connected with Component tray 31, and by the rotation of spanner 32, realizes opening for Component tray 31
Open or close, and then decontrol or fasten the filament spinning component corresponding to it；Guide sleeve 1 moves up and down along vertical pole 42, drives
Guide sleeve 2 51, support 21, rotating disk 22, mechanical arm 52 and Component tray 31 move up and down.
The present embodiment is applied to the operations such as replacement, the cleaning of filament spinning component, plays the mainly steering mechanism 2 of manipulation
With controlling organization 1, and realize it is by horizontally-guided 5 and being vertically directed 4, and most this effect is embodied in grasping mechanism 3 at last
The position of Component tray 31 change on：4 guide sleeve 1 is vertically directed to interfix with the guide sleeve 2 51 of horizontally-guided 5
And formula structure is integrally formed, and moving up and down for guide sleeve 1 is to control cylinder 43 to realize its lifting by controlling organization 1
（Move up and down）, guide sleeve 1 drives guide sleeve 2 51 to move up and down, and then drives on the Component tray 31 of grasping mechanism 3
Lower movement；With guide sleeve 2 51 relative elastic motion can occur for mechanical arm 52, you can change the component support of grasping mechanism 3
It is movable in the horizontal direction of disk 31；Mechanical arm 52 between guide sleeve 2 51 by being flexibly connected, in operation,
Can direct rotary guide sleeve 2 51, you can realize be vertically directed 4 and Component tray 31 towards angle change, then in the angle
Forward and backward and upper and lower adjustment is carried out, therefore, Component tray 31 can be put in upper and lower, the enterprising line position of front, rear, left and right six direction
Change, so as to realize that grasping mechanism 3 is comprehensive, position adjustment of multi-angle.
When operating environment is more narrow, operating space is limited, due to being vertically directed 4 guide sleeve 1 and horizontally-guided
5 guide sleeve 2 51 is fixedly connected, and the Component tray 31 of grasping mechanism 3 is installed on the end of mechanical arm 52, and mechanical arm 52 is with being oriented to
2 51 are covered to be flexibly connected in stretch mode, and rotating disk 22 is then connected with being vertically directed 4 vertical pole 42, vertical pole 42 is logical
Cross pulley 44 to be movably installed in guide sleeve 1, therefore, rotate rotating disk 22, you can drive is vertically directed 4 angle changes, vertically
Being oriented to 4 then drives horizontally-guided 5 that angle change occurs, and then drives the change of the angle of grasping mechanism 3, when the group of grasping mechanism 3
When part pallet 31 is rotated to suitable location, you can rotary spanner 32, capture Component tray 31 and filament spinning component is fixed on into it
It is interior, then the position by the adjustment of controlling organization 1 guide sleeve 1, guide sleeve 2 52, you can the installation and dismounting of real filament spinning component.
Connected between guide sleeve 2 51 and support 21 by guide rail, and slide rail 23 is then set between guide rail and support 21,
Slide rail 23, guide rail mutual cooperation under, guide sleeve 2 51 can be rotated individually, likewise, also can be in the outer wall of guide sleeve 1
Upper setting handle, to facilitate it to be rotated manually, in that case, as the direction of semiautomatic fashion changes；Also can lead to
Rotation rotating disk 22 is crossed, the changes of 4 angles is vertically directed by driving, to realize changing for horizontally-guided 5 and the direction of grasping mechanism 3
Become, two kinds of different modes, that is, realize semiautomation operation and full-automatic operation, operation is more convenient, and facilitates behaviour
Author is according to the flexible Application under different use environments.
Apply the present invention to the replacing and cleaning of filament spinning component, both facilitate the installation of filament spinning component, farthest
Directly contacting for people and operating environment is avoided, can realize in grasping mechanism that Component tray is comprehensive, multi-angle position changes again
Become, the demand above contents for being more suitable for spinning environment are to combine the preferred embodiment of the present invention to provided technical scheme
The further description made, it is impossible to assert that present invention specific implementation is confined to these above-mentioned explanations, for institute of the present invention
For the those of ordinary skill for belonging to technical field, without departing from the inventive concept of the premise, it can also make and some simply push away
Drill or replace, should all be considered as belonging to protection scope of the present invention.
Claims (7)
1. universal manipulator, it is characterised in that：It is made up of controlling organization, steering mechanism, guiding mechanism and grasping mechanism, it is described
Guiding mechanism includes being vertically directed and horizontally-guided, steering mechanism are connected with horizontally-guided, and the steering mechanism is positioned at vertical
Top is oriented to, grasping mechanism is connected with horizontally-guided；It is vertically directed and regulates and controls with horizontally-guided by controlling organization, is vertically directed
Move up and down, horizontally-guided is then moved forward and backward or rotated, and to realize that the direction of grasping mechanism changes, steering mechanism's controlled level is led
To with the direction that is vertically directed, steering mechanism and controlling organization by horizontally-guided and being vertically directed realize grasping mechanism position and
The change in direction；Described is vertically directed including vertical pole and guide sleeve one, and vertical pole is connected with steering mechanism, is oriented to
Set one is movably installed in vertical pole, and the guide sleeve one is connected with horizontally-guided, and guide sleeve one moves down along in vertical pole
It is dynamic, drive horizontally-guided to move up and down, and then drive the grasping mechanism being connected with horizontally-guided to move up and down；Described level
Guiding includes guide sleeve two, mechanical arm and guide rail, and horizontally-guided is connected by guide sleeve two with being vertically directed, and steering mechanism leads to
Cross guide rail with horizontally-guided to be connected, guide sleeve two is flexibly connected with mechanical arm, and guide sleeve two passes through mechanical arm and grasping mechanism
It is connected；Described steering mechanism includes support and rotating disk, and rotating disk is connected by support with horizontally-guided, and its bottom is with erecting
Straight be oriented to is connected, and by the rotation of rotating disk, the direction for realize horizontally-guided, being vertically directed changes, and then realizes grasping mechanism
Direction change.
2. universal manipulator as claimed in claim 1, it is characterised in that：Described guide sleeve one is connected with cylinder, control machine
Structure drives guide sleeve one to move up and down by cylinder.
3. universal manipulator as claimed in claim 1, it is characterised in that：Described guide sleeve two is set in outside mechanical arm, with
Realize stretching or the retraction guide sleeve two of mechanical arm.
4. universal manipulator as claimed in claim 1, it is characterised in that：Described grasping mechanism includes Component tray and control
The spanner of Component tray elasticity.
5. the universal manipulator as described in claim any one of 1-4, it is characterised in that：Described is vertically directed including vertical branch
Bar and guide sleeve one, horizontally-guided include guide sleeve two, mechanical arm and guide rail, and steering mechanism includes support and rotating disk, gripper
Structure includes Component tray and spanner, and vertical pole top is connected with rotating disk, and guide sleeve one is movably installed in vertical pole, should
Guide sleeve one is connected with guide sleeve two, and support is provided with the guide rail, and rotating disk is located on support, and guide sleeve two is lived with mechanical arm
Dynamic connection, guide sleeve two are connected by mechanical arm with Component tray, and spanner is then connected with Component tray, and passes through spanner
Rotate, realize the opening and closing of fault of Component tray；Guide sleeve one moves up and down along vertical pole, drives guide sleeve two, support, turns
Disk, mechanical arm and Component tray move up and down, the rotation of rotating disk, and the direction for realize horizontally-guided, being vertically directed changes, Jin Ershi
The direction of existing grasping mechanism changes.
6. universal manipulator as claimed in claim 5, it is characterised in that：Described guide sleeve one is fixed with guide sleeve two to be connected
Connect.
7. universal manipulator as claimed in claim 5, it is characterised in that：Described stent outer is provided with slide rail, and support leads to
Cross slide rail with guide rail to be connected, to realize the connection of rotating disk and guide sleeve two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510883562.XA CN105386134B (en) | 2015-12-04 | 2015-12-04 | Universal manipulator |
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|---|---|---|---|
| CN201510883562.XA CN105386134B (en) | 2015-12-04 | 2015-12-04 | Universal manipulator |
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| CN105386134B true CN105386134B (en) | 2017-12-19 |
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| CN106319645B (en) * | 2016-08-14 | 2018-08-17 | 杭州锐冠科技有限公司 | A kind of automatic positioning method and device |
| CN107798771A (en) * | 2017-11-24 | 2018-03-13 | 费航 | A kind of counting, currency examination and tied note integrated equipment |
| CN110733932B (en) * | 2018-07-19 | 2022-12-16 | 欧瑞康纺织有限及两合公司 | Method for melt spinning and winding yarn |
| CN108977896A (en) * | 2018-09-05 | 2018-12-11 | 宜宾丝丽雅股份有限公司 | One kind being used for viscose rayon shower plate automatic cleaning process and system |
| CN113770973A (en) * | 2021-08-10 | 2021-12-10 | 浙江盛元化纤有限公司 | Component replacing robot in chemical fiber spinning production process |
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| CN104526692A (en) * | 2014-12-30 | 2015-04-22 | 周银成 | Full-automatic numerical control mechanical arm |
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