CN105463727A - Inner cage conveying mechanical hand - Google Patents
Inner cage conveying mechanical hand Download PDFInfo
- Publication number
- CN105463727A CN105463727A CN201610016840.6A CN201610016840A CN105463727A CN 105463727 A CN105463727 A CN 105463727A CN 201610016840 A CN201610016840 A CN 201610016840A CN 105463727 A CN105463727 A CN 105463727A
- Authority
- CN
- China
- Prior art keywords
- interior cage
- cage
- socket
- conveying mechanical
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B15/00—Removing liquids, gases or vapours from textile materials in association with treatment of the materials by liquids, gases or vapours
- D06B15/10—Removing liquids, gases or vapours from textile materials in association with treatment of the materials by liquids, gases or vapours by use of centrifugal force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B23/00—Component parts, details, or accessories of apparatus or machines, specially adapted for the treating of textile materials, not restricted to a particular kind of apparatus, provided for in groups D06B1/00 - D06B21/00
- D06B23/04—Carriers or supports for textile materials to be treated
Abstract
The embodiment of the invention discloses an inner cage conveying mechanical hand. A connecting piece is arranged on an inner cage. The inner cage conveying mechanical hand is characterized by comprising a transverse guide rail, a longitudinal movement arm, and a clamping device arranged at the lower end of the longitudinal movement arm. The whole longitudinal movement arm can horizontally move leftwards and rightwards relative to the transverse guide rail. The longitudinal movement arm can drive the clamping device to move up and down. The clamping device comprises a body connected with the lower end of the longitudinal movement arm, a clamping head arranged at the lower end of the body and a clamping jaw pivoted to the clamping head. The clamping jaw can rotate relative to the clamping head so as to clamp or loosen the connecting piece on the inner cage. According to the inner cage conveying mechanism hand, the whole longitudinal movement arm can horizontally move leftwards and rightwards relative to the transverse guide rail, the longitudinal movement arm can drive the clamping device to move up and down, the clamping jaw of the clamping device can rotate relative to the clamping head to clamp or loosen the connecting piece of the inner cage, the structure is simple, and the inner cage conveying mechanical hand can be applied to a fabric centrifugal dewatering system to achieve inner cage clamping and conveying.
Description
Technical field:
The present invention relates to a kind of in cage conveying mechanical arm, in especially a kind of fabric centrifugal dehydration system be applied in Textile Manufacturing Industry, for clamping and carry the manipulator of interior cage.
Background technology:
Existing machinery hand, its complex structure, cannot be applied in fabric centrifugal dehydration system, to clamp and to carry interior cage.
Summary of the invention:
For solving existing machinery hand complex structure, cannot be applied in fabric centrifugal dehydration system, to clamp and the problem of cage in carry, embodiments providing a kind of interior cage conveying mechanical arm.
Cage conveying mechanical arm in a kind of, described interior cage is provided with connector, it is characterized in that, this manipulator comprises cross slide way, vertically moves arm and is located at the clamping device vertically moving arm lower end, the described arm that vertically moves can move horizontally about cross slide way entirety relatively, and vertically moves arm clamping device can be driven to move up and down; Described clamping device comprises and the main body, the clamping head being located at main body lower end and the gripper jaw be hubbed on clamping head that vertically move arm lower end and be connected, and described gripper jaw can rotate relative to clamping head with clamping or the connector unclamping described interior cage.
The embodiment of the present invention, vertically move arm can relatively move horizontally about cross slide way entirety, and vertically move arm clamping device can be driven to move up and down, the gripper jaw of clamping device can rotate with clamping or the connector unclamping described interior cage relative to clamping head, structure is simple, can be applicable in fabric centrifugal dehydration system, realize clamping and the conveying of interior cage.
The present invention improves by following scheme:
Clamping head described above is provided with downward opening socket chamber, this socket chamber is horn-like, there is a cylindrical shape socket part and and be positioned at the gradually large taper guide part of opening below cylindrical shape socket portion, when clamping device moves down, the socket chamber of its clamping head can be socketed in outside the connector of described interior cage.
The sidewall in socket chamber described above offers the radial bar shaped cannelure running through socket chamber from outside to inside, described gripper jaw is hubbed in this cannelure and also can rotates around its articulated section, realizes the switching between clamp position and loose clip-like state.
Connector described above is flanged connector; The position being positioned at described cannelure in described gripper jaw is provided with L shape clamp port, and under loose clip-like state, described L shape clamp port is positioned at cannelure, and opening up relative with the top of cannelure; Under clamp position, described gripper jaw turns an angle, and L shape clamp port is stretched out from cannelure and enters in socket chamber relative with connector, and now, L shape clamp port can offset with the flange side of connector and bottom surface respectively.
Under loose clip-like state, side relative with described taper guide part in described gripper jaw is also positioned at cannelure and parallels with taper guide part.
The position exposing to described clamping head in gripper jaw described above is provided with an articulated section; The main body of described clamping device is also provided with control cylinder outward, and the cylinder body upper end thereof of this control cylinder is in main body, and the push rod lower end of control cylinder and the articulated section of described gripper jaw are hinged.
Equally distributed three the described control cylinders of circumference are provided with outside main body described above, the socket chamber sidewall of described clamping head offers equally distributed three the described bar shaped cannelures of circumference, on three bar shaped cannelures, one_to_one corresponding is provided with three described gripper jaws, and the articulated section one_to_one corresponding of three gripper jaws and the push rod of described three control cylinders are hinged.
Interior cage described above is the cylindrical shell of upper end open, bottom end closure, and its circumferential side wall offers several and dryly gets rid of osculum, is provided with socket tube, this socket tube upper end closed, bottom end opening bottom it in center position is convex; The upper end of described socket tube shaft core position is provided with described flanged connector.
The upper end open of interior cage described above is by little gradually large.
Upwards arch upward gradually in the bottom of interior cage described above between its sidewall to socket tube; The bottom of described interior cage is also provided with one and is sheathed on support ring outside described socket tube, flushes bottom the lower surface of this support ring and interior cage near the position of interior cage side-walls.
Accompanying drawing illustrates:
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is that fabric of the present invention automatically dyes the structural representation of embodiment for the treatment of system;
Fig. 2 is the structural representation of the embodiment of fabric centrifugal dehydration system of the present invention;
Fig. 3 is the structural representation of the embodiment of centrifuge of the present invention;
Fig. 4 is the B portion enlarged drawing of Fig. 3;
Fig. 5 is the structural representation of the embodiment of interior cage of the present invention;
Fig. 6 is the A portion enlarged drawing of Fig. 2;
Fig. 7 is the structural representation of the embodiment under the loose clip-like state of clamping device of the present invention in unclamping or not yet clamping during cage connector;
Fig. 8 is the structural representation of the embodiment under the clamped condition of clamping device of the present invention in clamping during cage connector;
Fig. 9 is the structural representation of the embodiment of interior cage moving conveyor of the present invention;
Figure 10 is the right view of Fig. 9;
Figure 11 is the structural representation that rotation of the present invention connects the embodiment of cloth apparatus;
Figure 12 is that interior cage of the present invention rotates the structural representation connecing the embodiment that cloth drive unit matches with interior cage;
Figure 13 is the partial structurtes schematic diagram overlooked under visual angle of Figure 12;
Figure 14 is C-C sectional view of Figure 13;
Figure 15 be of the present invention go out the theory diagram of embodiment of cloth control system.
Detailed description of the invention:
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1 and Figure 2, a kind of fabric automatically dyes, dewatering system, arrange along production line, this production line is provided with successively dyeing station 01, connects cloth station 02, station to be drained off 03, centrifugal dehydration station 04 and post processing station 05, this system at least comprises: dyeing installation 1, interior cage 2, manipulator 3 and centrifuge 4, and centrifuge 4 is fixedly installed in centrifugal dehydration station 04;
Described dyeing installation 1, it is located at dyeing station 01, for carrying out dyeing process to fabric;
Described interior cage 2, can enter station 03 to be drained off by connecing cloth station 02, then be entered by station 03 to be drained off in centrifuge 4 on centrifugal dehydration station 04, then enter post processing station 05 by the centrifuge 4 on centrifugal dehydration station 04; Connecing cloth station 02, this interior cage 2 is for receiving the aqueous fabric through dyeing process loading and export from dyeing installation 1; At station 03 to be drained off, this interior cage 2 is for loading the aqueous fabric through dyeing process; In the centrifuge 4 of centrifugal dehydration station 04, this interior cage 2 rotates in a circumferential direction for loading described aqueous fabric and following centrifuge 4; At post processing station 05, this interior cage 2 is for loading the fabric after dehydration;
Described manipulator 3, can at station 03 to be drained off, move between centrifugal dehydration station 04 and post processing station 05, for successively being sent into by interior cage 2 in the centrifuge 4 centrifugal dehydration station 04 from station 03 to be drained off and post processing station 05;
Described centrifuge 4, for driving interior cage 2 to rotate in a circumferential direction, makes the described aqueous fabric dehydration be loaded in interior cage 2.
The embodiment of the present invention, described interior cage is from connecing cloth station, successively can enter station to be drained off, centrifugal dehydration station and post processing station, make fabric from dyeing installation out to completing processed from start to finish all in same interior cage, by transfer basket and fabric carriage, frequently fabric need not need not be input into output, after an interior cage processed is complete, processed can be carried out to cage in next immediately, operation is simple, dewatering efficiency improves greatly.
Further, described station to be drained off 03 be provided with by connect that cloth station 02 carries several described in cage 2, described manipulator 3 can at station 03 to be drained off, loopy moving between centrifugal dehydration station 04 and post processing station 05, and is successively sent into by cage 2 in described in several in centrifuge 4 centrifugal dehydration station 04 one by one from station 03 to be drained off and post processing station 05.After an interior cage processed is complete, can carry out processed immediately to cage in next, realize continuous uninterrupted processed between multiple interior cage, the efficiency of whole dewatering process improves greatly.
Again further, described production line comprises some that are set up in parallel, and every bar production line is equipped with described dyeing installation 1, interior cage 2, manipulator 3 and centrifuge 4.Many production line can work simultaneously, realizes full-automatic dyeing, processed simultaneously; Meanwhile, different production line also can carry out dyeing process and the processed of different colours to identical fabric, or different production line also can carry out dyeing process and the processed of different colours to not identical fabric.Can adapt to the different fabrics of different colours demand, the scope of application is broader, compares under producing line situation at one and need clean dyeing installation for adapting to different colours demand, and the embodiment of the present invention is without the need to cleaning dyeing installation, and dyeing, dewatering efficiency are higher.
Again further, as shown in Figure 3, described centrifuge 4 comprises base 41, the shell 42 be located on base 41, be located in shell 42 drive the uncovered outer cage 43 of the upper end open rotated by actuating unit and be connected with shell 42 can the seal cover 44 of closure or openness for what seal described outer cage 43, described interior cage 2 can be sent in the outer cage 43 of centrifuge 4, is driven rotate in a circumferential direction by outer cage 43.Structure is simple, and dewatering efficiency is high.
Further, the bottom of described outer cage 43 is convex in its center is provided with connecting cylinder 431; The tubular rotating shaft 46 that described actuating unit comprises external motor 45 and is connected with motor 45 power, this tubular rotating shaft 46 also inserts in the connecting cylinder 431 of outer cage 43 through described base 41 from outside to inside, cooperatively interacts with connecting cylinder 431.Structure is simple, and outer cage can obtain the power of High Rotation Speed, gives security for realizing efficient dewatering efficiency.
Again further, as shown in Figure 4, described shell 42 is also provided with the retaining mechanism 47 with the edges co-operate of described seal cover 44.Structure is simple, and security is high.
Particularly, as shown in Figure 5, described interior cage 2 is the cylindrical shell of upper end open, bottom end closure, and its circumferential side wall offers several and dryly gets rid of osculum, is provided with socket tube 21, this socket tube 21 upper end closed, bottom end opening bottom it in center position is convex; When described interior cage 2 is in the outer cage 43 sending into centrifuge 4, its socket tube 21 is sheathed on outside described connecting cylinder 431.Structure is simple, when processed, can conveniently send in centrifuge by interior cage, after processed completes, conveniently can be taken out in centrifuge by interior cage again and send into post processing station 05.
Further, the upper end of described socket tube 21 shaft core position is provided with flanged connector 211 that is convenient to manipulator 3 crawl.Structure is simple, can capture interior cage accurately, fast and send into corresponding station.
Again further, the T-shaped or screw-like of described connector 211.Structure is simple, facilitates manipulator to capture.
Again further, the upper end open of described interior cage 2 is by little gradually large.Structure is simple, and convenient reception is carried and next fabric.
Further, upwards arch upward between socket tube 21 gradually from its sidewall in the bottom of described interior cage 2.Structure is simple, is conducive to the moisture content in fabric to be thrown away by its sidewall from inside to outside.
Again further, the bottom of described interior cage 2 is also provided with one and is sheathed on support ring 212 outside described socket tube 21, flushes bottom the lower surface of this support ring 212 and interior cage 2 near the position of interior cage side-walls.Structure is simple, and overall structure is more stable, is conducive to realizing High Rotation Speed.
Further, as shown in Figure 2, described manipulator 3 comprises cross slide way 31, vertically moves arm 32 and is located at the clamping device 33 vertically moving arm 32 lower end, the described arm 32 that vertically moves can move horizontally the overall left and right of cross slide way 31 relatively, and vertically moves arm 32 clamping device 33 can be driven to move up and down; As shown in Figure 6, described clamping device 33 comprises and the main body 331, the clamping head 332 being located at main body 331 lower end and the gripper jaw 333 be hubbed on clamping head 332 that vertically move arm 32 lower end and be connected, and described gripper jaw 333 can rotate relative to clamping head 332 connector 211 clamping or unclamp described interior cage 2.Structure is simple, can clamp and carry interior cage.
Again further, as shown in Figure 7, described clamping head 332 is provided with downward opening socket chamber, this socket chamber is horn-like, there is a cylindrical shape socket part 3321 and and be positioned at the gradually large taper guide part 3322 of opening below cylindrical shape socket part 3321, when clamping device 33 moves down, the socket chamber of its clamping head 332 can be socketed in outside the connector 211 of described interior cage 2.Structure is simple, and clamping is stable, and conveying is reliable, safety.
Again further, the sidewall in described socket chamber offers the radial bar shaped cannelure 3323 running through socket chamber from outside to inside, described gripper jaw 333 is hubbed in this cannelure 3323 and also can rotates around its articulated section, realizes the switching between clamp position and loose clip-like state.Simple and compact for structure, and switch between clamp position and loose clip-like state control convenient.
Further, the position being positioned at described cannelure 3323 in described gripper jaw 333 is provided with L shape clamp port, and as shown in Figure 7, under loose clip-like state, described L shape clamp port is positioned at cannelure 3323, and opening up relative with the top of cannelure 3323; As shown in Figure 8, under clamp position, described gripper jaw 333 turns an angle, and L shape clamp port is stretched out from cannelure 3323 and enters in socket chamber relative with connector 211, now, L shape clamp port can offset with the flange side of connector 211 and bottom surface respectively.Structure is simple, clamps reliable and stable, and switches between clamp position and loose clip-like state and control to facilitate
Again further, as shown in Figure 7, under loose clip-like state, side relative with described taper guide part 3322 in described gripper jaw 333 is also positioned at cannelure 3323 and parallels with taper guide part 3322.Simple and compact for structure, reasonable in design.
Again further, as shown in Fig. 6, Fig. 7, Fig. 8, the position exposing to described clamping head 332 in described gripper jaw 333 is provided with an articulated section; The main body 331 of described clamping device is outer is also provided with control cylinder 334, and the cylinder body upper end thereof of this control cylinder 334 is in main body 331, and the push rod lower end of control cylinder 334 and the articulated section of described gripper jaw 333 are hinged.Structure is simple, and it is convenient, stable that gripper jaw controls.
Again further, equally distributed three the described control cylinders 334 of circumference are provided with outside described main body 332, the socket chamber sidewall of described clamping head 332 offers equally distributed three the described bar shaped cannelures 3323 of circumference, on three bar shaped cannelures 3323, the push rod of articulated section one_to_one corresponding and described three control cylinders 334 that one_to_one corresponding is provided with three described gripper jaws, 333, three gripper jaws 333 is hinged.Simple and compact for structure, clamp reliable and stable.
Again further, as Fig. 1, Fig. 2, Fig. 9, shown in Figure 10, also comprise interior cage moving conveyor 5, it can coordinate with interior cage 2, and interior cage 2 can be delivered to dehydration station 03 from connecing cloth station 02, or post processing station 05 receive send here from centrifugal dehydration station 04 complete cage 2 in processed, it comprises removable base plate 51, the rotating shaft 52 stretched out from base plate 51, be positioned at the rotatable bracing frame 53 be connected above base plate 51 and with rotating shaft 52, this bracing frame 53 support can deliver described interior cage 2, and bracing frame 53 can with interior cage 2 in the lump with described rotating shaft 52 for axle center rotates in a circumferential direction.Connecing cloth station, be conducive to interior cage realization rotation and evenly connect cloth.
Further, support frame as described above 53 is provided with an axial location boss 531, and during the described interior cage 2 of bracing frame 53 support delivery, this positioning boss 531 stretches in the socket tube 21 of interior cage 2.Structure is simple, and interior cage can coordinate with bracing frame fast.
Particularly, described positioning boss 531 is that structure is simple by large gradually little taper platform, and in convenient, to be enclosed within this positioning boss outer and coordinate with positioning boss for the socket tube of cage.
Further, the edge of the support frame as described above 53 also convex block flange 532 being provided with outwards bending.Structure is simple, and in convenient, cage is positioned on bracing frame, and has edge local function.
Again further, support frame as described above 53 is in cross.Structure is simple.
Again further, pulley is provided with below described base plate 51.Structure is simple, convenient mobile so that interior cage is delivered to corresponding station.
Further, the side of described base plate 51 is also provided with push and pull bar 511.Structure is simple, facilitates push-and-pull to move.
Again further, as shown in Figure 1, connecing on cloth station 02, described interior cage moving conveyor 5 and interior cage 2 jointly form rotation and connect cloth apparatus.Particularly, as shown in figure 11, the bracing frame 53 of interior cage moving conveyor 5 can rotate in a circumferential direction for axle center with described rotating shaft 52 in the lump with interior cage 2, is conducive to interior cage 2 fabric that even reception is carried in rotation from top to bottom, thus realization rotation evenly connects cloth function.
Again further, as shown in Figure 1, described dyeing station 01 and connect between cloth station 02 and be also provided with cloth discharge frame 6, is provided with fabric traction device 61 above cloth discharge frame 6, this fabric traction device 61, for pulling out the fabric after dyeing process and carry vertically downward from dyeing installation 1; Described rotation connects the below that cloth apparatus is positioned at fabric traction device 61, particularly, as shown in figure 11, in it cage 2 can with the bracing frame 53 on interior cage moving conveyor 5 in the lump with described rotating shaft 52 for axle center rotates in a circumferential direction, for the fabric that Rotation of receiver is carried vertically downward from fabric traction device 61; Described fabric traction device 61 and rotating connects cloth apparatus and is jointly formed vertically to go out cloth, rotate and connect distribution system, can greatly improve cloth, connect cloth efficiency; Described dyeing installation 1, fabric traction device 61 and rotating connects cloth apparatus and then jointly forms fabric and automatically to dye treatment system; Described interior cage 2, manipulator 3 and centrifuge 4 form fabric centrifugal dehydration system again.
Again further, as shown in Figure 1, described cloth discharge frame 6 is also provided with the rotation of interior cage in the below of fabric traction device 61 and connects cloth drive unit 62.Particularly, as shown in Figure 12, Figure 13, Figure 14, this interior cage rotates the driving wheel 623 connecing cloth drive unit 62 and comprise motor 621, be connected with motor 621 power, this driving wheel 623 can be tangent with the lateral wall of described interior cage 2, when driving wheel 623 operates, in being driven by the frictional force between itself and interior cage 2 lateral wall, cage 2 rotates in a circumferential direction.Be conducive to the interior cage fabric that even reception is carried in rotation from top to bottom, thus realization rotation evenly connects cloth function.
Further, the outer surface of described driving wheel 623 is provided with the collar 6230 increasing frictional force.Structure is simple, can produce cage in enough frictional force drives and rotate.
Particularly, the described collar 6230 is soft rubber sleeve.Structure is simple, can increase frictional force.
Further, described cloth discharge frame 6 is also provided with a housing 622, described motor 621 is located in this housing 622, and it is outer and be positioned at the below of housing 622 that described driving wheel 623 is located at housing 622.Structure is simple, and security is high.
Again further, as shown in Figure 13, Figure 14, the rotating shaft that described driving wheel 623 comprises the first driving wheel 6231 and the second driving wheel 6232, first driving wheel 6231 and the second driving wheel 6232 is respectively equipped with gear 6233, and two gears are connected by chain power.Structure is simple, and interior cage can be driven smoothly to operate.
Again further, described gear 6233 is bottom shell 622 and between driving wheel 623.Structure is simple, and security is high.
Further, as shown in figure 15, also comprise cloth control system 8, be applied to described fabric automatically to dye in treatment system, to control the fabric traction device 61 that fabric automatically dyes in treatment system, this goes out cloth control system 8 and comprises tractive force detecting unit 81, CPU element 82, and alarm unit 83, tractive force detecting unit 81 is connected with the input of CPU element 82, the output of CPU element 82 and alarm unit 83, and described fabric traction device 61 connects, described tractive force detecting unit 81 is for obtaining the pulling force signal that pulled out from dyeing installation 1 by fabric and being sent to CPU element 82, CPU element 82 controls alarm unit 83 when the pulling force signal received is greater than setting value and sends alarm signal, and it is out of service to control fabric traction device 61.Structure is simple, and when being pulled out from dyeing installation by the fabric after dyeing process, can realize automatically-monitored, keep an eye on without the need to being equipped with special messenger, automaticity is high, can reduce recruitment cost.
Be one or more embodiments provided in conjunction with particular content as mentioned above, do not assert that specific embodiment of the invention is confined to these explanations.Method all and of the present invention, structure etc. are approximate, identical, or for making some technology deduction or replace under concept thereof of the present invention, all should be considered as protection scope of the present invention.
Claims (10)
1. cage conveying mechanical arm in a kind, described interior cage is provided with connector, it is characterized in that, this manipulator comprises cross slide way, vertically moves arm and is located at the clamping device vertically moving arm lower end, the described arm that vertically moves can move horizontally about cross slide way entirety relatively, and vertically moves arm clamping device can be driven to move up and down; Described clamping device comprises and the main body, the clamping head being located at main body lower end and the gripper jaw be hubbed on clamping head that vertically move arm lower end and be connected, and described gripper jaw can rotate relative to clamping head with clamping or the connector unclamping described interior cage.
2. interior cage conveying mechanical arm according to claim 1, it is characterized in that, described clamping head is provided with downward opening socket chamber, this socket chamber is horn-like, there is a cylindrical shape socket part and and be positioned at the gradually large taper guide part of opening below cylindrical shape socket portion, when clamping device moves down, the socket chamber of its clamping head can be socketed in outside the connector of described interior cage.
3. interior cage conveying mechanical arm according to claim 2, it is characterized in that, the sidewall in described socket chamber offers the radial bar shaped cannelure running through socket chamber from outside to inside, described gripper jaw is hubbed in this cannelure and also can rotates around its articulated section, realizes the switching between clamp position and loose clip-like state.
4. interior cage conveying mechanical arm according to claim 3, is characterized in that, described connector is flanged connector; The position being positioned at described cannelure in described gripper jaw is provided with L shape clamp port, and under loose clip-like state, described L shape clamp port is positioned at cannelure, and opening up relative with the top of cannelure; Under clamp position, described gripper jaw turns an angle, and L shape clamp port is stretched out from cannelure and enters in socket chamber relative with connector, and now, L shape clamp port can offset with the flange side of connector and bottom surface respectively.
5. according to claim 3 or 4, cage conveying mechanical arm, is characterized in that, under loose clip-like state, side relative with described taper guide part in described gripper jaw is also positioned at cannelure and parallels with taper guide part.
6. according to claim 3 or 4, cage conveying mechanical arm, is characterized in that, the position exposing to described clamping head in described gripper jaw is provided with an articulated section; The main body of described clamping device is also provided with control cylinder outward, and the cylinder body upper end thereof of this control cylinder is in main body, and the push rod lower end of control cylinder and the articulated section of described gripper jaw are hinged.
7. interior cage conveying mechanical arm according to claim 6, it is characterized in that, equally distributed three the described control cylinders of circumference are provided with outside described main body, the socket chamber sidewall of described clamping head offers equally distributed three the described bar shaped cannelures of circumference, on three bar shaped cannelures, one_to_one corresponding is provided with three described gripper jaws, and the articulated section one_to_one corresponding of three gripper jaws and the push rod of described three control cylinders are hinged.
8. cage conveying mechanical arm according to any one of Claims 1-4, it is characterized in that, described interior cage is the cylindrical shell of upper end open, bottom end closure, its circumferential side wall offers several and dryly gets rid of osculum, socket tube is provided with in center position is convex, this socket tube upper end closed, bottom end opening bottom it; The upper end of described socket tube shaft core position is provided with described flanged connector.
9. interior cage conveying mechanical arm according to claim 8, is characterized in that, the upper end open of described interior cage is by little gradually large.
10. interior cage conveying mechanical arm according to claim 9, is characterized in that, upwards arches upward gradually in the bottom of described interior cage between its sidewall to socket tube; The bottom of described interior cage is also provided with one and is sheathed on support ring outside described socket tube, flushes bottom the lower surface of this support ring and interior cage near the position of interior cage side-walls.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610016840.6A CN105463727B (en) | 2016-01-09 | 2016-01-09 | A kind of interior cage conveying mechanical arm |
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| CN201610016840.6A CN105463727B (en) | 2016-01-09 | 2016-01-09 | A kind of interior cage conveying mechanical arm |
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| CN105463727B CN105463727B (en) | 2017-12-05 |
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| CN105851260A (en) * | 2016-06-14 | 2016-08-17 | 重庆恒阳食品有限公司 | Bamboo stick feeding device for automatic bean bar machine |
| CN105918492A (en) * | 2016-06-14 | 2016-09-07 | 重庆恒阳食品有限公司 | Automatic rolling machine for beancurd sheet sticks |
| CN108425198A (en) * | 2018-01-22 | 2018-08-21 | 江阴职业技术学院 | A kind of cheese mercerizing machine and its processing method |
| CN109944001A (en) * | 2019-04-18 | 2019-06-28 | 俞扬峰 | A kind of dyeing installation for denim fabric |
| CN113172613A (en) * | 2021-05-18 | 2021-07-27 | 内蒙古艾能智控科技有限公司 | Spray pipe carrying manipulator |
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| CN104407160A (en) * | 2014-10-29 | 2015-03-11 | 东软安德医疗科技有限公司 | Fully automatic centrifuge apparatus |
| CN105040320A (en) * | 2015-08-17 | 2015-11-11 | 吴江福爱梁纺织有限公司 | Centrifugal dehydrator for textile |
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