CN106737588A - A kind of string for binding a plait machine transfer robot arm - Google Patents
A kind of string for binding a plait machine transfer robot arm Download PDFInfo
- Publication number
- CN106737588A CN106737588A CN201611251963.4A CN201611251963A CN106737588A CN 106737588 A CN106737588 A CN 106737588A CN 201611251963 A CN201611251963 A CN 201611251963A CN 106737588 A CN106737588 A CN 106737588A
- Authority
- CN
- China
- Prior art keywords
- clamping part
- cylinder
- finger
- string
- binding
- 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.)
- Granted
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 230000000630 rising effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of string for binding a plait machine transfer robot arm, including longitudinally adjustable base, vertical fix bar, attachment means, horizontal sliding table cylinder mounting plate, the first slider cylinder, the second slider cylinder, finger cylinder, left clamping part, right clamping part；The vertical fix bar is fixed on longitudinally adjustable base, the vertical fix bar top is fixedly connected by attachment means with horizontal sliding table cylinder mounting plate rear side center, the horizontal sliding table cylinder mounting plate front side horizontal is provided with the first slider cylinder, the sliding block of first slider cylinder is fixedly connected with the sliding block of the second slider cylinder, second slider cylinder is vertically arranged, the second slider cylinder lower end is fixedly connected with two finger finger cylinders, the left finger of finger cylinder is fixedly installed left clamping part, and the right finger of finger cylinder is fixedly installed right clamping part.String for binding a plait machine transfer robot arm of the invention is reasonable in design, left clamping part and right clamping part ensure that the distance of both relative motions by spacing hole, and holding action stability is high not to be fallen out, the longitudinally adjustable position of device, the falling head of left clamping part and right clamping part can also be adjusted, clamp precision is high.
Description
Technical field
It is to be related to a kind of string for binding a plait machine transfer robot arm specifically the present invention relates to string for binding a plait manufacturing technology field.
Background technology
String for binding a plait is article indispensable when women ties one's hair, existing string for binding a plait manufacturing process be all it is pure have been manually done, use scissors
String for binding a plait is cut, then glue is stained with by hand, then docks bonding lopping, have the disadvantage inefficiency hand-manipulated, high expensive, mesh
The preceding robot device do not developed for full-automatic string for binding a plait machine also, it is impossible to enough fully achieve the complete string for binding a plait of Full automatic unmanned
Production.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of clamping stabilization, can adjust the string for binding a plait of hold assembly position
Machine transfer robot arm.
In order to solve the above technical problems, the invention provides a kind of string for binding a plait machine transfer robot arm, including longitudinally adjustable bottom
Seat, vertical fix bar, attachment means, horizontal sliding table cylinder mounting plate, the first slider cylinder, the second slider cylinder, finger cylinder,
Left clamping part, right clamping part；The vertical fix bar is fixed on longitudinally adjustable base, and the vertical fix bar top passes through
Attachment means are fixedly connected with horizontal sliding table cylinder mounting plate rear side center, the horizontal sliding table cylinder mounting plate front side horizontal peace
Equipped with the first slider cylinder, the sliding block of first slider cylinder is fixedly connected with the sliding block of the second slider cylinder, and described second
Slider cylinder is vertically arranged, and the second slider cylinder lower end is fixedly connected with two finger finger cylinders, the left finger of finger cylinder
Left clamping part is fixedly installed, the right finger of finger cylinder is fixedly installed right clamping part.
Further, the left finger of the described finger cylinder is connected by the first contiguous block with left clamping part, the finger
The right finger of cylinder is connected by the second contiguous block with right clamping part.
Further, described left clamping part front side top is horizontally disposed chute, the right clamping part back side top water
It is flat to be provided with the first lug boss coordinated with the slide；The left clamping part bottom is provided with some right clamping jaws, described
Right clamping part bottom is provided with some left clamping jaws, and the first lug boss drives right clamping jaw and left clamping jaw to clamp and divide in slide
Open.
Further, described left clamping part rear side is provided with the first locating slot and spacing hole, before first contiguous block
Side is provided with second lug boss identical with the first positioning groove shape, and the second contiguous block front side is provided with the 3rd lug boss,
3rd lug boss is fixedly connected through spacing hole with right clamping part rear side, and the spacing hole limits the left and right of the 3rd lug boss
Moving range.
Further, the relative one side of described right clamping jaw and left clamping jaw bottom is provided with the arc matched with string for binding a plait
Groove.
Further, described adjustable frames include fixed seat, longitudinal mobile platform, handwheel, the fixed seat and vertical
Be slidably connected by dovetail groove to mobile platform, the fixed seat is fixed with screw mandrel by bearing block, the screw mandrel with it is vertical
Connected by screw-driven to mobile platform bottom, the screw mandrel rear end is fixedly connected with the hand wheel.
Further, described vertical fix bar rear side is fixedly connected by support bar with longitudinal mobile platform.
Further, described attachment means include connecting plate, U-shaped fixed plate, T-rail, the first bolt fixed block, the
Two bolt fixed blocks, locating piece, bolt, described connecting plate are fixed on horizontal sliding table cylinder mounting plate rear side center, described U
Shape fixed plate is fixed on connecting plate center, and described U-shaped fixed plate is fixedly connected with T-rail upper end, the vertical fix bar
Front side is vertically installed with dovetail groove and is slidably matched with the T-rail；The vertical fix bar top horizontal is provided with the second spiral shell
Bolt fixed block, the second bolt fixed block is provided with stepped hole, and the bolt head is placed in stepped hole, second bolt
Fixed block is fixedly arranged above the first bolt fixed block；Slotted hole, the T-rail are provided with the vertical fix bar dovetail groove
The second locating slot is provided with, the bolt has been connected through a screw thread locating piece, and the locating piece is "convex" shaped, the locating piece
Front end is embedded in the second locating slot through slotted hole.
Further, described connecting plate is being provided with fixed plate positioned at U-shaped fixed plate both sides.
Further, the sliding block of the second described slider cylinder is provided with towards the side of horizontal sliding table cylinder mounting plate
Gag lever post, the gag lever post horizontal sliding table cylinder mounting plate abuts and is in and is provided with spacing bayonet socket.
String for binding a plait machine transfer robot arm of the invention is reasonable in design, and left clamping part and right clamping part ensure that two by spacing hole
The distance of person's relative motion, holding action stability is high not to be fallen out, the longitudinally adjustable position of device, can also adjust left clamping
Portion and the falling head of right clamping part, clamp precision are high.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is schematic structural view of the invention；
Fig. 3 is left clamping part of the invention and right clamping part structural representation；
Fig. 4 is left clamping part structural representation of the invention；
Fig. 5 is the first contiguous block of the invention and the second connecting block structure schematic diagram；
Fig. 6 is T-rail structural representation of the present invention.
In figure, 1, fixed seat, 2, longitudinal mobile platform, 3, handwheel, 4, vertical fix bar, 401, slotted hole, 5, support bar,
6th, T-rail, the 601, second locating slot, 7, U-shaped fixed plate, 8, connecting plate, 9, horizontal sliding table cylinder mounting plate, 10, first slides
Platform cylinder, the 11, second slider cylinder, 1101, gag lever post, 12, finger cylinder, the 13, first contiguous block, the 1301, second lug boss,
14th, the second contiguous block, the 1401, the 3rd lug boss, 15, left clamping part, 1501, right clamping jaw, the 1502, first locating slot, 1503, limit
Position hole, 16, right clamping part, 1601, left clamping jaw, 17, locating piece, 18, bolt, the 19, first bolt fixed block, the 20, second bolt
Fixed block, 21, fixed plate.
Specific embodiment
Some vocabulary have such as been used to censure specific components in the middle of specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as distinguishing the mode of component, but the difference with component functionally is used as the criterion distinguished.Such as logical
Specification and claim mentioned in " including " be an open language, therefore should be construed to " including but not limit
In ".To implement better embodiment of the invention, so the description is to illustrate general original of the invention to specification subsequent descriptions
For the purpose of then, the scope of the present invention is not limited to.Protection scope of the present invention when regard the appended claims person of defining as
It is accurate.
The present invention is described in further detail below in conjunction with accompanying drawing, but it is not as a limitation of the invention.
A kind of string for binding a plait machine transfer robot arm, including longitudinally adjustable base, vertical fix bar 4, attachment means, horizontal sliding table
Cylinder mounting plate 9, the first slider cylinder 10, the second slider cylinder 11, finger cylinder 12, left clamping part 15, right clamping part 16；Institute
State vertical fix bar 4 to be fixed on longitudinally adjustable base, the top of vertical fix bar 4 passes through attachment means and horizontal sliding table
The rear side center of cylinder mounting plate 9 is fixedly connected, and the front side horizontal of horizontal sliding table cylinder mounting plate 9 is provided with the first slider cylinder
10, the sliding block of first slider cylinder 10 is fixedly connected with the sliding block of the second slider cylinder 11, second slider cylinder 11
It is vertically arranged, the lower end of the second slider cylinder 11 is fixedly connected with two finger finger cylinders 12, the finger cylinder 12 is left to be referred to admittedly
Surely left clamping part 15 is provided with, the right finger of the finger cylinder 12 is fixedly installed right clamping part 16.
Preferably, the left finger of the described finger cylinder 12 is connected by the first contiguous block 13 with left clamping part 15, described
The right finger of finger cylinder 12 is connected by the second contiguous block 14 with right clamping part 16.
Preferably, the described front side top of left clamping part 15 is horizontally disposed chute, the back side top of right clamping part 16
It is horizontally disposed to have the first lug boss coordinated with the slide；The bottom of left clamping part 15 is provided with some right clamping jaws
1501, the bottom of right clamping part 16 is provided with some left clamping jaws 1601, and the first lug boss drives right clamping jaw in slide
1501 and left clamping jaw 1601 clamp and separate.
Preferably, the described rear side of left clamping part 15 is provided with the first locating slot 1502 and spacing hole 1503, described first
The front side of contiguous block 13 is provided with the second lug boss 1301 being coincide with the shape of the first locating slot 1502, before second contiguous block 14
Side is provided with the 3rd lug boss 1401, and the 3rd lug boss 1401 connects through spacing hole 1503 is fixed with the rear side of right clamping part 16
Connect, the spacing hole 1503 limits the 3rd lug boss 1401 and moves left and right scope, also avoids teetertottering.
Preferably, the relative one side of described right clamping jaw 1501 and the bottom of left clamping jaw 1601 is provided with and is matched with string for binding a plait
Deep-slotted chip breaker.
Preferably, described adjustable frames include fixed seat 1, longitudinal mobile platform 2, handwheel 3, the He of the fixed seat 1
Longitudinal mobile platform 2 is slidably connected by dovetail groove, and the fixed seat 1 is fixed with screw mandrel, the screw mandrel by bearing block
It is connected by screw-driven with the bottom of longitudinal mobile platform 2, the screw mandrel rear end is fixedly connected with handwheel 3.
Preferably, the described rear side of vertical fix bar 4 is fixedly connected by support bar 5 with longitudinal mobile platform 2.
Preferably, described attachment means include connecting plate 8, U-shaped fixed plate 7, T-rail 6, the first bolt fixed block
19th, the second bolt fixed block 20, locating piece 17, bolt 18, after described connecting plate 8 is fixed on horizontal sliding table cylinder mounting plate 9
Side center, described U-shaped fixed plate 7 is fixed on the center of connecting plate 8, and described U-shaped fixed plate 7 is fixed with the upper end of T-rail 6 and connected
Connect, the front side of the vertical fix bar 4 is vertically installed with dovetail groove and is slidably matched with the T-rail 6；The vertical fix bar 4
Top horizontal is provided with the second bolt fixed block 20, and the second bolt fixed block 20 is provided with stepped hole, 18, the bolt
Portion is placed in stepped hole, and the second bolt fixed block 20 is fixedly arranged above the first bolt fixed block 19；The vertical fix bar 4
Slotted hole 401 is provided with dovetail groove, the T-rail 6 is provided with the second locating slot 601, and the bolt 18 is connected by screw thread
Locating piece 17 is connected to, the locating piece 17 is "convex" shaped, and the front end of the locating piece 17 positions through the insertion of slotted hole 401 second
In groove 601, the relative position of locating piece 17 can be adjusted by swivel bolt 18, so that it is determined that the height of T-rail 6, enters
And the height of horizontal sliding table cylinder mounting plate 9 is determined, it is determined that the falling head of left clamping part 15 and right clamping part 16.
Preferably, described connecting plate 8 is being provided with fixed plate 21 positioned at the both sides of U-shaped fixed plate 7, improves stability.
The sliding block of the second described slider cylinder 11 is being provided with gag lever post towards the side of horizontal sliding table cylinder mounting plate 9
1101,1101 horizontal sliding table cylinder mounting plate of the gag lever post 9 abuts and is in and is provided with spacing bayonet socket, it is ensured that left clamping part 15
Falling head with right clamping part 16 is consistent, can accurately pick up the string for binding a plait for having bonded.
During work, after string for binding a plait is bonded, the first slider cylinder 10 drives the second lateral movement to the left of slider cylinder 11, the
Two slider cylinder 11 drives finger cylinder 12 to move downward, and 12 liang of finger cylinder refers to that clamping drives left clamping part 15 and right clamping part
16 strings for binding a plait that will have been bonded are picked up, and then the second slider cylinder 11 drives finger cylinder 12 to move upwards, the first slider cylinder 10
The second lateral movement to the right of slider cylinder 11 is driven, after saying that string for binding a plait penetrates blanking device, finger cylinder 12 is unclamped, integral reset.
String for binding a plait machine transfer robot arm of the invention is reasonable in design, and left clamping part and right clamping part ensure that two by spacing hole
The distance of person's relative motion, holding action stability is high not to be fallen out, the longitudinally adjustable position of device, can also adjust left clamping
Portion and the falling head of right clamping part, clamp precision are high.
Described above has shown and described some preferred embodiments of the invention, but as previously described, it should be understood that the present invention
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and can be used for various other combinations,
Modification and environment, and can be in invention contemplated scope described herein, by above-mentioned teaching or the technology or knowledge of association area
It is modified.And the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention, then all should be in this hair
In the protection domain of bright appended claims.
Claims (10)
1. a kind of string for binding a plait machine transfer robot arm, it is characterised in that：Including longitudinally adjustable base, vertical fix bar (4), connection dress
Put, horizontal sliding table cylinder mounting plate (9), the first slider cylinder (10), the second slider cylinder (11), finger cylinder (12), Zuo Jia
Hold portion (15), right clamping part (16)；The vertical fix bar (4) is fixed on longitudinally adjustable base, the vertical fix bar
(4) top is fixedly connected by attachment means with horizontal sliding table cylinder mounting plate (9) rear side center, the horizontal sliding table cylinder peace
Dress plate (9) front side horizontal is provided with the first slider cylinder (10), the sliding block and the second slide unit gas of first slider cylinder (10)
The sliding block of cylinder (11) is fixedly connected, and second slider cylinder (11) is vertically arranged, and the second slider cylinder (11) lower end is solid
Surely two finger finger cylinders (12) are connected with, the left finger of finger cylinder (12) is fixedly installed left clamping part (15), the finger
The right finger of cylinder (12) is fixedly installed right clamping part (16).
2. string for binding a plait machine transfer robot arm according to claim 1, it is characterised in that：The described finger cylinder (12) is left
Finger is connected by the first contiguous block (13) with left clamping part (15), and right finger of the finger cylinder (12) passes through the second contiguous block (14)
It is connected with right clamping part (16).
3. string for binding a plait machine transfer robot arm according to claim 2, it is characterised in that：On described left clamping part (15) front side
Side is horizontally disposed chute, and right clamping part (16) back side top is horizontally disposed with convex with the first of slide cooperation
The portion of rising；Left clamping part (15) bottom is provided with some right clamping jaws (1501), and the right clamping part (16) is if bottom is provided with
Left clamping jaw (1601) is done, the first lug boss drives right clamping jaw (1501) and left clamping jaw (1601) to clamp and separate in slide.
4. string for binding a plait machine transfer robot arm according to claim 3, it is characterised in that：Described left clamping part (15) rear side sets
The first locating slot (1502) and spacing hole (1503) are equipped with, the first contiguous block (13) front side is provided with and the first locating slot
(1502) identical the second lug boss (1301) of shape, the second contiguous block (14) front side is provided with the 3rd lug boss
(1401), the 3rd lug boss (1401) is fixedly connected through spacing hole (1503) with right clamping part (16) rear side, the limit
Position hole (1503) limits the 3rd lug boss (1401) and moves left and right scope.
5. string for binding a plait machine transfer robot arm according to claim 1, it is characterised in that：Described right clamping jaw (1501) and left folder
The relative one side in pawl (1601) bottom is provided with the deep-slotted chip breaker matched with string for binding a plait.
6. string for binding a plait machine transfer robot arm according to claim 1, it is characterised in that：Described adjustable frames include fixing
Seat (1), longitudinal mobile platform (2), handwheel (3), the fixed seat (1) and longitudinal mobile platform (2) are slided by dovetail groove and matched somebody with somebody
Connection is closed, the fixed seat (1) is fixed with screw mandrel by bearing block, and the screw mandrel passes through spiral shell with longitudinal mobile platform (2) bottom
Line is connected, and the screw mandrel rear end is fixedly connected with handwheel (3).
7. string for binding a plait machine transfer robot arm according to claim 6, it is characterised in that：Described vertical fix bar (4) rear side
It is fixedly connected with longitudinal mobile platform (2) by support bar (5).
8. string for binding a plait machine transfer robot arm according to claim 1, it is characterised in that：Described attachment means include connecting plate
(8), U-shaped fixed plate (7), T-rail (6), the first bolt fixed block (19), the second bolt fixed block (20), locating piece (17),
Bolt (18), described connecting plate (8) is fixed on horizontal sliding table cylinder mounting plate (9) rear side center, described U-shaped fixed plate
(7) connecting plate (8) center is fixed on, described U-shaped fixed plate (7) is fixedly connected with T-rail (6) upper end, it is described vertical solid
Fixed pole (4) front side is vertically installed with dovetail groove and is slidably matched with the T-rail (6)；Vertical fix bar (4) top horizontal
The second bolt fixed block (20) is provided with, the second bolt fixed block (20) is provided with stepped hole, bolt (18) head
It is placed in stepped hole, the second bolt fixed block (20) is fixedly arranged above the first bolt fixed block (19)；The vertical fixation
Slotted hole (401) is provided with bar (4) dovetail groove, the T-rail (6) is provided with the second locating slot (601), the bolt
(18) locating piece (17) has been connected through a screw thread, the locating piece (17) is "convex" shaped, locating piece (17) front end passes through
In embedded second locating slot (601) of slotted hole (401).
9. string for binding a plait machine transfer robot arm according to claim 8, it is characterised in that：Described connecting plate (8) is positioned at U-shaped
Fixed plate (7) both sides are provided with fixed plate (21).
10. string for binding a plait machine transfer robot arm according to claim 1, it is characterised in that：Described the second slider cylinder (11)
Sliding block the side of horizontal sliding table cylinder mounting plate (9) is being provided with gag lever post (1101), gag lever post (1101) water
Somoothing board cylinder mounting plate (9) abuts and is in and is provided with spacing bayonet socket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251963.4A CN106737588B (en) | 2016-12-30 | 2016-12-30 | Head rope machine shifts manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251963.4A CN106737588B (en) | 2016-12-30 | 2016-12-30 | Head rope machine shifts manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737588A true CN106737588A (en) | 2017-05-31 |
| CN106737588B CN106737588B (en) | 2024-02-02 |
Family
ID=58928459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611251963.4A Active CN106737588B (en) | 2016-12-30 | 2016-12-30 | Head rope machine shifts manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737588B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186846A (en) * | 2019-05-28 | 2019-08-30 | 怀光智能科技（武汉）有限公司 | A kind of pathology slide more changing device |
| CN110450343A (en) * | 2019-08-09 | 2019-11-15 | 施纯定 | A kind of full-automatic cutting pendulum of continous way rope knob send all-in-one machine and its application method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186846A (en) * | 2019-05-28 | 2019-08-30 | 怀光智能科技（武汉）有限公司 | A kind of pathology slide more changing device |
| CN110186846B (en) * | 2019-05-28 | 2022-02-18 | 怀光智能科技（武汉）有限公司 | Pathological slide replacing device |
| CN110450343A (en) * | 2019-08-09 | 2019-11-15 | 施纯定 | A kind of full-automatic cutting pendulum of continous way rope knob send all-in-one machine and its application method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737588B (en) | 2024-02-02 |
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