CN106737588B - Head rope machine shifts manipulator - Google Patents
Head rope machine shifts manipulator Download PDFInfo
- Publication number
- CN106737588B CN106737588B CN201611251963.4A CN201611251963A CN106737588B CN 106737588 B CN106737588 B CN 106737588B CN 201611251963 A CN201611251963 A CN 201611251963A CN 106737588 B CN106737588 B CN 106737588B
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- China
- Prior art keywords
- sliding table
- clamping part
- table cylinder
- finger
- block
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003292 glue Substances 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
Abstract
The invention discloses a head rope machine transferring manipulator, the device comprises a longitudinally adjustable base, a vertical fixing rod, a connecting device, a horizontal sliding table cylinder mounting plate, a first sliding table cylinder, a second sliding table cylinder, a finger cylinder, a left clamping part and a right clamping part; the vertical fixing rod is fixed on the longitudinal adjustable base, the upper portion of the vertical fixing rod is fixedly connected with the rear center of the horizontal sliding table cylinder mounting plate through a connecting device, a first sliding table cylinder is horizontally mounted on the front side of the horizontal sliding table cylinder mounting plate, a sliding block of the first sliding table cylinder is fixedly connected with a sliding block of a second sliding table cylinder, the second sliding table cylinder is vertically arranged, two finger cylinders are fixedly connected to the lower end of the second sliding table cylinder, a left clamping part is fixedly arranged on the left finger of each finger cylinder, and a right clamping part is fixedly arranged on the right finger of each finger cylinder. The head rope machine transferring manipulator is reasonable in design, the left clamping part and the right clamping part ensure the relative running distance of the left clamping part and the right clamping part through the limiting holes, the clamping action is high in stability and cannot fall, the position of the head rope machine transferring manipulator can be longitudinally adjusted, the descending heights of the left clamping part and the right clamping part can be adjusted, and the clamping precision is high.
Description
Technical Field
The invention relates to the technical field of head rope manufacturing, in particular to a head rope machine transferring manipulator.
Background
The head rope is a necessary article for female hair tying, the existing head rope manufacturing process is completed purely manually, the head rope is cut by scissors, then glue is applied manually, and the head rope is bonded in a butt joint mode, so that the head rope has the defects of low manual operation efficiency and high cost, a manipulator device developed for a full-automatic head rope machine does not exist at present, and full-automatic unmanned operation of complete head rope production cannot be completely achieved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a clamping device which is stable in clamping, the head rope machine transferring manipulator capable of adjusting the position of the clamping part.
In order to solve the technical problems, the invention provides a head rope machine transferring manipulator which comprises a longitudinally adjustable base, a vertical fixing rod, a connecting device, a horizontal sliding table cylinder mounting plate, a first sliding table cylinder, a second sliding table cylinder, a finger cylinder, a left clamping part and a right clamping part; the vertical fixing rod is fixed on the longitudinal adjustable base, the upper portion of the vertical fixing rod is fixedly connected with the rear center of the horizontal sliding table cylinder mounting plate through a connecting device, a first sliding table cylinder is horizontally mounted on the front side of the horizontal sliding table cylinder mounting plate, a sliding block of the first sliding table cylinder is fixedly connected with a sliding block of a second sliding table cylinder, the second sliding table cylinder is vertically arranged, two finger cylinders are fixedly connected to the lower end of the second sliding table cylinder, a left clamping part is fixedly arranged on the left finger of each finger cylinder, and a right clamping part is fixedly arranged on the right finger of each finger cylinder.
Further, the left finger of the finger cylinder is connected with the left clamping part through the first connecting block, and the right finger of the finger cylinder is connected with the right clamping part through the second connecting block.
Further, a chute is horizontally arranged above the front side of the left clamping part, and a first protruding part which is in sliding fit with the chute is horizontally arranged above the rear side of the right clamping part; the left clamping part lower part is provided with a plurality of right clamping jaws, the right clamping part lower part is provided with a plurality of left clamping jaws, and the first protruding part slides in the chute to drive the right clamping jaw and the left clamping jaw to clamp and separate.
Further, the left clamping part rear side be provided with first constant head tank and spacing hole, first connecting block front side be provided with the second bellying that coincides with first constant head tank shape, second connecting block front side is provided with the third bellying, the third bellying passes spacing hole and right clamping part rear side fixed connection, the spacing hole restriction third bellying control range of movement.
Further, the opposite surfaces of the lower parts of the right clamping jaw and the left clamping jaw are respectively provided with an arc-shaped groove matched with the head rope.
Further, adjustable base include fixing base, vertical moving platform, hand wheel, fixing base and vertical moving platform pass through dovetail sliding fit and connect, the fixing base is fixed with the lead screw through the bearing frame, the lead screw passes through screw drive with vertical moving platform bottom and is connected, lead screw rear end and hand wheel fixed connection.
Further, the rear side of the vertical fixing rod is fixedly connected with the longitudinal moving platform through a supporting rod.
Further, the connecting device comprises a connecting plate, a U-shaped fixing plate, a T-shaped guide rail, a first bolt fixing block, a second bolt fixing block, a positioning block and a bolt, wherein the connecting plate is fixed at the center of the rear side of the horizontal sliding table cylinder mounting plate, the U-shaped fixing plate is fixed at the center of the connecting plate, the U-shaped fixing plate is fixedly connected with the upper end of the T-shaped guide rail, and a dovetail groove is vertically arranged on the front side of the vertical fixing rod and is in sliding fit with the T-shaped guide rail; the top of the vertical fixing rod is horizontally provided with a second bolt fixing block, the second bolt fixing block is provided with a step hole, the head of the bolt is arranged in the step hole, and a first bolt fixing block is fixed above the second bolt fixing block; the dovetail groove of the vertical fixing rod is internally provided with a slotted hole, the T-shaped guide rail is provided with a second positioning groove, the bolt is connected with a positioning block through threads, the positioning block is in a convex shape, and the front end of the positioning block penetrates through the slotted hole and is embedded into the second positioning groove.
Furthermore, the connecting plates are provided with fixing plates at two sides of the U-shaped fixing plate.
Furthermore, a limit rod is arranged on one side of the sliding block of the second sliding table cylinder, which faces the horizontal sliding table cylinder mounting plate, the limiting rod horizontal sliding table cylinder mounting plate is in butt joint with the limiting bayonet.
The head rope machine transferring manipulator is reasonable in design, the left clamping part and the right clamping part ensure the relative running distance of the left clamping part and the right clamping part through the limiting holes, the clamping action is high in stability and cannot fall, the position of the head rope machine transferring manipulator can be longitudinally adjusted, the descending heights of the left clamping part and the right clamping part can be adjusted, and the clamping precision is high.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the left and right clamping portions of the present invention;
FIG. 4 is a schematic view of a left clamping portion according to the present invention;
FIG. 5 is a schematic view of the first and second connection blocks according to the present invention;
fig. 6 is a schematic view of a T-shaped rail structure according to the present invention.
In the figure, 1, a fixed seat, 2, a longitudinal moving platform, 3, a hand wheel, 4, a vertical fixing rod, 401, a long round hole, 5, a supporting rod, 6, a T-shaped guide rail, 601, a second positioning groove, 7, a U-shaped fixing plate, 8, a connecting plate, 9, a horizontal sliding table cylinder mounting plate, 10, a first sliding table cylinder, 11, a second sliding table cylinder, 1101, a limiting rod, 12, a finger cylinder, 13, a first connecting block, 1301, a second protruding part, 14, a second connecting block, 1401, a third protruding part, 15, a left clamping part 1501, a right clamping jaw, 1502, a first positioning groove, 1503, a limiting hole, 16, a right clamping part 1601, a left clamping jaw, 17, a positioning block, 18, a bolt, 19, a first bolt fixing block, 20, a second bolt fixing block, 21 and a fixing plate.
Detailed Description
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. The description hereinafter sets forth a preferred embodiment for practicing the invention, but is not intended to limit the scope of the invention, as the description is given for the purpose of illustrating the general principles of the invention. The scope of the invention is defined by the appended claims.
The present invention will be described in further detail below with reference to the drawings, but is not limited thereto.
The head rope machine transferring manipulator comprises a longitudinally adjustable base, a vertical fixing rod 4, a connecting device, a horizontal sliding table cylinder mounting plate 9, a first sliding table cylinder 10, a second sliding table cylinder 11, a finger cylinder 12, a left clamping part 15 and a right clamping part 16; the vertical fixing rod 4 is fixed on the longitudinally adjustable base, the upper portion of the vertical fixing rod 4 is fixedly connected with the rear center of the horizontal sliding table cylinder mounting plate 9 through a connecting device, a first sliding table cylinder 10 is horizontally mounted on the front side of the horizontal sliding table cylinder mounting plate 9, a sliding block of the first sliding table cylinder 10 is fixedly connected with a sliding block of a second sliding table cylinder 11, the second sliding table cylinder 11 is vertically arranged, two finger cylinders 12 are fixedly connected to the lower end of the second sliding table cylinder 11, a left clamping part 15 is fixedly arranged on the left finger of the finger cylinder 12, and a right clamping part 16 is fixedly arranged on the right finger of the finger cylinder 12.
Preferably, the left finger of the finger cylinder 12 is connected with the left clamping part 15 through the first connecting block 13, and the right finger of the finger cylinder 12 is connected with the right clamping part 16 through the second connecting block 14.
Preferably, a sliding groove is horizontally arranged above the front side of the left clamping part 15, and a first protruding part in sliding fit with the sliding groove is horizontally arranged above the rear side of the right clamping part 16; the lower part of the left clamping part 15 is provided with a plurality of right clamping jaws 1501, the lower part of the right clamping part 16 is provided with a plurality of left clamping jaws 1601, and the first protruding part slides in the chute to drive the right clamping jaws 1501 and the left clamping jaws 1601 to clamp and separate.
Preferably, a first positioning groove 1502 and a limiting hole 1503 are provided on the rear side of the left clamping portion 15, a second protruding portion 1301 which is in shape fit with the first positioning groove 1502 is provided on the front side of the first connecting block 13, a third protruding portion 1401 is provided on the front side of the second connecting block 14, the third protruding portion 1401 passes through the limiting hole 1503 and is fixedly connected with the rear side of the right clamping portion 16, and the limiting hole 1503 limits the left-right movement range of the third protruding portion 1401 and also avoids up-down shaking.
Preferably, the opposite surfaces of the lower parts of the right clamping jaw 1501 and the left clamping jaw 1601 are respectively provided with an arc-shaped groove matched with the head rope.
Preferably, the adjustable base comprises a fixed seat 1, a longitudinal moving platform 2 and a hand wheel 3, wherein the fixed seat 1 and the longitudinal moving platform 2 are connected through dovetail grooves in a sliding fit manner, a screw rod is fixed on the fixed seat 1 through a bearing seat, the screw rod is connected with the bottom of the longitudinal moving platform 2 through a threaded transmission, and the rear end of the screw rod is fixedly connected with the hand wheel 3.
Preferably, the rear side of the vertical fixing rod 4 is fixedly connected with the longitudinal moving platform 2 through a supporting rod 5.
Preferably, the connecting device comprises a connecting plate 8, a U-shaped fixing plate 7, a T-shaped guide rail 6, a first bolt fixing block 19, a second bolt fixing block 20, a locating block 17 and a bolt 18, wherein the connecting plate 8 is fixed at the center of the rear side of the horizontal sliding table cylinder mounting plate 9, the U-shaped fixing plate 7 is fixed at the center of the connecting plate 8, the U-shaped fixing plate 7 is fixedly connected with the upper end of the T-shaped guide rail 6, and a dovetail groove is vertically arranged on the front side of the vertical fixing rod 4 and is in sliding fit with the T-shaped guide rail 6; the top of the vertical fixing rod 4 is horizontally provided with a second bolt fixing block 20, the second bolt fixing block 20 is provided with a step hole, the head of the bolt 18 is arranged in the step hole, and a first bolt fixing block 19 is fixed above the second bolt fixing block 20; the dovetail groove of the vertical fixing rod 4 is internally provided with a slotted hole 401, the T-shaped guide rail 6 is provided with a second positioning groove 601, the bolt 18 is connected with a positioning block 17 through threads, the positioning block 17 is in a convex shape, the front end of the positioning block 17 penetrates through the slotted hole 401 to be embedded into the second positioning groove 601, and the relative position of the positioning block 17 can be adjusted by rotating the bolt 18, so that the height of the T-shaped guide rail 6 is determined, the height of the horizontal sliding table cylinder mounting plate 9 is further determined, and the descending heights of the left clamping part 15 and the right clamping part 16 are determined.
Preferably, the connecting plates 8 are provided with fixing plates 21 at two sides of the U-shaped fixing plate 7, so that stability is improved.
The slider of second slip table cylinder 11 be provided with gag lever post 1101 in the one side towards horizontal slip table cylinder mounting panel 9, gag lever post 1101 horizontal slip table cylinder mounting panel 9 butt be in with be provided with spacing bayonet socket, ensure that the decline height of left clamping part 15 and right clamping part 16 is unanimous, can accurately press from both sides the head rope that bonds.
When the head rope is well bonded, the first sliding table cylinder 10 drives the second sliding table cylinder 11 to move leftwards, the second sliding table cylinder 11 drives the finger cylinder 12 to move downwards, the finger cylinder 12 clamps and drives the left clamping part 15 and the right clamping part 16 to clamp the bonded head rope, then the second sliding table cylinder 11 drives the finger cylinder 12 to move upwards, the first sliding table cylinder 10 drives the second sliding table cylinder 11 to move rightwards, and after the head rope penetrates into the blanking device, the finger cylinder 12 is loosened and integrally reset.
The head rope machine transferring manipulator is reasonable in design, the left clamping part and the right clamping part ensure the relative running distance of the left clamping part and the right clamping part through the limiting holes, the clamping action is high in stability and cannot fall, the position of the head rope machine transferring manipulator can be longitudinally adjusted, the descending heights of the left clamping part and the right clamping part can be adjusted, and the clamping precision is high.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (7)
1. The utility model provides a head rope machine shifts manipulator which characterized in that: the device comprises a longitudinally adjustable base, a vertical fixing rod (4), a connecting device, a horizontal sliding table cylinder mounting plate (9), a first sliding table cylinder (10), a second sliding table cylinder (11), a finger cylinder (12), a left clamping part (15) and a right clamping part (16); the vertical fixing rod (4) is fixed on the longitudinally adjustable base, the upper portion of the vertical fixing rod (4) is fixedly connected with the rear center of the horizontal sliding table cylinder mounting plate (9) through a connecting device, a first sliding table cylinder (10) is horizontally arranged on the front side of the horizontal sliding table cylinder mounting plate (9), a sliding block of the first sliding table cylinder (10) is fixedly connected with a sliding block of a second sliding table cylinder (11), the second sliding table cylinder (11) is vertically arranged, two finger cylinders (12) are fixedly connected to the lower end of the second sliding table cylinder (11), a left clamping part (15) is fixedly arranged on the left finger of each finger cylinder (12), and a right clamping part (16) is fixedly arranged on the right finger of each finger cylinder (12);
a chute is horizontally arranged above the front side of the left clamping part (15), and a first protruding part which is in sliding fit with the chute is horizontally arranged above the rear side of the right clamping part (16); the lower part of the left clamping part (15) is provided with a plurality of right clamping jaws (1501), the lower part of the right clamping part (16) is provided with a plurality of left clamping jaws (1601), and the first protruding part slides in the chute to drive the right clamping jaw (1501) and the left clamping jaw (1601) to clamp and separate;
the connecting device comprises a connecting plate (8), a U-shaped fixing plate (7), a T-shaped guide rail (6), a first bolt fixing block (19), a second bolt fixing block (20), a positioning block (17) and a bolt (18), wherein the connecting plate (8) is fixed at the center of the rear side of a horizontal sliding table cylinder mounting plate (9), the U-shaped fixing plate (7) is fixed at the center of the connecting plate (8), the U-shaped fixing plate (7) is fixedly connected with the upper end of the T-shaped guide rail (6), and a dovetail groove is vertically arranged on the front side of the vertical fixing rod (4) and is in sliding fit with the T-shaped guide rail (6); a second bolt fixing block (20) is horizontally arranged at the top of the vertical fixing rod (4), the second bolt fixing block (20) is provided with a step hole, the head of the bolt (18) is arranged in the step hole, and a first bolt fixing block (19) is fixed above the second bolt fixing block (20); a slotted hole (401) is formed in the dovetail groove of the vertical fixing rod (4), a second positioning groove (601) is formed in the T-shaped guide rail (6), a positioning block (17) is connected with the bolt (18) through threads, the positioning block (17) is in a convex shape, and the front end of the positioning block (17) penetrates through the slotted hole (401) and is embedded into the second positioning groove (601); the connecting plates (8) are provided with fixing plates (21) at two sides of the U-shaped fixing plate (7).
2. The head rope machine transfer robot of claim 1, wherein: the left finger of the finger cylinder (12) is connected with the left clamping part (15) through the first connecting block (13), and the right finger of the finger cylinder (12) is connected with the right clamping part (16) through the second connecting block (14).
3. The head rope machine transfer robot of claim 2, wherein: the left clamping part (15) rear side be provided with first constant head tank (1502) and spacing hole (1503), first connecting block (13) front side be provided with first constant head tank (1502) shape anastomotic second bellying (1301), second connecting block (14) front side is provided with third bellying (1401), third bellying (1401) pass spacing hole (1503) and right clamping part (16) rear side fixed connection, the range of movement about third bellying (1401) is restricted in spacing hole (1503).
4. The head rope machine transfer robot of claim 1, wherein: the opposite surfaces of the lower parts of the right clamping jaw (1501) and the left clamping jaw (1601) are respectively provided with an arc-shaped groove matched with the head rope.
5. The head rope machine transfer robot of claim 1, wherein: the adjustable base comprises a fixed seat (1), a longitudinal moving platform (2) and a hand wheel (3), wherein the fixed seat (1) and the longitudinal moving platform (2) are connected through dovetail grooves in a sliding fit mode, a screw rod is fixed on the fixed seat (1) through a bearing seat, the screw rod is connected with the bottom of the longitudinal moving platform (2) through thread transmission, and the rear end of the screw rod is fixedly connected with the hand wheel (3).
6. The head rope machine transfer robot of claim 5, wherein: the rear side of the vertical fixing rod (4) is fixedly connected with the longitudinal moving platform (2) through a supporting rod (5).
7. The head rope machine transfer robot of claim 1, wherein: the sliding block of the second sliding table cylinder (11) is provided with a limiting rod (1101) at one side facing the horizontal sliding table cylinder mounting plate (9), and the limiting rod (1101) is provided with a limiting bayonet at the abutting part with the horizontal sliding table cylinder mounting plate (9).
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 CN106737588A (en) | 2017-05-31 |
| CN106737588B true CN106737588B (en) | 2024-02-02 |
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| 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 |
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| CN (1) | CN106737588B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| US20020076990A1 (en) * | 2000-12-15 | 2002-06-20 | Sumitomo Wiring Systems Ltd. | Apparatus for processing a stacked-type connector of a wire harness, a housing holder, apparatus and method and for stacking housings of a stacked-type connectors, and apparatus for pressing a joint portion of stacked-type connector |
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| DE102004007558A1 (en) * | 2004-02-17 | 2005-09-08 | Josef Moser | Multi-axle system with gripping elements, e.g. for PCB, comprising individually and independently driven arms |
| CN101930689A (en) * | 2009-06-25 | 2010-12-29 | 浙江亚龙教育装备股份有限公司 | Intelligent material conveying device |
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| CN106737588A (en) | 2017-05-31 |
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Address after: 321000 Zhejiang Province, Jinhua City Jindong District Town Village early Applicant after: Jinhua Shengchang Technology Co.,Ltd. Address before: 321000 Zhejiang Province, Jinhua City Jindong District Town Village early Applicant before: JINHUA SHENGCHANG MACHINERY Co.,Ltd. |
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