CN106737612A - Capture the variable-distance manipulator of spindle - Google Patents
Capture the variable-distance manipulator of spindle Download PDFInfo
- Publication number
- CN106737612A CN106737612A CN201710179437.XA CN201710179437A CN106737612A CN 106737612 A CN106737612 A CN 106737612A CN 201710179437 A CN201710179437 A CN 201710179437A CN 106737612 A CN106737612 A CN 106737612A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- spindle
- slide rail
- block
- carriage
- 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.)
- Pending
Links
- 239000007787 solid Substances 0.000 claims 1
- 239000004576 sand Substances 0.000 abstract description 2
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of variable-distance manipulator for capturing spindle,It is related to take the equipment and facilities of sand,Including fixed plate,Slide rail is connected with fixed plate,Carriage is connected with slide rail and both are to be slidably connected,Carriage is connected with movable plate,Portable cord roller folder is connected with movable plate,Contiguous block is also associated with movable plate and is bolted between the two or is welded to connect,Contiguous block is connected with pneumatic means,Using preceding,First pass through the position that sensor detects spindle,The signal transmission that sensor will be detected is in controller,Pneumatic means is controlled by controller,Pneumatic means drives contiguous block,Contiguous block drives movable plate,Movable plate drives portable cord roller folder,Because carriage and slide rail are to be slidably connected,It is fixed that the trend that portable cord roller is pressed from both sides is determined by slide rail,Portable cord roller is pressed from both sides by pneumatic means is adjusted,Portable cord roller is set to clip to the surface up to spindle,Press from both sides portable cord roller accurately can grip to spindle,Operating efficiency can be improved.
Description
Technical field：
A kind of equipment and facilities the present invention relates to take sand, and in particular to variable-distance manipulator of crawl spindle.
Background technology：
At present, fixture application packs automatic logistics production line in yarn, and fixture is the crucial ring that spun yarn packs automatic logistics line
One of section；There is two ways during the crawl of spindle at present, a kind of mode is using manually capturing, then in profit
Accurate position is manually discharged into, not only multi-process handling but also lost labor for this mode, and another way is utilization
Manipulator is captured automatically, although this mode can quickly solve the problems, such as the crawl to spindle, in the mistake of crawl
Often occur that grab folder and spindle also can not often occur that grab folder accurately can not be carried out to spindle to its situation in journey
Crawl, can thus make to be lost time during folder is grabbed, and improve error rate, equally be dropped production efficiency
Low, in order to solve the above-mentioned technical problem, spy proposes a kind of new technical scheme.
The content of the invention：
The invention aims to the weak point for overcoming above-mentioned prior art to exist, and a kind of crawl spindle is provided and is used
Variable-distance manipulator.
The technical solution adopted by the present invention is：A kind of variable-distance manipulator for capturing spindle, including fixed plate, fixed plate
On be connected with the quantity of slide rail and slide rail no less than one, be connected with slide rail carriage and both to be slidably connected, slide
Many one of the quantity of device, is respectively connected with movable plate on each carriage, portable cord roller folder is connected with movable plate, mobile
Contiguous block is also associated with plate and is bolted between the two or is welded to connect, contiguous block is connected with pneumatic means, described
Fixed plate or so end positions be respectively provided with a fixing line roller folder.
Described carriage includes one piece of fixed block and two pieces of sliding blocks, described fixed block one end and one of sliding block
Connection, the fixed block other end is connected with another piece of sliding block, and two pieces of sliding blocks and slide rail are connected and between sliding block and slide rail for slip connects
Connect.
Described pneumatic means includes cylinder, cylinder fixed block and connector, and described cylinder is connected with cylinder fixed block,
The quantity of cylinder fixed block is that two and two cylinder fixed blocks connect positioned at the rear and front end of cylinder, cylinder fixed block and fixed plate
Connect, described cylinder is connected with connector, and connector is connected with contiguous block.
Described cylinder includes fixed seat, cylinder body and expansion link, and described fixed seat is connected with cylinder body, be provided with cylinder body into
Gas port and gas outlet, cylinder body are connected with expansion link, and expansion link is connected with connector.
The beneficial effects of the invention are as follows：In the position for using preceding, first passing through sensor and detecting spindle, sensor will be detected
Signal transmission controls pneumatic means, pneumatic means to drive contiguous block, contiguous block to drive movable plate in controller by controller,
Movable plate drives portable cord roller folder, fixed to determine what portable cord roller was pressed from both sides by slide rail due to carriage with slide rail to be slidably connected
Trend, is pressed from both sides to portable cord roller by pneumatic means and is adjusted, and portable cord roller is clipped to the surface up to spindle, makes portable cord roller
Folder can be gripped accurately to spindle, it is possible to increase operating efficiency.
Brief description of the drawings：
Fig. 1 is schematic structural view of the invention.
Fig. 2 is front view of the present invention.
Fig. 3 is upward view of the present invention.
Fig. 4 is carriage structural representation of the present invention.
Fig. 5 is pneumatic means structural representation of the present invention.
Specific embodiment：
Accompanying drawing being for illustration only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and its explanation may be omitted and will be understood by accompanying drawing.
With reference to each figure, a kind of variable-distance manipulator of crawl spindle, including fixed plate 1 are connected with slide rail in fixed plate 1
6 and the quantity of slide rail 6 is no less than one, be connected with slide rail 6 carriage 5 and both to be slidably connected, the number of carriage 5
Many one are measured, movable plate 4 is respectively connected with each carriage 5, portable cord roller folder 7, movable plate 4 are connected with movable plate 4
On be also associated with contiguous block 8 and be bolted between the two or be welded to connect, contiguous block 8 is connected with pneumatic means, described
The end positions of fixed plate 1 or so be respectively provided with fixing line roller folder 10.
Described carriage 5 include one piece of fixed block 501 and two pieces of sliding blocks 502, described one end of fixed block 501 and its
In one piece of sliding block 502 connect, the other end of fixed block 501 is connected with another piece of sliding block 502, two pieces of sliding blocks 502 be connected with slide rail 6 and
It is to be slidably connected between sliding block 502 and slide rail 6.
Described pneumatic means includes cylinder 2, cylinder fixed block 3 and connector 9, described cylinder 2 and cylinder fixed block 3
Connection, the quantity of cylinder fixed block 3 is the rear and front end that two and two cylinder fixed blocks 3 are located at cylinder 2, cylinder fixed block 3
It is connected with fixed plate 1, described cylinder 2 is connected with connector 9, and connector 9 is connected with contiguous block 8.
Described cylinder 2 includes fixed seat 201, cylinder body 202 and expansion link 203, described fixed seat 201 and cylinder body 202
Connection, is provided with air inlet and gas outlet on cylinder body 202, cylinder body 202 is connected with expansion link 203, and expansion link 203 connects with connector 9
Connect.
Specific embodiment is as follows：Using preceding, the position that sensor detects spindle, the letter that sensor will be detected are first passed through
Number it is transferred in controller, controls pneumatic means, pneumatic means to drive contiguous block 8, contiguous block 8 to drive movable plate 4 by controller,
Movable plate 4 drives portable cord roller folder 7, and due to carriage 5 with slide rail 6 to be slidably connected, fixation determines portable cord roller by slide rail 6
The trend of folder 7, presss from both sides 7 and is adjusted by pneumatic means to portable cord roller, portable cord roller is pressed from both sides 7 surfaces for reaching spindle, makes
Portable cord roller folder 7 can be gripped accurately to spindle；
Embodiment one：Assuming that the quantity of portable cord roller folder 7 is four, a set of gas is respectively connected with each portable cord roller folder 7
Dynamic device, a fixing line roller folder 10 is respectively arranged at the two ends with the left and right of fixed plate 1, is pressed from both sides by sensor test position portable cord roller
The spindle of 7 position directly below, while portable cord roller folder 7 is adjusted by adjusting the cylinder 2 in pneumatic means, if sensing
Device detect the first portable cord roller folder 7 with the 3rd portable cord roller press from both sides 7 can not be aligned with spindle located directly below when, first is pneumatic
Device drives the first portable cord roller folder 7 to be aligned, and the 3rd pneumatic means drives the 3rd portable cord roller folder 7 to be aligned, other
Drive two pneumatic means constant, when being now that spindle is placed on plane belt, spindle is realized accurate in the case of can moving
True grips to spindle.
Embodiment two：Assuming that the quantity of portable cord roller folder 7 is four, a set of gas is respectively connected with each portable cord roller folder 7
Dynamic device, is respectively arranged at the two ends with a fixing line roller folder 10, when spindle is placed on the biography in fixing groove in the left and right of fixed plate 1
When sending band, machine is set in advance, portable cord roller folder 7 is adjusted by adjusting the cylinder 2 in pneumatic means, will moved
Fixed position is arrived in the regulation of moving-wire roller folder 7, and this position is corresponding with positioned at portable cord roller 7 position directly below of folder, and this position is fixed
Motionless, this kind of mode is fixed gripping mode.
In sum, there is this device two ways to be operated, and one kind is variable pitch type operation, and this kind of mode operates spirit
Living, another kind is fixed range formula mode of operation, and this kind of mode is swift to operate, and two ways can be converted freely can be real
Realize that the formula of a machine two is operated, according to selecting different modes to be operated the need for user, it is convenient to be driven to user.
In addition the pneumatic means in this device can also be replaced with other power set, and for example pneumatic means can
To replace with hydraulic means, when the operation principle for replacing with hydraulic means is identical with the operation principle of pneumatic means；Pneumatic means
The mode of linear electric motors is may be replaced by, the operation principle for replacing linear electric motors is cylinder 2 to be replaced with into linear electric motors, together
Sample linear electric motors are fixed in fixed plate by cylinder fixed block, and the output shaft of linear electric motors is connected with worm screw, worm screw be connected
Block 8 is connected and contiguous block 8 is connected with worm screw by way of screw thread, and other connected modes are constant, when linear electric motors rotate,
Worm screw is driven, because worm screw is connected through a screw thread with contiguous block 8, therefore when worm screw 8 is motionless, contiguous block 8 can be carried out on worm screw
Mobile, so that worm screw drives portable cord roller folder 7 to move, the advantage using linear electric motors is that linear electric motors can be carried out
Accurate adjustment, enables the precision of whole machine to be improved, and the advantage using pneumatic means is that movement velocity is fast, energy
Enough improve operating efficiency.
In figure, position relationship being for illustration only property explanation is described, it is impossible to be interpreted as the limitation to this patent；Obviously, this hair
Bright above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to embodiments of the present invention
Limit.For those of ordinary skill in the field, other multi-forms can also be made on the basis of the above description
Change or variation.There is no need and unable to be exhaustive to all of implementation method.It is all the spirit and principles in the present invention it
Interior made any modification, equivalent and improvement etc., should be included within the protection domain of the claims in the present invention.
Claims (4)
1. a kind of variable-distance manipulator for capturing spindle, including fixed plate, it is characterised in that：Be connected with fixed plate slide rail and
The quantity of slide rail is no less than one, carriage is connected with slide rail and both are to be slidably connected, and the quantity of carriage is many
One, movable plate is respectively connected with each carriage, portable cord roller folder, the company of being also associated with movable plate are connected with movable plate
Connect block and be bolted between the two or be welded to connect, contiguous block is connected with pneumatic means, described fixed plate or so two
End position is respectively provided with a fixing line roller folder.
2. it is according to claim 1 crawl spindle variable-distance manipulator, it is characterised in that：Described carriage bag
Include one piece of fixed block and two pieces of sliding blocks, described fixed block one end is connected with one of sliding block, the fixed block other end with it is another
Block sliding block is connected, and two pieces of sliding blocks and slide rail are connected and be slidably connected between sliding block and slide rail.
3. it is according to claim 1 crawl spindle variable-distance manipulator, it is characterised in that：Described pneumatic means bag
Include cylinder, cylinder fixed block and connector, described cylinder is connected with cylinder fixed block, the quantity of cylinder fixed block for two and
Two cylinder fixed blocks are located at the rear and front end of cylinder, and cylinder fixed block is connected with fixed plate, and described cylinder connects with connector
Connect, connector is connected with contiguous block.
4. it is according to claim 3 crawl spindle variable-distance manipulator, it is characterised in that：Described cylinder includes solid
Reservation, cylinder body and expansion link, described fixed seat are connected with cylinder body, are provided with air inlet and gas outlet on cylinder body, cylinder body with it is flexible
Bar is connected, and expansion link is connected with connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710179437.XA CN106737612A (en) | 2017-03-23 | 2017-03-23 | Capture the variable-distance manipulator of spindle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710179437.XA CN106737612A (en) | 2017-03-23 | 2017-03-23 | Capture the variable-distance manipulator of spindle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737612A true CN106737612A (en) | 2017-05-31 |
Family
ID=58967812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710179437.XA Pending CN106737612A (en) | 2017-03-23 | 2017-03-23 | Capture the variable-distance manipulator of spindle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737612A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286095A (en) * | 2018-03-29 | 2018-07-17 | 广州盛原成自动化科技有限公司 | Tube capture apparatus |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020153735A1 (en) * | 2000-03-03 | 2002-10-24 | Micron Technology, Inc. | Variable-pitch pick and place device |
| CN201950671U (en) * | 2011-01-30 | 2011-08-31 | 北京机械工业自动化研究所 | Manipulator |
| CN202729327U (en) * | 2012-06-01 | 2013-02-13 | Abb技术有限公司 | Gripping device and box loading system comprising same |
| US20140097629A1 (en) * | 2012-10-01 | 2014-04-10 | Festo Corporation | Integrated Two Dimensional Robotic Palm for Variable Pitch Positioning of Multiple Transfer Devices |
| CN105857734A (en) * | 2016-06-21 | 2016-08-17 | 太原朗智物流自动化工程有限公司 | Glass fiber spun yarn stacking clamp |
| CN205572429U (en) * | 2016-03-30 | 2016-09-14 | 广州捷森凯特自动化控制设备有限公司 | Fecund article carry device with time shift |
| CN206643908U (en) * | 2017-03-23 | 2017-11-17 | 广州盛原成自动化科技有限公司 | Capture the variable-distance manipulator of spindle |
-
2017
- 2017-03-23 CN CN201710179437.XA patent/CN106737612A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020153735A1 (en) * | 2000-03-03 | 2002-10-24 | Micron Technology, Inc. | Variable-pitch pick and place device |
| CN201950671U (en) * | 2011-01-30 | 2011-08-31 | 北京机械工业自动化研究所 | Manipulator |
| CN202729327U (en) * | 2012-06-01 | 2013-02-13 | Abb技术有限公司 | Gripping device and box loading system comprising same |
| US20140097629A1 (en) * | 2012-10-01 | 2014-04-10 | Festo Corporation | Integrated Two Dimensional Robotic Palm for Variable Pitch Positioning of Multiple Transfer Devices |
| CN205572429U (en) * | 2016-03-30 | 2016-09-14 | 广州捷森凯特自动化控制设备有限公司 | Fecund article carry device with time shift |
| CN105857734A (en) * | 2016-06-21 | 2016-08-17 | 太原朗智物流自动化工程有限公司 | Glass fiber spun yarn stacking clamp |
| CN206643908U (en) * | 2017-03-23 | 2017-11-17 | 广州盛原成自动化科技有限公司 | Capture the variable-distance manipulator of spindle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286095A (en) * | 2018-03-29 | 2018-07-17 | 广州盛原成自动化科技有限公司 | Tube capture apparatus |
| CN108286095B (en) * | 2018-03-29 | 2023-07-07 | 广州盛原成自动化科技有限公司 | Yarn cylinder grabbing equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |