CN107263447A - A kind of cloth gripping arm - Google Patents
A kind of cloth gripping arm Download PDFInfo
- Publication number
- CN107263447A CN107263447A CN201710524530.XA CN201710524530A CN107263447A CN 107263447 A CN107263447 A CN 107263447A CN 201710524530 A CN201710524530 A CN 201710524530A CN 107263447 A CN107263447 A CN 107263447A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- cloth
- gripper
- stock
- gripping arm
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of cloth gripping arm, including the internal stock for being provided with slideway, a pair of connecting rods are provided with stock, connecting rod includes the sliding block coordinated with slideway, and connecting rod is fixed by nut with stock, and gripper is respectively and fixedly provided with below connecting rod；The gripper includes fixing shell, the top of fixing shell is provided with the hydraulic cylinder being connected with connecting rod, hydraulic stem is connected with below hydraulic cylinder, hydraulic stem is connected with movable block, a pair of first connecting rods are connected with movable block, first connecting rod two ends are respectively connected with second connecting rod, and two second connecting rods are connected by tripod, the upper end of tripod is connected in fixing shell, and second connecting rod is provided with mechanical finger.The present invention has the advantages that can stably capture cloth, gripper position is easily adjusted.
Description
Technical field
The present invention relates to a kind of cloth gripping arm, particularly a kind of cloth gripping arm for textile machine.
Background technology
In textile machine, after cloth is manufactured, due to rolling storage than larger needs, when carrying, by
Longer in cloth, artificial is difficult to carry, and existing cloth is carried and generally completed by palletizing apparatus, existing palletizing apparatus cloth
Expect crawl arm only one of which gripper, be very unstable to capture cloth, and during the cloth of crawl different length, to readjust
Gripper position is to ensure the center of gravity of cloth on gripper, and this gripper position adjustments needs repeatedly to attempt just draw most
Best placement.Therefore, existing cloth gripping arm haves the shortcomings that crawl cloth, gripper position adjustment hardly possible can not be stablized.
The content of the invention
It is an object of the present invention to provide a kind of cloth gripping arm.It, which has, can stably capture cloth, gripper position
Put the advantage being easily adjusted.
Technical scheme：It is provided with a pair in a kind of cloth gripping arm, including the internal stock for being provided with slideway, stock
Connecting rod, connecting rod includes the sliding block coordinated with slideway, and connecting rod is fixed by nut with stock, is respectively and fixedly provided with below connecting rod
Gripper；The gripper includes fixing shell, and the top of fixing shell is provided with the hydraulic cylinder being connected with connecting rod, hydraulic cylinder
Side is connected with hydraulic stem, and hydraulic stem is connected with movable block, and a pair of first connecting rods are connected with movable block, and first connecting rod two ends are equal
Second connecting rod is connected with, two second connecting rods are connected by tripod, and the upper end of tripod is connected in fixing shell, second connects
Bar is provided with mechanical finger.
In foregoing cloth gripping arm, the sliding block most bond length is more than the diameter of connecting rod.
In foregoing cloth gripping arm, the diameter of the hydraulic cylinder is more than the diameter of connecting rod.
In foregoing cloth gripping arm, the length of the stock is the maximum slidably distance between 10m, two grippers
For 9m.
The application method of foregoing cloth gripping arm：The relative of two grippers is adjusted by the cooperation of sliding block and slideway
Position, when the length of cloth is different, adjusts the position of one or two gripper, the nut in connecting rod, machine is unscrewed first
Sliding block in machinery claw is moved by slideway on straight line, determines the center of gravity of cloth, center of gravity is fallen between two grippers, standby
Machinery claw is adjusted to after correct position, tightening nut, and the position of gripper and stock is fixed；The position of gripper and stock is fixed
Afterwards, cloth gripping arm carries out the crawl of cloth under the driving of palletizing apparatus, and when not working, gripper opens, and captures cloth
During material, hydraulic stem promotes movable block to move downward, and the first connecting rod on movable block diminishes with horizontal plane angle, drives second connecting rod
Motion, second connecting rod driving mechanical finger, make gripper closure crawl cloth.
Compared with prior art, the present invention ensures the stabilization of cloth gripping by setting two grippers on stock
Property, the relative position of two grippers can be adjusted by the cooperation of sliding block and slideway, in the cloth in face of different length,
It can ensure that the center of gravity of cloth falls between two grippers by adjusting the position of one of gripper, it is easy to adjust.
Therefore, the present invention has the advantages that can stably capture cloth, gripper position is easily adjusted.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of gripper.
Mark in accompanying drawing for：1- slideways, 2- stocks, 3- connecting rods, 4- sliding blocks, 5- nuts, 6- grippers, 7- fixes outer
Shell, 8- hydraulic cylinders, 9- movable blocks, 10- first connecting rods, 11- second connecting rods, 12- tripods, 13- mechanical fingers, 14- hydraulic stems.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment：A kind of cloth gripping arm, is constituted as shown in figure 1, being provided with including inside in the stock 2 of slideway 1, stock 2
Provided with two connecting rods 3, connecting rod 3 includes the sliding block 4 coordinated with slideway 1, and the top of connecting rod 3 is provided with screw thread, and connecting rod 3 passes through
Nut 5 is fixed with stock 2, and the lower section of connecting rod 3 is respectively and fixedly provided with gripper 6；The gripper 6 includes fixing shell 7, fixing shell
7 top is provided with the hydraulic cylinder 8 being connected with connecting rod 3, and the lower section of hydraulic cylinder 8 is connected with hydraulic stem 14, hydraulic stem 14 and movable block 9
It is connected, a pair of first connecting rods 10 is connected with movable block 9, the two ends of first connecting rod 10 is respectively connected with second connecting rod 11, two
Two connecting rods 11 are connected by tripod 12, and the upper end of tripod 12 is connected in fixing shell 7, and second connecting rod 11 is provided with machinery
Finger 13；The most bond length of the sliding block 4 is more than the diameter of connecting rod 3；The diameter of the hydraulic cylinder 8 is more than connecting rod 3
Diameter；The length of the stock 2 is that the maximum slidably distance between 10m, two grippers 6 is 9m.
The relative position of two grippers is adjusted by the cooperation of sliding block and slideway, when the length of cloth is different, adjusted
The position of one or two whole gripper, unscrews the sliding block on the nut in connecting rod, gripper by slideway in straight line first
Upper movement, determines the center of gravity of cloth, center of gravity is fallen between two grippers, after gripper is adjusted to correct position, screws
The position of nut, gripper and stock is fixed；After the position of gripper and stock is fixed, drive of the cloth gripping arm in palletizing apparatus
The dynamic lower crawl for carrying out cloth, when not working, gripper opens, and during crawl cloth, hydraulic stem promotes movable block to transport downwards
Dynamic, the first connecting rod on movable block diminishes with horizontal plane angle, drives the motion of second connecting rod, second connecting rod driving manipulator
Refer to, make gripper closure crawl cloth.
The present invention is to ensure the stability of cloth gripping, two grippers by setting two grippers 6 on stock 2
6 relative position can be adjusted by sliding block 4 with the cooperation of slideway 1, in the cloth in face of different length, can adjust one
Individual or two grippers 6 position, sliding block 4 on the nut 5 in connecting rod 3, gripper 6 is unscrewed first can be with by slideway 1
Moved on straight line, determine the center of gravity of cloth, center of gravity is fallen between two grippers 6, treat that gripper 6 is adjusted to correct position
Afterwards, tightening nut 5, the position of such gripper 6 and stock 2 will be fixed, cloth gripping arm can palletizing apparatus driving
The lower crawl for carrying out cloth, just starts, gripper 6 opens, when capturing cloth, and hydraulic stem 14 promotes movable block 9 downward
First connecting rod 10 on motion, movable block 9 diminishes with horizontal plane angle, drives the motion of second connecting rod 11, and second connecting rod 11 drives
Dynamic mechanical finger 13, makes the closure crawl cloth of gripper 6.
Claims (5)
1. a kind of cloth gripping arm, it is characterised in that：Including the internal stock (2) for being provided with slideway (1), two are provided with stock (2)
Individual connecting rod (3), connecting rod (3) includes the sliding block (4) coordinated with slideway (1), and connecting rod (3) passes through nut (5) and stock (2)
It is fixed, it is respectively and fixedly provided with gripper (6) below connecting rod (3)；The gripper (6) includes fixing shell (7), fixing shell (7)
Top be provided with the hydraulic cylinder (8) that be connected with connecting rod (3), hydraulic cylinder (8) lower section is connected with hydraulic stem (14), hydraulic stem (14)
It is connected with movable block (9), a pair of first connecting rods (10) is connected with movable block (9), every first connecting rod (10) is connected with
Two connecting rods (11), two second connecting rods (11) are connected by tripod (12), and the upper end of tripod (12) is connected to fixing shell
(7) on, second connecting rod (11) is provided with mechanical finger (13).
2. cloth gripping arm according to claim 1, it is characterised in that：The most bond length of the sliding block (4), which is more than, to be connected
The diameter of extension bar (3).
3. cloth gripping arm according to claim 1, it is characterised in that：The diameter of the hydraulic cylinder (8) is more than connecting rod
(3) diameter.
4. cloth gripping arm according to claim 1, it is characterised in that：The length of the stock (2) is 10m, two machines
Maximum slidably distance between machinery claw (6) is 9m.
5. the application method of the cloth gripping arm according to claim 1,2,3 or 4, it is characterised in that：Pass through sliding block and cunning
The cooperation in road adjusts the relative positions of two grippers, when the length of cloth is different, adjusts one or two gripper
Position, the sliding block unscrewed first on the nut in connecting rod, gripper is moved by slideway on straight line, determines the weight of cloth
The heart, makes center of gravity fall between two grippers, after gripper is adjusted to correct position, tightening nut, gripper and stock
Position is fixed；After the position of gripper and stock is fixed, cloth gripping arm carries out the crawl of cloth under the driving of palletizing apparatus,
When not working, gripper opens, and during crawl cloth, hydraulic stem promotes movable block to move downward, and first on movable block connects
Bar diminishes with horizontal plane angle, drives the motion of second connecting rod, and second connecting rod driving mechanical finger makes gripper closure crawl cloth
Material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710524530.XA CN107263447A (en) | 2017-06-30 | 2017-06-30 | A kind of cloth gripping arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710524530.XA CN107263447A (en) | 2017-06-30 | 2017-06-30 | A kind of cloth gripping arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263447A true CN107263447A (en) | 2017-10-20 |
Family
ID=60071080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710524530.XA Withdrawn CN107263447A (en) | 2017-06-30 | 2017-06-30 | A kind of cloth gripping arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263447A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262660A (en) * | 2018-10-09 | 2019-01-25 | 上海拓璞数控科技股份有限公司 | Cylinder section shifting apparatus and method |
| CN110202602A (en) * | 2019-05-28 | 2019-09-06 | 宁波君睿智能装备有限公司 | Robot polymorphic type cloth gripping system |
-
2017
- 2017-06-30 CN CN201710524530.XA patent/CN107263447A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262660A (en) * | 2018-10-09 | 2019-01-25 | 上海拓璞数控科技股份有限公司 | Cylinder section shifting apparatus and method |
| CN110202602A (en) * | 2019-05-28 | 2019-09-06 | 宁波君睿智能装备有限公司 | Robot polymorphic type cloth gripping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171020 |
|
| WW01 | Invention patent application withdrawn after publication |