CN117656099A - Mechanical arm special for spinning rubber roller and operation method thereof - Google Patents

Abstract

The invention discloses a special manipulator for a textile rubber roller and an operation method thereof, and relates to the technical field of manipulators. According to the special manipulator for the textile rubber roller and the operation method thereof, stability and flexibility of the manipulator in the process of conveying the textile rubber roller are improved, shaking or tilting of the manipulator during conveying of the textile rubber roller is avoided, clamping height of a single textile rubber roller can be stably and flexibly adjusted, the condition of grabbing the manipulator to the air is avoided, practicability is high, clamping stability of the textile rubber roller is improved, limitation of the manipulator in clamping textile rubber rollers with different lengths is avoided, and applicability of the manipulator is improved.

Description

Mechanical arm special for spinning rubber roller and operation method thereof

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator special for a spinning rubber roller and an operation method thereof.

Background

The manipulator can simulate certain action functions of hands and arms, is an automatic operation device for grabbing and carrying objects or operating tools according to fixed programs, is an industrial robot which appears earliest, is a modern robot which appears earliest, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environments to protect personal safety, and is a special manipulator for textile rubber rollers and an operation method thereof.

The application number CN202311315624.8 discloses a special manipulator for spinning rubber rolls and an operation method thereof, wherein the manipulator comprises an angle adjusting mechanism, a clamping mechanism, a pushing mechanism, a misdirection pushing mechanism and two inward pushing inclined plates, the angle adjusting mechanism is fixedly arranged on a horizontal sliding seat of a horizontal shifter, the angle adjusting mechanism is used for adjusting angles of a plurality of rubber rolls, after the plurality of rubber rolls are clamped, the misdirection pushing mechanism is driven to move through the lifting of the clamping mechanism, so that the dislocated rubber rolls can be pushed by the inward pushing inclined plates, namely, the dislocated rubber rolls can be automatically adjusted, the rubber rolls can be accurately placed on a conveying slideway of a grinder, the two sides of the rubber rolls are clamped through the two inward pushing inclined plates, the stability during transportation can be improved, and the left-right displacement of the rubber rolls is avoided.

Through searching the patent, the special manipulator for the spinning rubber roller and the operation method thereof still have the following defects: 1. in the prior art, the special manipulator for the spinning rubber rollers and the operation method thereof are characterized in that the rubber rollers are round in shape in the conveying process, and meanwhile, the conveying stability and flexibility of the manipulator are weakened due to the fact that a plurality of spinning rubber rollers are conveyed, so that the manipulator is easy to shake or incline during conveying, and the spinning rubber rollers fall off; 2. because the special manipulator for the textile rubber rollers and the operation method thereof used in the prior art can clamp a plurality of textile rubber rollers at the same time, but the clamping heights of the plurality of textile rubber rollers are fixed, the clamping heights of the single textile rubber rollers cannot be stably and flexibly adjusted, if the textile rubber rollers are scattered, the textile rubber rollers cannot be stirred, the condition that the manipulator grabs the air easily occurs, and if the manipulator pushes feeding manually, the manipulator is time-consuming and laborious, potential safety hazards exist, and the practicability is weaker; 3. the clamping area of the traditional manipulator to the textile rubber roller is narrower, so that the clamping stability of the textile rubber roller is weaker, and meanwhile, the displacement range of the textile rubber roller is prevented from being fixed, so that the manipulator is limited when clamping textile rubber rollers with different lengths.

Therefore, a novel mechanical arm special for the spinning rubber roller and an operation method thereof are provided.

Disclosure of Invention

The invention aims to provide a special manipulator for a textile rubber roller and an operation method thereof, so as to solve the problems in the background art:

in the prior art, the special manipulator for the spinning rubber rollers and the operation method thereof are characterized in that the rubber rollers are round in shape in the conveying process, and meanwhile, the conveying stability and flexibility of the manipulator are weakened due to the fact that a plurality of spinning rubber rollers are conveyed, so that the manipulator is easy to shake or incline during conveying, and the spinning rubber rollers fall off; the special manipulator for the textile rubber rollers and the operation method thereof in the prior art can clamp a plurality of textile rubber rollers at the same time, but the clamping heights of the plurality of textile rubber rollers are fixed, the clamping heights of the single textile rubber rollers cannot be stably and flexibly adjusted, if the textile rubber rollers are scattered, the textile rubber rollers cannot be stirred, the condition that the manipulator grabs the textile rubber rollers empty easily occurs, and if the manipulator pushes feeding manually, the manipulator is time-consuming and laborious, potential safety hazards exist, and the practicability is weaker; the clamping area of the traditional manipulator to the textile rubber roller is narrower, so that the clamping stability of the textile rubber roller is weaker, and meanwhile, the displacement range of the textile rubber roller is prevented from being fixed, so that the manipulator is limited when clamping textile rubber rollers with different lengths.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model provides a special manipulator of spinning rubber roll and operation method thereof, includes the manipulator main part, the upper end fixedly connected with positive and negative motor of manipulator main part, positive and negative motor's output runs through the manipulator main part and fixedly connected with screw rod, the surface transmission of screw rod is connected with the carriage, the conveyer trough has all been opened to the front end both sides of carriage, and the both sides of carriage all fixedly connected with expansion bend, two the expansion bend sets up to the symmetric distribution, and the output of two expansion bend all runs through the carriage and fixedly connected with conveying structure, two conveying structure is located two conveyer troughs respectively, and the lower extreme middle part of two conveying structure all fixedly connected with device frame, two the one end of device frame all fixedly connected with motor, two the output of motor all runs through the device frame and fixedly connected with elevation structure, two elevation structure's both ends all are provided with clamping structure.

Preferably, two semicircular grooves are formed on two sides of the inner part of the conveying frame, the two semicircular grooves are respectively communicated with the two conveying grooves, clamping grooves and sliding grooves are formed on two sides of the upper end of the conveying frame,

through adopting above-mentioned technical scheme, half slot and spout increase the manipulator jointly and press from both sides and get the flexibility of carrying the textile rubber roller in-process behind the textile rubber roller, draw-in groove and carry and increase the manipulator to press from both sides and get the stability of carrying the textile rubber roller in-process behind the textile rubber roller with carrying.

Preferably, the conveying structure comprises a telescopic pipe, one end of the telescopic pipe is fixedly connected with a T-shaped plate, one end of the T-shaped plate is rotationally connected with a first ball, one end of the T-shaped plate, which is far away from the first ball, is fixedly connected with a conveying plate, the rear part of the lower end of the conveying plate is fixedly connected with a clamping plate, the rear part of the lower end of the conveying plate is rotationally connected with a group of second balls, both sides of the lower end of the conveying plate are fixedly connected with concave frames, both ends of the two concave frames are provided with through grooves,

through adopting above-mentioned technical scheme, flexible pipe is controlled through the expansion bend, drives T template and is located the conveyer trough and remove for a ball is located the semicircle inslot and rotates, and a ball is located the spout and slides, and the cardboard follows the conveyer plate that T template is connected and is located the draw-in groove and remove, makes when carrying a plurality of spinning rubber rollers, can increase stability and the flexibility of manipulator transport spinning rubber roller in-process.

Preferably, one end of the two telescopic pipes far away from the two T-shaped plates is fixedly connected with the output ends of the two retractors respectively, the two T-shaped plates are positioned in the two conveying grooves respectively, the two first rolling balls are rotationally connected with the two conveying frames respectively through the two semicircular grooves, the two clamping plates are positioned in the two clamping grooves respectively, the two second rolling balls are in sliding connection with the two conveying frames respectively through the two sliding grooves,

through adopting above-mentioned technical scheme, can increase stability and flexibility that the manipulator carried textile rubber roller in-process, the manipulator appears rocking or the slope when avoiding the textile rubber roller to carry, effectively prevents that the textile rubber roller from dropping.

Preferably, one end of the device frame is provided with a connecting hole, the inside of the device frame is provided with two conical grooves, the two conical grooves are communicated with the connecting hole, the outer end of the device frame is provided with two limit grooves and curve grooves, the two curve grooves are symmetrically distributed,

through adopting above-mentioned technical scheme, the spacing groove increases stability and spacing to the adjustment process of elevation structure, prevents that it from appearing the condition of slope or skew when rotatory.

Preferably, the lifting structure comprises a connecting rod, two conical tubes are fixedly connected to the outer surface of the connecting rod, a group of third balls are rotatably connected to the outer opposite surfaces of the two conical tubes, two round tubes are fixedly connected to the middle part of the outer surface of the connecting rod, a group of fourth balls are rotatably connected to the outer surface of the round tubes, the two groups of fourth balls are symmetrically distributed, the connecting rod is fixedly connected with the output end of the motor, the two round tubes are respectively positioned in two limiting grooves, the two round tubes are rotatably connected with the device frame through the two groups of fourth balls, the two conical tubes are respectively positioned in the two conical grooves, and the two conical tubes are respectively rotatably connected with the device frame through the two groups of third balls,

through adopting above-mentioned technical scheme, through motor control connecting rod rotation, can drive the conical tube and be located the conical tank rotation, drive No. three balls and be located the conical tank rotation, drive round pipe simultaneously and be located the spacing inslot internal rotation, no. four balls on the round pipe are located the spacing inslot internal rotation, drive the expansion plate and be located the expansion groove and realize stretching out and drawing back through the I-shaped gyro wheel slip when round pipe is rotatory for the special manipulator of spinning rubber roll and the high realization of spinning rubber roll is got in its operating method clamp is adjustable, the adjustment that can be stable and nimble is to the clamp of single spinning rubber roll and is got the height.

Preferably, both sides of the outer surface of the two circular pipes are fixedly connected with connecting frames together, both ends of the two connecting frames are provided with telescopic grooves together, the two telescopic grooves are rotationally connected with I-shaped rollers, the outer surfaces of the two I-shaped rollers are rotationally connected with telescopic plates, one ends of the two circular pipes are fixedly connected with L-shaped plates, one ends of the two L-shaped plates are provided with lifting grooves, the upper ends of the groove walls of the two lifting grooves are fixedly connected with springs, the lower ends of the two springs are fixedly connected with lifting plates, the lower ends of the two lifting plates are fixedly connected with a group of poking teeth,

through adopting above-mentioned technical scheme, when circular pipe is rotatory, can drive through the L template and stir the tooth and stir the spinning rubber roll next door and realize automatic feeding.

Preferably, the two sets of poking teeth are symmetrically distributed, the installation directions of the two sets of poking teeth are opposite, the positions of the two L-shaped plates respectively correspond to the positions of the two curve grooves, the two lifting plates respectively penetrate through and are in sliding connection with the two L-shaped plates,

through adopting above-mentioned technical scheme for can stir it when weaving rubber roll is scattered, avoid the manipulator to appear grabbing empty condition, not only labour saving and time saving still reduces the potential safety hazard, and the practicality is stronger.

Preferably, the clamping structure comprises connecting plates fixedly connected to two sides of the outer surface of the connecting pipe, four fixing rods are fixedly connected between the two connecting plates, the lower end of the connecting pipe is fixedly connected with a first electric telescopic rod, the output end of the first electric telescopic rod is fixedly connected with a four-way pipe, the outer surface of the four-way pipe is rotationally connected with four uniformly distributed sliding rods, the four sliding rods respectively penetrate through and rotationally connected with the four fixing rods, the lower ends of the two sliding rods are fixedly connected with a first clamping tooth, one end of each sliding rod is fixedly connected with a second electric telescopic rod, the output ends of the two electric telescopic rods penetrate through the two sliding rods and are fixedly connected with a concave plate,

through adopting above-mentioned technical scheme, drive four-way pipe through the flexible of an electric telescopic handle and move down, drive the slide bar slope for a clamp tooth removes simultaneously and realizes the clamp operation to the textile rubber roller, and when the slide bar slope, can drive the concave template that No. two electric telescopic handle are connected and remove, make the clamp tooth removal of No. two that is connected on the concave template realize the clamp operation to the textile rubber roller different positions, make the manipulator get the area to the clamp of textile rubber roller and widen, increase the clamp of textile rubber roller and get stability.

Preferably, two second clamping teeth are fixedly connected on opposite surfaces of the two concave plates, the two first clamping teeth are respectively positioned between the four second clamping teeth, one end of the other two sliding rods is fixedly connected with a third electric telescopic rod, output ends of the two third electric telescopic rods penetrate through the sliding rods and are fixedly connected with pushing plates, one end of the connecting pipe is rotationally connected with the telescopic plates,

through adopting above-mentioned technical scheme, under the flexible drive of electric telescopic handle, can drive the push plate and remove to the both ends of weaving rubber roll to it is flexible through electric telescopic handle control push plate No. three, make the scope of weaving rubber roll displacement increase, there is the limitation when avoiding the manipulator to press from both sides the weaving rubber roll of getting different length, increase the suitability of manipulator.

The operation method of the special manipulator for the spinning rubber roller comprises the following steps:

step one: installing a manipulator and adjusting the using height of the manipulator, firstly connecting a manipulator main body with a platform on which a spinning rubber roller is placed through screws, enabling the platform to be vertical to the manipulator main body, controlling the screw to rotate through a positive motor and a negative motor, and driving the manipulator on a conveying frame to move in position;

step two: the textile rubber roller is conveyed, the telescopic pipe is controlled to stretch out and draw back through the telescopic device, the T-shaped plate is driven to move in the conveying groove, the first ball is positioned in the semicircular groove to rotate, the second ball is positioned in the sliding groove to slide, the clamping plate moves in the clamping groove along with the conveying plate connected with the T-shaped plate, stability and flexibility are high, and the textile rubber roller is effectively prevented from falling;

step three: the spinning rubber roller is clamped, the motor is used for controlling the connecting rod to rotate, the conical tube can be driven to rotate in the conical groove, the third ball is driven to rotate in the conical groove, the round tube is driven to rotate in the limiting groove, the fourth ball on the round tube is driven to rotate in the limiting groove, the expansion plate is driven to slide through the I-shaped roller to realize expansion when the round tube rotates, the L-shaped plate can drive the textile rubber roller beside the stirring teeth to realize automatic feeding when the round tube rotates, the L-shaped plate moves in the curved groove when the L-shaped plate follows the round tube, and the lifting plate can be driven to move upwards through the spring when the stirring teeth contact a platform for placing the textile rubber roller, so that the spinning rubber roller is clamped;

step four: automatic push away neat spinning rubber roller and increase the suitability, drive four-way tub through the flexible of electric telescopic handle and move down, drive the slide bar slope, make a clamp tooth remove simultaneously and realize the clamp operation to spinning rubber roller, and when the slide bar slope, can drive the concave template that No. two electric telescopic handle connect and remove, make the clamp tooth removal of No. two that is connected on the concave template realize the clamp operation to the different positions of spinning rubber roller, make the manipulator get the area broadening to the clamp of spinning rubber roller, simultaneously under the flexible drive of electric telescopic handle, can drive the push plate and remove to the both ends of spinning rubber roller, and control the push plate flexible through No. three electric telescopic handle, make the scope of spinning rubber roller displacement increase, press from both sides and get the spinning rubber roller back and control flexible pipe reverse flexible, realize the spinning rubber roller and carry, accomplish the operation flow of manipulator main part.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, by arranging the conveying structure, when the manipulator main body aims at the textile rubber rollers, the telescopic pipe is controlled to stretch and retract through the telescopic device, the T-shaped plate is driven to move in the conveying groove, so that the first ball is positioned in the semicircular groove to rotate, the second ball is positioned in the sliding groove to slide, and the clamping plate moves in the clamping groove along with the conveying plate connected with the T-shaped plate, so that the stability and flexibility of the manipulator in the process of conveying the textile rubber rollers can be improved when the plurality of textile rubber rollers are conveyed, shaking or tilting of the manipulator during conveying of the textile rubber rollers is avoided, and the textile rubber rollers are effectively prevented from falling;

according to the invention, the lifting structure is arranged, when the manipulator main body clamps the textile rubber rollers, the motor is used for controlling the connecting rod to rotate, the conical tube is driven to rotate in the conical groove, the round tube is driven to rotate in the limiting groove, the expansion plate is driven to slide in the expansion groove through the I-shaped roller to realize expansion when the round tube rotates, so that the clamping height of a single textile rubber roller can be adjusted stably and flexibly, the clamping height of the single textile rubber roller can be adjusted, the adjacent textile rubber roller can be stirred by the stirring teeth driven by the L-shaped plate, the textile rubber roller can be stirred when the textile rubber roller is scattered, the condition that the manipulator catches the empty is avoided, the automatic feeding is realized, the time and labor are saved, the potential safety hazard is reduced, and the practicability is higher;

according to the invention, the clamping structure is arranged, the four-way pipe is driven to move downwards through the expansion and contraction of the first electric telescopic rod, so that the first clamping teeth can move simultaneously to realize the clamping operation on the textile rubber roller, the concave plate connected with the second electric telescopic rod can be driven to move, the second clamping teeth can move to realize the clamping operation on different positions of the textile rubber roller, the clamping area of the mechanical arm on the textile rubber roller is widened, the clamping stability of the textile rubber roller is improved, meanwhile, under the expansion and contraction driving of the first electric telescopic rod, the pushing plate is controlled to expand and contract through the third electric telescopic rod, the displacement range of the textile rubber roller is increased, the limitation of the mechanical arm when clamping the textile rubber roller with different lengths is avoided, and the applicability of the mechanical arm is improved.

Drawings

FIG. 1 is a schematic diagram of the whole structure of a special manipulator for spinning rubber rolls and an operation method thereof;

FIG. 2 is a schematic cross-sectional view of a carriage of the special manipulator for spinning rubber rolls and the operation method thereof;

FIG. 3 is a schematic structural view of a conveying structure of a special manipulator for spinning rubber rolls and an operation method thereof;

FIG. 4 is a schematic cross-sectional view of a device frame of the special manipulator for spinning rubber rolls and the operation method thereof;

FIG. 5 is a schematic structural view of a lifting structure of a special manipulator for spinning rubber rolls and an operation method thereof;

FIG. 6 is an enlarged schematic view of the lifting structure A of the special manipulator for the spinning rubber roll and the operation method thereof;

FIG. 7 is a schematic structural view of a clamping structure of the special manipulator for spinning rubber rolls and an operation method thereof;

fig. 8 is a schematic diagram of a connection structure of a lifting structure and a clamping structure of the special manipulator for spinning rubber rolls and an operation method thereof.

In the figure: 1. a robot body; 2. a forward and reverse motor; 3. a screw; 4. a carriage; 5. a conveying trough; 6. a telescopic device; 7. a conveying structure; 8. a device rack; 9. a motor; 10. a lifting structure; 11. a clamping structure; 51. a semicircular groove; 52. a clamping groove; 53. a chute; 71. a telescopic tube; 72. t-shaped plates; 73. a first ball; 74. a conveying plate; 75. a clamping plate; 76. a second ball; 77. a concave frame; 78. a through groove; 81. a connection hole; 82. a conical groove; 83. a limit groove; 84. a curved slot; 101. a connecting rod; 102. a conical tube; 103. a third ball; 104. a circular tube; 105. a fourth ball; 106. a connecting frame; 107. a telescopic slot; 108. i-shaped rollers; 109. a telescoping plate; 1011. an L-shaped plate; 1012. a lifting groove; 1013. a spring; 1014. a lifting plate; 1015. toggle teeth; 111. a connecting pipe; 112. a connecting plate; 113. a fixed rod; 114. a first electric telescopic rod; 115. a four-way tube; 116. a slide bar; 117. a first clamping tooth; 118. a second electric telescopic rod; 119. a concave plate; 1101. the second clamping tooth; 1102. a third electric telescopic rod; 1103. pushing the plate.

Detailed Description

Example 1

In the prior art, the special manipulator for the textile rubber rollers and the operation method thereof are circular in the conveying process, and simultaneously conveying a plurality of textile rubber rollers can cause the stability and flexibility of the manipulator conveying to be weakened, so that the manipulator is easy to shake or incline during conveying, thereby causing the textile rubber rollers to fall off, and the problem is solved through the following scheme.

Referring to fig. 1 to 3, a special manipulator for a textile rubber roller and an operation method thereof, the manipulator comprises a manipulator main body 1, the manipulator main body 1 is connected with a platform for placing the textile rubber roller through screws, the platform is vertical to the manipulator main body 1, the upper end of the manipulator main body 1 is fixedly connected with a positive and negative motor 2, the output end of the positive and negative motor 2 penetrates through the manipulator main body 1 and is fixedly connected with a screw 3, the outer surface of the screw 3 is in transmission connection with a conveying frame 4, one end of the conveying frame 4 is sleeved with the screw 3 and in transmission connection with the screw 3, both sides of the front end of the conveying frame 4 are provided with conveying grooves 5, both sides of the conveying frame 4 are fixedly connected with retractors 6, the two retractors 6 are symmetrically distributed, and the output ends of the two retractors 6 penetrate through the conveying frame 4 and are fixedly connected with a conveying structure 7, the conveying structure 7 is used for conveying the textile rubber rolls after clamping, the two conveying structures 7 are respectively located in the two conveying grooves 5, the middle parts of the lower ends of the two conveying structures 7 are fixedly connected with the device frames 8, one ends of the two device frames 8 are fixedly connected with the motors 9, the output ends of the two motors 9 penetrate through the device frames 8 and are fixedly connected with the lifting structures 10, the lifting structures 10 are used for adjusting the clamping heights of the single mechanical hand, the mechanical hand can simultaneously clamp a plurality of textile rubber rolls, the height adjustment of the single mechanical hand can be achieved, the two ends of the two lifting structures 10 are respectively provided with the clamping structures 11, and the clamping structures 11 are used for clamping the textile rubber rolls and automatically pushing the textile rubber rolls when clamping the textile rubber rolls.

Both sides of the inner part of the conveying frame 4 are provided with semicircular grooves 51, the two semicircular grooves 51 are respectively communicated with the two conveying grooves 5, and both sides of the upper end of the conveying frame 4 are provided with clamping grooves 52 and sliding grooves 53.

The conveying structure 7 comprises a telescopic pipe 71, one end fixedly connected with T-shaped plate 72 of the telescopic pipe 71, the T-shaped plate 72 moves in the conveying groove 5 under the telescopic pushing of the telescopic pipe 71, the stability of the mechanical arm conveying textile rubber roller is improved, one end of the T-shaped plate 72 is rotationally connected with a first ball 73, the flexibility of conveying the textile rubber roller is improved in the moving process of the T-shaped plate 72, one end of the T-shaped plate 72, far away from the first ball 73, is fixedly connected with a conveying plate 74, the lower end rear portion of the conveying plate 74 is fixedly connected with a clamping plate 75, the clamping plate 75 enables the device to be prevented from being deviated in the moving process of the textile rubber roller, the lower end rear portion of the conveying plate 74 is rotationally connected with a second ball 76, the flexibility of the mechanical arm moving process is improved by the second ball 76, both sides of the lower end of the conveying plate 74 are fixedly connected with concave frames 77, and both ends of the two concave frames 77 are provided with through grooves 78.

One end of two flexible pipes 71, which is far away from two T-shaped plates 72, is fixedly connected with the output ends of two flexible pipes 6 respectively, two T-shaped plates 72 are located in two conveying grooves 5 respectively, two first rolling balls 73 are connected with two conveying frames 4 in a rotating mode through two semicircular grooves 51 respectively, two clamping plates 75 are located in two clamping grooves 52 respectively, two second rolling balls 76 are connected with two conveying frames 4 in a sliding mode through two sliding grooves 53 respectively, and conveying plates 74 connected with the clamping plates 75 along with the T-shaped plates 72 are located in the clamping grooves 52 and move, so that stability and flexibility in the process of conveying textile rubber rollers by a manipulator can be improved when conveying a plurality of textile rubber rollers.

The invention comprises the following steps: according to the invention, when the manipulator main body 1 is used for textile rubber rollers, the telescopic pipe 71 is controlled to stretch and retract through the telescopic device 6, the T-shaped plate 72 is driven to move in the conveying groove 5, the first ball 73 is positioned in the semicircular groove 51 and rotates, the second ball 76 is positioned in the sliding groove 53 and slides in the clamping groove 52, and the clamping plate 75 moves along with the conveying plate 74 connected with the T-shaped plate 72, so that stability and flexibility in the process of conveying the textile rubber rollers by the manipulator can be improved when the textile rubber rollers are conveyed, shaking or tilting of the manipulator during conveying of the textile rubber rollers is avoided, and the textile rubber rollers are effectively prevented from falling.

Example two

Because the special manipulator of spinning rubber roll and the operation method thereof that use among the prior art can press from both sides a plurality of spinning rubber rolls simultaneously, but press from both sides the high fixedly of getting a plurality of spinning rubber rolls, can't stable and nimble adjustment to the clamp of single spinning rubber roll get the height, and if spinning rubber roll is scattered, can't stir spinning rubber roll, the condition that the manipulator grabs the sky appears easily, if the manual work promotes the material loading, not only wastes time and energy, still has the potential safety hazard, the practicality is weaker, solves this problem through following scheme.

Referring to fig. 4 to 6, the difference between the bases of the combined embodiments is that one end of the device frame 8 is provided with a connecting hole 81, two tapered grooves 82 are provided in the device frame 8, the two tapered grooves 82 are all communicated with the connecting hole 81, two limiting grooves 83 and curved grooves 84 are provided at the outer end of the device frame 8, the two curved grooves 84 are symmetrically distributed, and the two curved grooves 84 are provided in opposite directions.

The lifting structure 10 comprises a connecting rod 101, two conical tubes 102 are fixedly connected to the outer surface of the connecting rod 101, a group of third balls 103 are rotatably connected to the outer opposite surfaces of the two conical tubes 102, two round tubes 104 are fixedly connected to the middle of the outer surface of the connecting rod 101, a group of fourth balls 105 are rotatably connected to the outer surface of the two round tubes 104, the two groups of fourth balls 105 are symmetrically distributed, the connecting rod 101 is fixedly connected with the output end of a motor 9, the two round tubes 104 are respectively located in two limit grooves 83, when the connecting rod 101 rotates under the control of the motor 9, the round tubes 104 can be driven to rotate in the limit grooves 83, the stability of height adjustment of a manipulator clamping device is improved, the two round tubes 104 are rotatably connected with the device frame 8 through the two groups of fourth balls 105, the flexibility of the manipulator clamping height adjustment is improved, the two conical tubes 102 are respectively located in the two conical grooves 82, and the two conical tubes 102 are respectively rotatably connected with the device frame 8 through the two groups of third balls 103.

The outer surface both sides of two circular pipes 104 all fixedly connected with link 106 jointly, the both ends of two link 106 all open jointly has expansion groove 107, all rotate in two expansion grooves 107 and be connected with I-shaped gyro wheel 108, the surface of two I-shaped gyro wheels 108 all rotates and is connected with expansion plate 109, expansion plate 109 is through I-shaped gyro wheel 108 and link 106 sliding connection when flexible, the equal fixedly connected with L template 1011 of one end of two circular pipes 104, L template 1011 is located curve groove 84 internal rotation when circular pipe 104 is rotatory, and when stirring the textile rubber roll of tooth 1015 and stirring one side and remove, the manipulator of clamp and get textile rubber roll corresponding position is the form that rises, the manipulator of motor 9 reverse control connecting rod 101 is rotatory can drive the clamp of corresponding position and get textile rubber roll this moment, and drive the textile rubber roll of the opposite side and remove at reverse control connecting rod 101 during rotation, thereby the realization is to the both sides of stirring the textile rubber roll, increase the convenience that the manipulator presss from both sides the textile rubber roll, be convenient for textile rubber roll is automatic material loading, the one end of two L template 1011 has two to stir the both sides the lift spring 1012 that the end of tooth 1013 is connected with the equal to have the lift spring and has the lift end 1012, the equal length of the spring that can make the lift spring and keep on the end 1013 is connected with the both sides 1013, the equal to have the lift spring and the lift plate 1013 is connected to the side.

The two sets of poking teeth 1015 are symmetrically distributed, the installation directions of the two sets of poking teeth 1015 are opposite, the bidirectional pushing action on the textile rubber roller is increased, the positions of the two L-shaped plates 1011 respectively correspond to the positions of the two curved grooves 84, and the two lifting plates 1014 respectively penetrate through and are in sliding connection with the two L-shaped plates 1011, so that the moving stability of the poking teeth 1015 is increased.

The invention comprises the following steps: according to the invention, when the manipulator main body 1 clamps and takes the textile rubber rolls, the motor 9 is used for controlling the connecting rod 101 to rotate, the conical tube 102 can be driven to rotate in the conical groove 82, the third ball 103 is driven to rotate in the conical groove 82, the round tube 104 is driven to rotate in the limit groove 83, the fourth ball 105 on the round tube 104 is driven to rotate in the limit groove 83, the telescopic plate 109 is driven to slide in the curve groove 107 through the I-shaped roller 108 when the round tube 104 rotates, so that the height of the textile rubber rolls clamped by the manipulator special for the textile rubber rolls and an operation method thereof can be adjusted, the clamping height of the single textile rubber roll can be stably and flexibly adjusted, and when the round tube 104 rotates, the automatic feeding of the textile rubber rolls beside the stirring teeth 1015 can be driven by the L-shaped plate 1011, so that the textile rubber rolls can be stirred when the textile rubber rolls are scattered, the situation that the manipulator is in a grabbing space is avoided, time and labor are saved, safety hazards are reduced, the L-shaped plate follows the round tube 104 to move in the curve groove 84 when the round tube 104 rotates, and the stirring teeth of the textile rubber rolls contact with the placing rubber rolls 1015, the potential safety hazards can be increased through the springs, and the lifting device can be more flexible than the lifting plate 1013.

Example III

The clamping area of the existing manipulator to the textile rubber roller is narrower, so that the clamping stability of the textile rubber roller is weaker, the displacement range of the textile rubber roller is prevented from being fixed, the manipulator is limited when clamping textile rubber rollers with different lengths, and the problem is solved through the following scheme.

Referring to fig. 7 to 8, the base of the combined embodiment is different in that the clamping structure 11 includes connecting plates 112 fixedly connected to two sides of an outer surface of the connecting tube 111, the connecting plates 112 move in the through grooves 78 when the connecting tube 111 is lifted, stability of lifting height adjustment of the manipulator is increased, inclination or deviation of the manipulator is prevented when the manipulator is lifted, four fixing rods 113 are fixedly connected between the two connecting plates 112, a first electric telescopic rod 114 is fixedly connected to a lower end of the connecting tube 111, a four-way tube 115 is fixedly connected to an output end of the first electric telescopic rod 114, four uniformly distributed sliding rods 116 are rotatably connected to an outer surface of the four-way tube 115, the four sliding rods 116 respectively penetrate through and are rotatably connected with the four fixing rods 113, a first clamping tooth 117 is fixedly connected to lower ends of the two sliding rods 116, the first clamping tooth 117 is used for clamping a middle position of a spinning rubber roller, one end of the two sliding rods 116 is fixedly connected with a second electric telescopic rod 118, and an output end of the two second electric telescopic rod 118 penetrates through the two sliding rods 116 and is fixedly connected with a concave plate 119.

Two concave plate 119's opposite faces all fixedly connected with No. two clamp teeth 1101, no. two clamp teeth 1101 are used for pressing from both sides the surface both sides position of getting the textile rubber roll, two clamp teeth 117 are located respectively between four No. two clamp teeth 1101, can increase the clamp area to the textile rubber roll, improve the stability that prevents the rubber roll clamp and get, the equal fixedly connected with No. three electric telescopic handle 1102 of one end of two slide bars 116, the output of No. two electric telescopic handle 1102 all runs through slide bar 116 and fixedly connected with impeller 1103, the impeller 1103 can be further to the textile rubber roll of different length push away the operation of neat under No. three electric telescopic handle 1102's control, not only can be to its secondary centre gripping, also can increase the suitability of the textile rubber roll of different length, the one end and the expansion plate 109 rotation of connecting pipe 111 are connected, can drive the connecting pipe 111 and reciprocate when the expansion plate 109 removes, thereby realize the adjustment to the height is got to single textile rubber roll clamp.

The invention comprises the following steps: according to the invention, the four-way pipe 115 is driven to move downwards through the expansion and contraction of the first electric telescopic rod 114, the slide rod 116 is driven to incline, the first clamping teeth 117 move simultaneously to realize the clamping operation on the textile rubber roller, when the slide rod 116 inclines, the concave plate 119 connected with the second electric telescopic rod 118 can be driven to move, the second clamping teeth 1101 connected with the concave plate 119 move to realize the clamping operation on different positions of the textile rubber roller, the clamping area of the textile rubber roller by a manipulator is widened, the clamping stability of the textile rubber roller is improved, meanwhile, the pushing plate 1103 can be driven to move towards the two ends of the textile rubber roller under the expansion and contraction of the first electric telescopic rod 114, the expansion and contraction of the pushing plate 1103 is controlled through the third electric telescopic rod 1102, the displacement range of the textile rubber roller is increased, the limitation of the manipulator in clamping textile rubber rollers with different lengths is avoided, and the applicability of the manipulator is improved.

The operation method of the special manipulator for the spinning rubber roller comprises the following steps:

step one: the method comprises the steps of installing a manipulator and adjusting the using height of the manipulator, firstly connecting a manipulator main body 1 with a platform on which a spinning rubber roller is placed through screws, enabling the platform to be vertical to the manipulator main body 1, controlling a screw 3 to rotate through a positive motor and a negative motor 2, and driving the manipulator on a conveying frame 4 to move in position;

step two: the telescopic pipe 71 is controlled to stretch and retract through the telescopic device 6 to drive the T-shaped plate 72 to move in the conveying groove 5, so that the first ball 73 is positioned in the semicircular groove 51 to rotate, the second ball 76 is positioned in the sliding groove 53 to slide, the clamping plate 75 moves in the clamping groove 52 along with the conveying plate 74 connected with the T-shaped plate 72, the stability and the flexibility are high, and the textile rubber roll is effectively prevented from falling;

step three: the spinning rubber roll is clamped, the connecting rod 101 is controlled to rotate through the motor 9, the conical tube 102 can be driven to rotate in the conical groove 82, the third ball 103 is driven to rotate in the conical groove 82, the round tube 104 is driven to rotate in the limit groove 83, the fourth ball 105 on the round tube 104 is driven to rotate in the limit groove 83, the expansion plate 109 is driven to slide through the I-shaped roller 108 when the round tube 104 rotates, the expansion plate 107 is driven to slide through the I-shaped roller 108 to realize expansion, when the round tube 104 rotates, the L-shaped plate 1011 can drive the poking teeth 1015 to poke the next spinning rubber roll to realize automatic feeding, the L-shaped plate 1011 moves in the curve groove 84 along with the rotation of the round tube 104, and when the poking teeth 1015 contact a platform for placing the spinning rubber roll, the lifting plate 1014 can be driven to move upwards through the spring 1013, and the spinning rubber roll is clamped;

step four: automatic push away and align spinning rubber roller and increase the suitability, drive four-way pipe 115 through the flexible of electric telescopic handle 114 and move down, drive the slide bar 116 slope, make a clamp tooth 117 remove simultaneously and realize the clamp operation to spinning rubber roller, and when slide bar 116 inclines, can drive the concave template 119 that No. two electric telescopic handle 118 are connected and remove, make the clamp tooth 1101 removal of No. two that is connected on the concave template 119 realize the clamp operation to the different positions of spinning rubber roller, make the manipulator get the area broadening to the clamp of spinning rubber roller, simultaneously under the flexible drive of electric telescopic handle 114, can drive the push plate 1103 and remove to the both ends of spinning rubber roller, and control the push plate 1103 through No. three electric telescopic handle 1102 and stretch out and draw back, make the scope of spinning rubber roller displacement increase, control flexible pipe 71 through the expansion pipe 6 after clamping and reverse flexible, realize the spinning rubber roller and carry, accomplish the operation flow of manipulator main part 1.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. Special manipulator of weaving rubber roll, including manipulator main part (1), its characterized in that: the upper end of the manipulator main body (1) is fixedly connected with a positive motor (2), the output end of the positive motor (2) penetrates through the manipulator main body (1) and is fixedly connected with a screw rod (3), the outer surface of the screw rod (3) is in transmission connection with a conveying frame (4), conveying grooves (5) are formed in two sides of the front end of the conveying frame (4), retractors (6) are fixedly connected to two sides of the conveying frame (4), the two retractors (6) are symmetrically distributed, and the output of two expansion bend (6) all runs through carriage (4) and fixedly connected with conveying structure (7), two conveying structure (7) are located two conveyer trough (5) respectively, and the equal fixedly connected with device frame (8) in lower extreme middle part of two conveying structure (7), two the equal fixedly connected with motor (9) of one end of device frame (8), two the output of motor (9) all runs through device frame (8) and fixedly connected with elevation structure (10), two the both ends of elevation structure (10) all are provided with clamping structure (11).

2. The textile rubber roller dedicated manipulator according to claim 1, wherein: both sides of the inner part of the conveying frame (4) are provided with semicircular grooves (51), the two semicircular grooves (51) are respectively communicated with the two conveying grooves (5), and both sides of the upper end of the conveying frame (4) are provided with clamping grooves (52) and sliding grooves (53).

3. The textile rubber roller dedicated manipulator according to claim 1, wherein: the conveying structure (7) comprises a telescopic pipe (71), one end fixedly connected with T-shaped plate (72) of the telescopic pipe (71), one end of the T-shaped plate (72) is rotationally connected with a first ball (73), one end of the T-shaped plate (72) away from the first ball (73) is fixedly connected with a conveying plate (74), the rear portion of the lower end of the conveying plate (74) is fixedly connected with a clamping plate (75), the rear portion of the lower end of the conveying plate (74) is rotationally connected with a group of second balls (76), two concave frames (77) are fixedly connected to two sides of the lower end of the conveying plate (74), and through grooves (78) are formed in two ends of each concave frame (77).

4. The textile rubber roller dedicated manipulator according to claim 3, wherein: two flexible pipe (71) keep away from the one end of two T template (72) respectively with the output fixed connection of two expansion bend (6), two T template (72) are located two conveyer trough (5) respectively, two ball (73) are connected with two carriage (4) rotation through two semicircle grooves (51) respectively, two cardboard (75) are located two draw-in grooves (52) respectively, two sets of No. two balls (76) are connected with two carriage (4) sliding through two spout (53) respectively.

5. The textile rubber roller dedicated manipulator according to claim 1, wherein: one end of the device frame (8) is provided with a connecting hole (81), the inside of the device frame (8) is provided with two conical grooves (82), the two conical grooves (82) are communicated with the connecting hole (81), the outer end of the device frame (8) is provided with two limiting grooves (83) and curved grooves (84), and the two curved grooves (84) are symmetrically distributed.

6. The textile rubber roller dedicated manipulator according to claim 1, wherein: the lifting structure (10) comprises a connecting rod (101), two conical tubes (102) are fixedly connected to the outer surface of the connecting rod (101), a group of three balls (103) are rotatably connected to the outer opposite surfaces of the conical tubes (102), two round tubes (104) are fixedly connected to the middle of the outer surface of the connecting rod (101), a group of four balls (105) are rotatably connected to the outer surface of the round tubes (104), the two groups of four balls (105) are symmetrically distributed, the connecting rod (101) is fixedly connected with the output end of a motor (9), the two round tubes (104) are respectively located in two limiting grooves (83), the two round tubes (104) are rotatably connected with a device frame (8) through the two groups of four balls (105), the two conical tubes (102) are respectively located in the two conical grooves (82), and the two conical tubes (102) are respectively rotatably connected with the device frame (8) through the two groups of three balls (103).

7. The textile rubber roll dedicated manipulator as set forth in claim 6, wherein: two the surface both sides of circular pipe (104) are all fixedly connected with link (106) jointly, two the both ends of link (106) are all opened jointly has expansion tank (107), two all rotate in expansion tank (107) and are connected with I-shaped gyro wheel (108), two the surface of I-shaped gyro wheel (108) is all rotated and is connected with expansion plate (109), two the one end uniform fixedly connected with L template (1011) of circular pipe (104), two the one end uniform division of L template (1011) has lift groove (1012), two the cell wall upper end uniform fixedly connected with spring (1013) of lift groove (1012), two the lower extreme uniform fixedly connected with lifter plate (1014) of spring (1013), two the lower extreme uniform fixedly connected with of lifter plate (1014) is a set of and is stirred tooth template (1015), two sets of stir tooth template (1015) and the installation opposite direction of tooth (1015) is stirred in the surface of I-shaped gyro wheel (108), two L template (1011) the position respectively with two corresponding curve groove (84) positions respectively two lift plate (1011) and two slip connection with two L template (1011).

8. The textile rubber roller dedicated manipulator according to claim 1, wherein: the clamping structure (11) comprises connecting plates (112) which are fixedly connected to two sides of the outer surface of each connecting pipe (111), four fixing rods (113) are fixedly connected between the connecting plates (112), a first electric telescopic rod (114) is fixedly connected to the lower end of each connecting pipe (111), four sliding rods (116) which are uniformly distributed are fixedly connected to the output end of each first electric telescopic rod (114) in a rotating mode, four sliding rods (116) which are uniformly distributed are fixedly connected to the outer surface of each fourth electric telescopic rod (115), the sliding rods (116) respectively penetrate through the four fixing rods (113) and are connected in a rotating mode, a first clamping tooth (117) is fixedly connected to the lower ends of the two sliding rods (116), a second electric telescopic rod (118) is fixedly connected to one end of each sliding rod, and concave (119) is fixedly connected to the output end of each second electric telescopic rod (118) in a penetrating mode.

9. The textile rubber roll dedicated manipulator of claim 8, wherein: two opposite faces of concave plate (119) are all fixedly connected with two No. two clamp teeth (1101), two No. one clamp teeth (117) are located respectively between four No. two clamp teeth (1101), in addition two No. three electric telescopic rods (1102) of equal fixedly connected with of one end of slide bar (116), two No. three electric telescopic rods (1102)'s output all runs through slide bar (116) and fixedly connected with push plate (1103), the one end and expansion plate (109) of connecting pipe (111) rotate to be connected.

10. Method of operating a textile rubber roller dedicated manipulator according to any one of claims 1-9, when dependent on the textile rubber roller dedicated manipulator, comprising the steps of:

step one: the method comprises the steps of installing a manipulator and adjusting the using height of the manipulator, firstly connecting a manipulator main body (1) with a platform on which a spinning rubber roller is placed through screws, enabling the platform to be vertical to the manipulator main body (1), controlling a screw (3) to rotate through a positive motor and a negative motor (2), and driving the manipulator on a conveying frame (4) to move in position;

step two: the telescopic tube (71) is controlled to stretch and retract through the telescopic device (6), the T-shaped plate (72) is driven to move in the conveying groove (5), the first ball (73) is located in the semicircular groove (51) to rotate, the second ball (76) is located in the sliding groove (53) to slide, the clamping plate (75) moves in the clamping groove (52) along with the conveying plate (74) connected with the T-shaped plate (72), stability and flexibility are high, and the textile rubber roll is effectively prevented from falling;

step three: the spinning rubber roller is clamped, the connecting rod (101) is controlled to rotate through the motor (9), the conical tube (102) can be driven to rotate in the conical groove (82), the third ball (103) is driven to rotate in the conical groove (82), the round tube (104) is driven to rotate in the limit groove (83), the fourth ball (105) on the round tube (104) is driven to rotate in the limit groove (83), the expansion plate (109) is driven to slide through the I-shaped roller (108) when the round tube (104) rotates, expansion is achieved, when the round tube (104) rotates, the L-shaped plate (1011) can drive the textile rubber roller beside the stirring teeth (1015) to achieve automatic feeding, and when the L-shaped plate (1011) follows the round tube (104) to rotate, the L-shaped plate (1011) is driven to move in the curve groove (84) and when the stirring teeth (1015) are contacted with a platform for placing the textile rubber roller, the lifting plate (1014) can be driven to move upwards through the spring (1013), and the spinning rubber roller is clamped;

step four: automatic push away and align spinning rubber roller and increase the suitability, flexible drive four-way pipe (115) through electric telescopic handle (114) moves down, drive slide bar (116) slope, make clamp tooth (117) remove simultaneously and realize the clamp operation to spinning rubber roller, and when slide bar (116) slope, can drive concave template (119) that electric telescopic handle (118) are connected No. two and remove, make clamp tooth (1101) that is connected on concave template (119) remove and realize the clamp operation to the different positions of spinning rubber roller, make the manipulator to the clamp area broadening of spinning rubber roller, simultaneously under the flexible drive of electric telescopic handle (114), can drive push plate (1103) to the both ends of spinning rubber roller and remove, and control push plate (1103) flexible through electric telescopic handle (1102) three, make the scope of spinning rubber roller displacement increase, press from both sides behind the spinning rubber roller through flexible ware (6) control flexible pipe (71) reverse flexible, realize spinning rubber roller and carry, accomplish the operation flow of manipulator main part (1).