CN110202602B - Robot multi-type cloth grasping system - Google Patents
Robot multi-type cloth grasping system Download PDFInfo
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- CN110202602B CN110202602B CN201910453386.4A CN201910453386A CN110202602B CN 110202602 B CN110202602 B CN 110202602B CN 201910453386 A CN201910453386 A CN 201910453386A CN 110202602 B CN110202602 B CN 110202602B
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- fixedly connected
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention discloses a robot multi-type cloth grabbing system, wherein an adjusting component is movably connected with a row frame, a clamping component is fixedly connected with the adjusting component and is positioned at one end, far away from the row frame, of the adjusting component, a first sliding part is slidably connected with the row frame and is positioned in a first sliding groove, one end of a first locking rod is fixedly connected with the first sliding part, the other end of the first locking rod sequentially penetrates through a vertical plate and a first fixing plate and is in threaded connection with a first locking part, the vertical plate is provided with a third sliding groove, one end of a second locking rod is fixedly connected with the vertical plate, and the other end of the second locking rod sequentially penetrates through the third sliding groove and a second fixing plate and is positioned in threaded connection with the second locking part. The purpose that the material taking effect of the robot multi-type cloth grabbing system is more ideal is achieved.
Description
Technical Field
The invention relates to the technical field of printing and dyeing industry, in particular to a robot multi-type cloth grabbing system.
Background
With the increase of the application of the printing and dyeing automation equipment, the amount of manual labor is gradually reduced in the cloth printing and dyeing process, and the workload of taking and placing materials is gradually increased along with the manual labor. At present, the robot grabs the cloth to replace the manual work, so that the workload of workers is reduced, but the effect of grabbing the cloth by the existing robot is not ideal.
Disclosure of Invention
The invention aims to provide a robot multi-type cloth grabbing system, and aims to solve the technical problem that the effect of grabbing cloth by a robot in the prior art is not ideal.
In order to achieve the purpose, the multi-type cloth grabbing system of the robot comprises a traveling frame, an adjusting component and a clamping component, wherein the traveling frame is provided with a first sliding groove and a second sliding groove, the adjusting component is movably connected with the traveling frame, and the clamping component is fixedly connected with the adjusting component and is positioned at one end, far away from the traveling frame, of the adjusting component;
the adjusting component comprises a first sliding part, a first locking rod, a vertical plate, a first fixing plate, a first locking part, a supporting plate, a second locking rod, a second fixing plate and a second locking part, the first sliding part is connected with the traveling frame in a sliding mode and located inside the first sliding groove, one end of the first locking rod is fixedly connected with the first sliding part, the other end of the first locking rod penetrates through the vertical plate and the first fixing plate in sequence and is connected with the first locking part in a threaded mode, a third sliding groove is formed in the supporting plate, one end of the second locking rod is fixedly connected with the vertical plate, and the other end of the second locking rod penetrates through the third sliding groove and the second fixing plate in sequence and is located in the second locking part in a threaded mode.
The adjusting assembly further comprises a baffle, a third locking rod, a third fixing plate and a third locking part, a fourth sliding groove is formed in the baffle, the fourth sliding groove is located at one end, far away from the supporting plate, of the travelling frame, one end of the third locking rod is fixedly connected with the supporting plate, and the other end of the third locking rod penetrates through the fourth sliding groove and the third fixing plate in sequence and is in threaded connection with the third locking part.
Wherein, the adjusting part still includes second slider, fourth check lock pole, mounting panel, fourth fixed plate and fourth retaining member, the second slider with bank sliding connection, and be located the inside of second spout, the one end of fourth check lock pole with second slider fixed connection, the other end of fourth retaining member runs through in proper order the mounting panel with the fourth mounting, and with fourth retaining member threaded connection.
The clamping assembly comprises a transverse plate, a cylinder, a connecting piece, a first rotating piece, two first clamping arms, two second clamping arms, a clamping block and a second rotating piece, the transverse plate is fixedly connected with the baffle, the number of the transverse plates is two, the transverse plates are arranged along the axial line of the cylinder, a limiting groove and a mounting groove are formed in each transverse plate, the cylinder is fixedly connected with the baffle, the output end of the cylinder is fixedly connected with the connecting piece, the two ends of each first rotating piece penetrate through the connecting piece and the corresponding first clamping arms respectively and are located in the corresponding limiting grooves respectively, the first clamping arms are rotatably connected with the first rotating pieces, the second clamping arms are rotatably connected with the first clamping arms and are located at the ends, far away from the first rotating pieces, of the first clamping arms, the clamping block is fixedly connected with the second clamping arms and is located at the ends, far away from the first clamping arms, the number of the second clamping arms and the clamping blocks is two transverse plates, the axial lines of the cylinder are arranged oppositely, the two second clamping arms penetrate through the transverse plates and are connected with the second clamping arms, and the two clamping arms are connected with the transverse plates.
The clamping assembly further comprises limiting pieces, wherein the limiting pieces are fixedly connected with the second rotating pieces, are respectively positioned between the two transverse plates and are positioned on two sides of the intersection of the two second clamping arms.
The clamping assembly further comprises an elastic piece and a supporting rod, one end of the elastic piece is fixedly connected with the transverse plate, the other end of the elastic piece is fixedly connected with the supporting rod, the elastic piece is located inside the mounting groove, and the supporting rod is connected with the transverse plate in a sliding mode.
The clamping assembly further comprises a buffer layer, and the buffer layer is fixedly connected with the abutting rod and is located at one end, far away from the elastic piece, of the abutting rod.
Wherein, the centre gripping subassembly still includes the backup pad, slides piece, siphunculus, supports and holds board, locking piece and air cock, the cell body has in the backup pad, the backup pad respectively with two diaphragm fixed connection to be located two between the diaphragm, slide the piece and arrange in the inboard of backup pad, the one end of siphunculus with slide a fixed connection, the other end of siphunculus runs through in proper order the cell body with support and hold the board, and with locking piece threaded connection, just support and hold the board and be located the backup pad with between the locking piece, the air cock with siphunculus fixed connection.
The clamping assembly further comprises an adjusting valve, the adjusting valve is fixedly connected with the through pipe and is located at one end, far away from the air nozzle, of the through pipe.
The supporting plate comprises a first plate and a second plate, the first plate is fixedly connected with the transverse plates and located between the transverse plates, and the second plate is hinged to the first plate and located at one end, far away from the transverse plates, of the first plate.
The multi-type cloth grabbing system of the robot is movably connected with the travelling frame through the adjusting assembly, the clamping assembly is fixedly connected with the adjusting assembly and is positioned at one end, far away from the travelling frame, of the adjusting assembly, the first sliding part is slidably connected with the travelling frame and is positioned inside the first sliding groove, one end of the first locking rod is fixedly connected with the first sliding part, the other end of the first locking rod sequentially penetrates through the vertical plate and the first fixing plate and is in threaded connection with the first locking piece, the support plate is provided with a third sliding groove, one end of the second locking rod is fixedly connected with the vertical plate, and the other end of the second locking rod sequentially penetrates through the third sliding groove and the second fixing plate and is positioned in threaded connection with the second locking piece. Before the cloth is grabbed, the support plate can slide on the vertical plate according to the size of the cloth, the vertical plate moves on the traveling frame, the distance between the clamping components is adjusted, the cloth is adaptive to the cloth with different sizes, the grabbing success rate of the cloth is improved, the material fetching effect of the robot multi-type cloth grabbing system is more ideal, and the more ideal material fetching effect of the robot multi-type cloth grabbing system is obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-type cloth gripping system of a robot of the invention.
Fig. 2 is a cross-sectional view of the multi-type cloth gripping system of the robot of the present invention.
Fig. 3 is a front view of the multi-typed cloth gripping system of the robot of the present invention.
Fig. 4 is a side view of the multi-type cloth gripping system of the robot of the present invention.
Fig. 5 is a top view of the multi-type cloth gripping system of the robot of the present invention.
100-robot multi-type cloth grabbing system, 10-traveling frame, 20-adjusting assembly, 30-clamping assembly, 11-first sliding groove, 12-second sliding groove, 21-first sliding part, 211-baffle, 212-third locking rod, 213-third fixing plate, 214-third locking part, 215-fourth sliding groove, 216-second sliding part, 217-fourth locking rod, 218-mounting plate, 219-fourth fixing plate, 220-fourth locking part, 22-first locking rod, 23-vertical plate, 24-first fixing plate, 25-first locking part, 26-supporting plate, 261-third sliding groove, 27-second locking rod, 28-second fixing plate, 29-second locking part, 31-transverse plate, 311-limiting groove, 312-mounting groove, 313-elastic part, 314-supporting rod, 315-buffer layer, 32-air cylinder, 33-connecting part, 34-first rotating part, 35-first clamping arm, 36-second clamping arm, 37-clamping block, 38-second rotating part, 38-391, 314-supporting rod, 315-buffer layer, 32-air cylinder, 33-first rotating part, 35-first clamping arm, 36-second clamping arm, 37-rotating part, 38-adjusting valve, 38-395, second sliding-trough plate, 396-supporting plate, and first supporting plate, and second supporting plate.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, the present invention provides a robot multi-type cloth grabbing system 100, including a traveling frame 10, an adjusting assembly 20 and a clamping assembly 30, wherein the traveling frame 10 has a first sliding slot 11 and a second sliding slot 12, the adjusting assembly 20 is movably connected to the traveling frame 10, and the clamping assembly 30 is fixedly connected to the adjusting assembly 20 and is located at an end of the adjusting assembly 20 away from the traveling frame 10;
the adjusting assembly 20 includes a first sliding part 21, a first locking rod 22, a vertical plate 23, a first fixing plate 24, a first locking member 25, a support plate 26, a second locking rod 27, a second fixing plate 28 and a second locking member 29, the first sliding part 21 is slidably connected to the traveling frame 10 and is located inside the first sliding groove 11, one end of the first locking rod 22 is fixedly connected to the first sliding part 21, the other end of the first locking rod 22 sequentially penetrates through the vertical plate 23 and the first fixing plate 24 and is in threaded connection with the first locking member 25, the support plate 26 has a third sliding groove 261 thereon, one end of the second locking rod 27 is fixedly connected to the vertical plate 23, and the other end of the second locking rod 27 sequentially penetrates through the third sliding groove 261 and the second fixing plate 28 and is located in threaded connection with the second locking member 29.
In this embodiment, a plurality of the adjusting assemblies 20 and a plurality of the clamping assemblies 30 corresponding to the adjusting assemblies 20 are disposed on the truss 10, the first sliding slot 11 and the second sliding slot 12 are disposed on two adjacent ends of the truss 10, the first sliding member 21 is adapted to the first sliding slot 11, the first sliding member 21 slides in the first sliding slot 11, the outer surface wall of the first lock rod 22 has threads, the upright plate 23 is rotatably connected to the first lock rod 22, the first fixing plate 24 is disposed at one end of the upright plate 23 away from the truss 10, the inner surface wall of the first lock member 25 has threads adapted to the first lock rod 22, the support plate 26 has the third sliding slot 261, the number of the third sliding slots 261 is two, two of the third sliding slots 261 are disposed opposite to each other, the number of the second lock rods 27 is two, the outer surface walls of two of the second lock rods 27 have threads, one end of each of the second lock rods 27 is connected to the second fixing rod 261, and the other end of the second lock rod 27 passes through the second sliding slot 29, and the second fixing rod 29 has threads adapted to the inner surface wall of the upright plate 29.
When different sizes of cloth need to be grabbed, the distance between the plurality of adjusting assemblies 20 can be adjusted according to the width and the length of the cloth until the distribution of the plurality of adjusting assemblies 20 is matched with the width of the cloth, the first locking member 25 is firstly rotated to move the first locking member 25 towards one end away from the row frame 10, so that no squeezing force is applied between the first fixing plate 24, the upright plate 23 and the row frame 10, the upright plate 23 can be arbitrarily slid on the row frame 10 through the first sliding member 21 to drive the support plate 26 to slide, so as to drive the clamping assembly 30 to move, when the clamping assembly 30 is adjusted to a position suitable for the cloth width to facilitate the clamping assembly 30 to grab the cloth, the first locking member 25 is reversely rotated to move the first locking member 25 towards one end close to the row frame 10, so that the first fixing plate 24, the upright plate 23 and the row frame 10 are mutually squeezed, so that the upright plate 23 is stably fixed on the row frame 10, and the plurality of upright plates 23 can be moved on the row frame 10 according to the width of the plurality of cloth to be suitable for clamping assembly 30 to be clamped to the position suitable for the cloth.
After the plurality of clamping assemblies 30 are adjusted to be suitable for the position according to the width of the cloth, by rotating the second locking member 29, the second locking member 29 is moved towards one end away from the support plate 26, so that the second fixing plate 28, the upright plate 23 and the support plate 26 are not subjected to the pressing force of the second locking member 29, the support plate 26 can slide freely on the upright plate 23, thereby driving the clamping assemblies 30 to move, when the clamping assemblies 30 are adjusted to be suitable for the length of the cloth and the position where the clamping assemblies 30 are favorable for grabbing the cloth is obtained, the second locking member 29 is rotated reversely, so that the second locking member 29 is moved towards one end close to the support plate 26, so that the pressing force of the second locking member 29 is applied between the second fixing plate 28, the upright plate 23 and the support plate 26, thereby the second fixing plate 28, the upright plate 23 and the support plate 26 are pressed against each other, so that the support plate 26 is stably fixed on the upright plate 23, and by moving the plurality of support plates 26, the plurality of clamping assemblies 30 can be adjusted to be suitable for the position according to the length of the cloth. Therefore, the robot multi-type cloth grabbing system 100 can be suitable for cloth with different sizes, the grabbing rate of the cloth is improved, and the grabbing effect is more ideal.
Further, the adjusting assembly 20 further includes a baffle 211, a third locking rod 212, a third fixing plate 213 and a third locking member 214, the baffle 211 has a fourth sliding slot 215 thereon, and the fourth sliding slot 215 is located at an end of the support plate 26 away from the traveling frame 10, one end of the third locking rod 212 is fixedly connected to the support plate 26, and the other end of the third locking rod 212 sequentially passes through the fourth sliding slot 215 and the third fixing plate 213 and is in threaded connection with the third locking member 214.
In this embodiment, the fourth sliding groove 215 is configured in an arc structure, the outer surface wall of the fourth locking rod 217 has a thread, the inner surface wall of the fourth locking member 220 has a thread adapted to the thread of the fourth locking rod 217, when irregular cloth needs to be grabbed, the fourth locking member 220 can be rotated, the fourth locking member 220 moves towards one end away from the support plate 26, so that the baffle 211, the third fixing plate 213 and the support plate 26 are not subjected to the pressing force of the third locking member 214, at this time, the baffle 211 can drive the clamping assembly 30 to rotate on the support plate 26 by a certain angle, when the clamping assembly 30 is adjusted to a position suitable for grabbing the cloth, the third locking member 214 is rotated in a reverse direction, so that the fourth locking member 220 moves towards one end close to the support plate 26, and then the baffle 211, the third fixing plate 213 and the support plate 26 are pressed against each other, so that the baffle 211 is fixed on the support plate 26, and the plurality of baffles 211 are moved, so that the plurality of clamping assemblies 30 can be suitable for grabbing the irregular cloth, and the plurality of clamping assemblies 211 can be exchanged to grab the irregular cloth, and the plurality of the baffle 211 can further improve the grabbing effect of irregular cloth, and the robot that the robot can grab the irregular cloth by a plurality of different clamping assemblies 100.
Further, the adjusting assembly 20 further includes a second sliding member 216, a fourth locking bar 217, a mounting plate 218, a fourth fixing plate 219 and a fourth locking member 220, the second sliding member 216 is slidably connected to the traveling frame 10 and located inside the second sliding groove 12, one end of the fourth locking bar 217 is fixedly connected to the second sliding member 216, and the other end of the fourth locking member 220 sequentially penetrates through the mounting plate 218 and the fourth fixing member and is in threaded connection with the fourth locking member 220.
In this embodiment, the second sliding member 216 is adapted to the second sliding groove 12 and slides in the second sliding groove 12, the fourth locking bar 217 has a thread on an outer surface wall thereof, the fourth locking bar 220 has a thread on an inner surface wall thereof, the fourth locking bar 220 is provided with a thread adapted to the thread on the fourth locking bar 217, when the adjustment assembly 20 and the clamping assembly 30 of the multi-type cloth gripping system 100 are required to be integrally moved so as to be mounted on the devices of different environments, so that the next process is conveniently performed, the fourth locking bar 220 can be rotated, the fourth locking bar 220 moves away from one end of the mounting plate 218, so that the pressing force of the fourth locking bar 220 is not applied between the mounting plate 218, the traveling frame 10 and the fourth fixing plate 219, so that the mounting plate 218 can slide on the traveling frame 10, when the multi-type cloth gripping system 100 is mounted on the devices of different environments, the fourth locking bar 220 is reversely rotated so that the fourth locking bar 220 moves toward one end of the mounting plate 218, so that the mounting plate 218, the mounting plate 218 and the fourth fixing plate 10 can slide on the devices of different environments, so that the multi-type cloth gripping assembly 100 can be more easily adapted to the multi-type cloth gripping system 100.
Further, the clamping assembly 30 includes a transverse plate 31, a cylinder 32, a connecting member 33, a first rotating member 34, a first clamping arm 35, a second clamping arm 36, a clamping block 37, and a second rotating member 38, the transverse plate 31 is fixedly connected to the baffle 211, the number of the transverse plates 31 is two, the two transverse plates 31 are disposed opposite to each other along an axial line of the cylinder 32, each transverse plate 31 has a limiting groove 311 and a mounting groove 312, the cylinder 32 is fixedly connected to the baffle 211, an output end of the cylinder 32 is fixedly connected to the connecting member 33, two ends of the first rotating member 34 respectively penetrate through the connecting member 33 and the first clamping arm 35 and are respectively located in the corresponding limiting grooves 311, the first clamping arm 35 is rotatably connected to the first rotating member 34, the second clamping arm 36 is rotatably connected to the first clamping arm 35 and is located at an end of the first clamping arm 35 far away from the first rotating member 34, the clamping block 37 is fixedly connected to the second clamping arm 36 and is located at an end of the second clamping arm 36 far away from the first clamping arm 35, the two clamping arms are disposed opposite to each other, and the two clamping arms 31 and the two clamping arms 36 are disposed opposite to each other, and the two clamping arms 31 are disposed crosswise, and the two clamping arms 36 are disposed.
In this embodiment, each of the clamping assemblies 30 corresponds to one of the adjusting assemblies 20, the air cylinder 32 is connected to a controller, when a user needs to clamp a fabric, the controller controls the air cylinder 32 to operate, the output end of the air cylinder 32 contracts to drive the two oppositely arranged first clamping arms 35 to rotate on the first rotating member 34, the angle between the two clamping arms gradually decreases, while the angle between the two clamping arms gradually decreases, the first rotating member 34 can move along the limiting groove 311 toward the baffle 211 to drive the two second clamping arms 36 corresponding to the two first clamping arms 35 to rotate along the second rotating member 38, the angle at the intersection of the two second clamping arms 36 gradually decreases, while the angle of the two second clamping arms 36 away from the clamping ports at one end of the two first intersecting arms gradually decreases, the fabric is clamped by the clamping block 37, and since the clamping block 37 is configured in a wedge structure, the clamping block 37 is more easily used for clamping the fabric, when the fabric is clamped, the fabric can be clamped and then transported to the next clamping ports at one end of the two second clamping arms 35, the two clamping arms 35 are moved along the first rotating member 38, and the two clamping arms 35 are moved to the second rotating member 34, and the angle of the two clamping arms is gradually decreases, the two clamping arms is controlled to push the baffle arms 35 to push the baffle arms along the first rotating member 34, and the two clamping arms 35 to push the first rotating member 35 to push the second rotating member 34 at the second rotating member 35 at the second rotating arms along the second rotating member 35, and then two the angle of second centre gripping arm 36 cross point increases gradually, and two simultaneously second centre gripping arm 36 keeps away from two the angle of the centre gripping mouth of the one end of first cross arm increases gradually, and then puts down the cloth, through with centre gripping subassembly 30 presss from both sides the mode and the centre gripping dynamics of getting the cloth and changes, can avoid the cloth with paste intensity between the grip block 37 is too strong, grip block 37 is difficult to put down the cloth, gets the material effect not good, and then robot polymorphic type cloth grasping system 100 has improved the separation success rate to the cloth, makes then robot polymorphic type cloth grasping system 100 gets the material effect more ideal.
Further, the clamping assembly 30 further includes a limiting member 39, and the limiting member 39 is fixedly connected to the second rotating member 38 and is respectively located between the two transverse plates 31 and on both sides of the intersection of the two second clamping arms 36.
In this embodiment, the limiting member 39 is configured to limit the positions of the second rotating arm and the second rotating member 38, which are arranged in a crossed manner, so as to ensure the structural integrity and continuity of the multi-type cloth grabbing system 100 of the robot, and indirectly improve the cloth grabbing effect of the multi-type cloth grabbing system 100 of the robot.
Further, the clamping assembly 30 further includes an elastic member 313 and a supporting rod 314, one end of the elastic member 313 is fixedly connected to the horizontal plate 31, the other end of the elastic member 313 is fixedly connected to the supporting rod 314, the elastic member 313 is located inside the mounting groove 312, and the supporting rod 314 is slidably connected to the horizontal plate 31.
In this embodiment, the elastic member 313 is a spring, the elastic member 313 is located inside the mounting groove 312, the supporting rod 314 is slidably connected to the horizontal plate 31, before the clamping block 37 clamps the cloth, the supporting rod 314 first contacts with the cloth, when the cloth contacts with the supporting rod 314, the supporting rod 314 moves toward one end of the baffle 211 due to an acting force applied to the supporting rod 314, at this time, the elastic member 313 contracts to play a damping role, and then after the clamping block 37 clamps the cloth, the supporting rod 314 resets under a restoring force of the elastic member 313. The clamped cloth can be effectively fixed through the cooperation between the elastic part 313 and the supporting rod 314, and meanwhile, the cloth is prevented from being damaged due to the overlarge acting force of the transverse plate 31, so that the material taking effect of the multi-type cloth grabbing system 100 of the robot is more ideal.
Further, the clamping assembly 30 further includes a buffer layer 315, wherein the buffer layer 315 is fixedly connected to the supporting rod 314 and is located at an end of the supporting rod 314 far away from the elastic member 313.
In this embodiment, the buffer layer 315 is made of an elastic material, and the buffer layer 315 can buffer an acting force applied to the fabric, so as to prevent the fabric from being damaged due to an excessive acting force applied to the transverse plate 31, so that the material taking effect of the robot multi-type fabric grabbing system 100 is more ideal.
Further, the clamping assembly 30 further includes a supporting plate 390, a sliding member 391, a through pipe 392, a holding plate 393, a locking member 394 and an air nozzle 395, the supporting plate 390 has a groove 396 thereon, the supporting plate 390 is respectively fixedly connected with the two transverse plates 31 and is located between the two transverse plates 31, the sliding member 391 is disposed on the inner side of the supporting plate 390, one end of the through pipe 392 is fixedly connected with the sliding member 391, the other end of the through pipe 392 penetrates through the groove 396 and the holding plate 393 in sequence and is in threaded connection with the locking member 394, the holding plate 393 is located between the supporting plate 390 and the locking member 394, and the air nozzle 395 is fixedly connected with the through pipe 392.
In this embodiment, the supporting plate 390 is fixed on the two horizontal plates 31, the inside of the through tube 392 is a cavity structure, the outer surface wall of the through tube 392 has threads, one end of the through tube 392 is communicated with the air nozzle 395, the other end of the through tube 392 is communicated with an air tube for delivering air, the inner surface wall of the locking piece 394 has threads matched with the threads on the through tube 392, after the clamping block 37 clamps the cloth and transports the cloth to a designated device, when the cloth needs to be taken down and taken, the air tube is communicated with the through tube 392 through the air tube, the air tube transmits air to the through tube 392, the air generates air pressure through the air nozzle 395, the clamping block 37 puts the cloth on, and the air nozzle 395 blows air to the cloth, which can further ensure the separation of the cloth and the holding block, the success rate that the cloth and the abutting block are stuck too strongly and cannot be separated is improved, so that the material taking effect of the multi-type cloth grabbing system 100 of the robot is more ideal, in addition, the locking piece 394 can be rotated to enable the locking piece 394 to move towards one end far away from the sliding piece 391, so that the acting force of the locking piece 394 is not applied among the sliding piece 391, the abutting plate 393 and the supporting plate 390, the sliding piece 391 can drive the through pipe 392 and the air nozzles 395 to move, the success rate that the cloth and the abutting block are stuck too strongly and cannot be separated can be further improved by adjusting the position of the air nozzles 395, and the material taking effect of the multi-type cloth grabbing system 100 of the robot is more ideal.
Further, the clamping assembly 30 further includes a regulating valve 397, which is fixedly connected to the through tube 392 and located at an end of the through tube 392 away from the air nozzle 395.
In this embodiment, the air pressure of the air nozzles 395 can be controlled by adjusting the adjusting valve 397 and further adjusting the air volume of the through pipe 392, the air blowing force of the air nozzles 395 on the cloth can be enhanced by adjusting the air pressure by the adjusting valve 397, the separation between the cloth and the clamping blocks 37 can be ensured, the success rate that the cloth and the abutting blocks are stuck too strongly and cannot be separated is increased, and the material taking effect of the multi-type cloth grabbing system 100 of the robot is more ideal.
Further, the supporting plate 390 includes a first plate 398 and a second plate 399, the first plate 398 is fixedly connected to the two transverse plates 31 and located between the two transverse plates 31, respectively, and the second plate 399 is hinged to the first plate 398 and located at one end of the first plate 398 away from the transverse plates 31.
In this embodiment, the first plate 398 and the second plate 399 are hinged, and the second plate 399 is hinged to the first plate 398, so that the angle between the air pipe and the air tap 395 and the cloth can be adjusted, the success rate that the cloth and the abutting block are stuck too strongly and cannot be separated is further improved, and the material taking effect of the multi-type cloth grabbing system 100 of the robot is more ideal.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A robot multi-type cloth grabbing system is characterized in that,
the clamping device comprises a travelling frame, an adjusting component and a clamping component, wherein a first sliding groove and a second sliding groove are formed in the travelling frame, the adjusting component is movably connected with the travelling frame, and the clamping component is fixedly connected with the adjusting component and is positioned at one end, far away from the travelling frame, of the adjusting component;
the adjusting assembly comprises a first sliding part, a first locking rod, a vertical plate, a first fixing plate, a first locking part, a supporting plate, a second locking rod, a second fixing plate and a second locking part, the first sliding part is slidably connected with the traveling frame and is positioned inside the first sliding groove, one end of the first locking rod is fixedly connected with the first sliding part, the other end of the first locking rod sequentially penetrates through the vertical plate and the first fixing plate and is in threaded connection with the first locking part, the supporting plate is provided with a third sliding groove, one end of the second locking rod is fixedly connected with the vertical plate, and the other end of the second locking rod sequentially penetrates through the third sliding groove and the second fixing plate and is in threaded connection with the second locking part;
the adjusting assembly further comprises a baffle, a third locking rod, a third fixing plate and a third locking member, a fourth sliding groove is formed in the baffle and is located at one end, far away from the travelling frame, of the support plate, one end of the third locking rod is fixedly connected with the support plate, and the other end of the third locking rod sequentially penetrates through the fourth sliding groove and the third fixing plate and is in threaded connection with the third locking member;
the adjusting assembly further comprises a second sliding part, a fourth locking rod, an installation plate, a fourth fixing plate and a fourth locking part, the second sliding part is connected with the travelling frame in a sliding mode and is located inside the second sliding groove, one end of the fourth locking rod is fixedly connected with the second sliding part, and the other end of the fourth locking rod penetrates through the installation plate and the fourth fixing plate in sequence and is in threaded connection with the fourth locking part;
the clamping assembly comprises a transverse plate, a cylinder, a connecting piece, a first rotating piece, a first clamping arm, a second clamping arm, a clamping block and a second rotating piece, wherein the transverse plate is fixedly connected with the baffle, the number of the transverse plate is two, the transverse plate is arranged along the axial line of the cylinder, and each transverse plate is provided with a limiting groove and a mounting groove.
2. The robot multi-type cloth gripping system according to claim 1,
the clamping assembly further comprises limiting pieces, wherein the limiting pieces are fixedly connected with the second rotating pieces, are respectively positioned between the two transverse plates and are positioned on two sides of the intersection of the two second clamping arms.
3. The robot multi-type cloth gripping system according to claim 2,
the clamping assembly further comprises an elastic piece and a supporting rod, one end of the elastic piece is fixedly connected with the transverse plate, the other end of the elastic piece is fixedly connected with the supporting rod, the elastic piece is located inside the mounting groove, and the supporting rod is slidably connected with the transverse plate.
4. The robot multi-type cloth gripping system according to claim 3,
the clamping assembly further comprises a buffer layer, and the buffer layer is fixedly connected with the abutting rod and is positioned at one end, far away from the elastic piece, of the abutting rod.
5. The robot multi-type cloth gripping system according to claim 4,
the centre gripping subassembly still includes the backup pad, slides piece, siphunculus, supports and holds board, locking piece and air cock, the cell body has in the backup pad, the backup pad respectively with two diaphragm fixed connection, and be located two between the diaphragm, slide the piece and arrange in the inboard of backup pad, the one end of siphunculus with slide a fixed connection, the other end of siphunculus runs through in proper order the cell body with support and hold the board, and with locking piece threaded connection, just support and hold the board and be located the backup pad with between the locking piece, the air cock with siphunculus fixed connection.
6. The robot multi-type cloth gripping system according to claim 5,
the clamping assembly further comprises a regulating valve, and the regulating valve is fixedly connected with the through pipe and located at one end, far away from the air faucet, of the through pipe.
7. The robot multi-type cloth gripping system according to claim 6,
the backup pad includes first board and second board, the first board respectively with two diaphragm fixed connection, and be located two between the diaphragm, the second board with the first board is articulated, and is located the first board is kept away from the one end of diaphragm.
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| CN201910453386.4A CN110202602B (en) | 2019-05-28 | 2019-05-28 | Robot multi-type cloth grasping system |
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| CN201910453386.4A CN110202602B (en) | 2019-05-28 | 2019-05-28 | Robot multi-type cloth grasping system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5145606B2 (en) * | 2008-06-19 | 2013-02-20 | セブン ドリーマーズ ラボラトリーズ，インコーポレイテッド | Deformable thin object deployment device |
| CN101342701A (en) * | 2008-08-11 | 2009-01-14 | 陈茂生 | Full-automatic multifunctional mechanical arm |
| CN104526710B (en) * | 2014-12-11 | 2023-07-21 | 新疆汇鑫源电力器材有限公司 | Linkage pipe fitting clamping device |
| CN205766210U (en) * | 2016-06-07 | 2016-12-07 | 美的集团武汉制冷设备有限公司 | Intelligent air condition outer machine front panel transhipment fixture |
| CN207046527U (en) * | 2017-06-28 | 2018-02-27 | 杭州国辰机器人科技有限公司 | Printing machine automatic clamping and placing material system |
| CN207142272U (en) * | 2017-06-29 | 2018-03-27 | 上海富山精密机械科技有限公司 | One species robot captures fabric device |
| CN107263447A (en) * | 2017-06-30 | 2017-10-20 | 湖州杰盛高科纺织有限公司 | A kind of cloth gripping arm |
| CN108406732A (en) * | 2018-03-07 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of crawl tooling carried for robot |
| CN208628302U (en) * | 2018-07-18 | 2019-03-22 | 武汉赛尔汽车模具有限公司 | A kind of terminal-collecting machine and automobile stamping production line |
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