CN110696021A - Gripping device for cloth - Google Patents
Gripping device for cloth Download PDFInfo
- Publication number
- CN110696021A CN110696021A CN201910838985.8A CN201910838985A CN110696021A CN 110696021 A CN110696021 A CN 110696021A CN 201910838985 A CN201910838985 A CN 201910838985A CN 110696021 A CN110696021 A CN 110696021A
- Authority
- CN
- China
- Prior art keywords
- cloth
- assembly
- grabbing
- electrostatic material
- material portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Abstract
The application provides a grabbing device of cloth. This grabbing device of cloth includes: the grabbing assembly comprises an insulating carrier and an electrostatic material part, wherein the electrostatic material part is arranged on the surface of one side of the insulating carrier; the moving assembly is connected with the grabbing assembly and used for driving the grabbing assembly to move. In the cloth gripping device, after the moving assembly drives the gripping assembly to align the cloth, voltage is applied to two sides of the electrostatic material part, the electrostatic material part generates static to adsorb the cloth on the insulating carrier, the moving assembly drives the gripping assembly to a target position, the gripping assembly is powered off, and the cloth falls off from the insulating carrier, so that the cloth is gripped efficiently and smoothly. Compared with the cloth grabbing device in the prior art, the cloth grabbing device is simple in structure and high in grabbing efficiency.
Description
Technical Field
The application relates to the field of grabbing devices for cloth, in particular to a grabbing device for cloth.
Background
In the prior art, the cloth grabbing device adopts two flat plates to clamp the cloth, and then the grabbing flat plates move, so that the cloth is grabbed flatly. However, the cloth gripping device is complicated to operate and has low gripping efficiency.
Disclosure of Invention
The utility model provides a main aim at provides a grabbing device of cloth to the grabbing device structure of the cloth among the solution prior art is complicated and snatchs the problem of inefficiency.
In order to achieve the above object, according to one aspect of the present application, there is provided a cloth gripping apparatus comprising: a grasping assembly including an insulating carrier and an electrostatic material portion disposed on a surface of one side of the insulating carrier; and the moving assembly is connected with the grabbing assembly and is used for driving the grabbing assembly to move.
Further, the grasping assembly further includes: and a power supply device electrically connected to both ends of the electrostatic material portion in an on-off manner, the power supply device being configured to apply a voltage to the electrostatic material portion to generate static electricity in the electrostatic material portion.
Further, the grasping assembly further includes: and the voltage controller is electrically connected with the power supply equipment and is used for adjusting the output voltage of the power supply equipment.
Further, the moving assembly is a robotic arm.
Further, the robot arm includes: the first rotary joint is connected with the grabbing component and is used for rotating the grabbing component; the moving piece is connected with the first rotary joint and used for driving the first rotary joint to move in a first direction and a second direction, the first direction is the height direction of the grabbing component, and the second direction is the direction perpendicular to the first direction; the base is connected with the moving piece.
Further, the moving member includes a second rotary joint and a first link, a first end of the first link is connected with the first rotary joint, and a second end of the first link is connected with the second rotary joint.
Further, the robot arm further includes: and the first end of the second connecting rod is connected with the moving piece, and the second end of the second connecting rod is connected with the base.
Further, the surface of the electrostatic material part, which is far away from the insulating carrier, is a flat surface.
Further, the material of the electrostatic material part is organic glass.
According to another aspect of the application, a cloth processing device is provided, which comprises a cloth gripping device, wherein the cloth gripping device is any one of the cloth gripping devices.
According to the technical scheme, after the moving assembly drives the grabbing assembly to align the cloth, the moving assembly applies voltage to two sides of the electrostatic material portion after driving the grabbing assembly to align the cloth, the electrostatic material portion generates static to adsorb the cloth on the insulating carrier, the moving assembly drives the grabbing assembly to the target position, the grabbing assembly is powered off, and the cloth falls off from the insulating carrier, so that the cloth is grabbed efficiently and smoothly. Compared with the cloth grabbing device in the prior art, the cloth grabbing device is simple in structure and high in grabbing efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a schematic structural view of an embodiment of a gripping device for cloth according to the present application.
Wherein the figures include the following reference numerals:
10. a grasping assembly; 11. an insulating carrier; 12. an electrostatic material portion; 20. a moving assembly; 21. a first rotary joint; 22. a first link; 23. a second rotary joint; 24. a second link; 25. a base.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, the gripping device for cloth in the prior art has low gripping efficiency, and in order to solve the above problems, the present application provides a gripping device for cloth.
Fig. 1 shows a schematic structural view of an embodiment of a gripping device for cloth according to the present application. As shown in fig. 1, the cloth gripping device includes:
a grasping unit 10, wherein the grasping unit 10 includes an insulating carrier 11 and an electrostatic material portion 12, and the electrostatic material portion 12 is disposed on a surface of one side of the insulating carrier 11;
and a moving component 20 connected with the grabbing component 10, wherein the moving component 20 is used for driving the grabbing component 10 to move.
In the gripping device for the cloth, after the moving assembly drives the gripping assembly to align the cloth, voltage is applied to two sides of the electrostatic material part, the electrostatic material part generates static electricity to adsorb the cloth on the insulating carrier, the moving assembly drives the gripping assembly to a target position, the gripping assembly is powered off, and the cloth falls off from the insulating carrier, so that the cloth is gripped efficiently and smoothly. Compared with the cloth grabbing device in the prior art, the cloth grabbing device is simple in structure and high in grabbing efficiency.
According to an embodiment of the present application, the grasping assembly further includes a power supply device electrically connected to both ends of the electrostatic material portion in an on-off manner, the power supply device being configured to apply a voltage to the electrostatic material portion to generate static electricity in the electrostatic material portion. Specifically, when the grabbing assembly grabs the cloth, the power supply equipment applies voltage to the electrostatic material part, and the electrostatic material part generates static electricity to adsorb the cloth on the insulating carrier; when the grabbing assembly releases the cloth, the power supply equipment stops applying voltage, and the cloth falls off from the insulating carrier.
Of course, the power supply device may also be an external power supply device, i.e. it is not part of the gripping device, which is electrically connectable to both ends of the electrostatic material portion in an on-off manner, which external power supply device may also be used for applying a voltage to the electrostatic material portion.
In the actual process of grabbing the cloth, the material and the weight that are based on the cloth are different, and the required adsorption force is also different, and in order to facilitate the size of the electrostatic adsorption force of the regulation grabbing device, according to an embodiment of the application, the grabbing assembly further comprises a voltage controller, wherein the voltage controller is electrically connected with the power supply equipment, and the voltage controller is used for regulating the output voltage of the power supply equipment. Specifically, the output voltage of the power supply device is adjusted by the voltage controller, so that the voltages on two sides of the electrostatic material part are adjusted, and the size of the electrostatic adsorption force generated by the electrostatic material part can be adjusted.
According to an embodiment of the present application, the moving assembly is a robot arm. The mechanical arm can stably and quickly move the grabbing component to any position of the working space of the grabbing device, can also drive the grabbing component to align the cloth, and is convenient for the grabbing component to grab the cloth. Of course, the moving assembly is not limited to a mechanical arm, and a person skilled in the art can select any moving assembly with any structure capable of driving the grabbing assembly to move according to actual conditions.
According to a specific embodiment of the present application, as shown in fig. 1, the robot arm includes a first rotary joint 21, a moving member, and a base 25, wherein the first rotary joint 21 is connected to the grasping assembly 10, and the first rotary joint 21 is used for rotating the grasping assembly 10; the moving member is connected to the first rotating joint 21, and is configured to drive the first rotating joint 21 to move in a first direction and a second direction, where the first direction is a height direction of the grabbing assembly 10, and the second direction is a direction perpendicular to the first direction; the base 25 is connected to the moving member. Specifically, the grabbing component is rotated through the first rotary joint, so that the grabbing component is aligned to the cloth, the grabbing component is convenient to grab the cloth, the moving piece is connected with the rotary joint to drive the rotary joint to move in the first direction and the second direction, the grabbing component moves in the first direction and the second direction, and the grabbing component is stably and quickly moved to any position of the working space of the grabbing device.
According to an embodiment of the present application, as shown in fig. 1, the moving member includes a second rotary joint 23 and a first link 22, a first end of the first link 22 is connected to the first rotary joint 21, and a second end of the first link 22 is connected to the second rotary joint 23. Specifically, the first connecting rod is rotated through the second rotary joint, so that the first connecting rod drives the first rotary joint to move in the first direction and the second direction, the grabbing component is driven to move in the first direction and the second direction, and the grabbing component is stably and rapidly moved to any position of the working space of the grabbing device.
According to an embodiment of the present application, as shown in fig. 1, the robot arm further includes a second link 24, a first end of the second link 24 is connected to the moving member, and a second end of the second link 24 is connected to the base 25. Particularly, the moving member is fixed on the base through the second connecting rod, and the moving member can be stably and quickly driven to grab the assembly to move.
According to an embodiment of the present application, a surface of the electrostatic material portion away from the insulating carrier is a flat surface. The surface of the electrostatic material part far away from the insulating carrier is set to be a flat surface, so that the contact area between the electrostatic material part and the cloth can be increased, the electrostatic adsorption force of the electrostatic material part is increased, and the cloth can be grabbed more firmly.
According to an embodiment of the present application, the material of the electrostatic material portion is organic glass. Specifically, the electrostatic material portion is an acrylic plate, but the material of the electrostatic material portion is not limited to the above, and those skilled in the art can select other materials capable of generating electrostatic adsorption force according to actual situations.
According to another aspect of the application, a cloth processing device is provided, which comprises a cloth gripping device, wherein the cloth gripping device is any one of the cloth gripping devices.
Among the above-mentioned cloth processing equipment, after the subassembly is grabbed in the removal subassembly drive and aims at the cloth, exert voltage in static material portion both sides, static material portion produces static and adsorbs the cloth on the insulating carrier, and the subassembly is grabbed to the removal subassembly drive to the target position, snatchs the subassembly outage, and the cloth drops from the insulating carrier to realize high-efficiently and smoothly grabbing the cloth, and then improve cloth processing equipment's work efficiency.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) in the grabbing device of cloth, the removal subassembly drive snatchs the subassembly and aims at the cloth after, applys voltage in electrostatic material portion both sides, and electrostatic material portion produces static and adsorbs the cloth on insulating carrier, and the removal subassembly drive snatchs subassembly to target position, snatchs the subassembly outage, and the cloth drops from insulating carrier to realize high-efficient and smoothly snatching the cloth. Compared with the cloth grabbing device in the prior art, the cloth grabbing device is simple in structure and high in grabbing efficiency.
2) In the cloth processing equipment of this application, remove the subassembly drive and snatch the subassembly and aim at the cloth after, apply voltage in electrostatic material portion both sides, electrostatic material portion produces static and adsorbs the cloth on insulating carrier, removes the subassembly drive and snatchs subassembly to the target location, snatchs the subassembly outage, and the cloth drops from insulating carrier to realize high-efficient and level ground and snatch the cloth, and then improve cloth processing equipment's work efficiency.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A gripping device of cloth, characterized by comprising:
a grasping assembly (10) including an insulating carrier (11) and an electrostatic material portion (12), the electrostatic material portion (12) being provided on a surface of one side of the insulating carrier (11);
the moving assembly (20) is connected with the grabbing assembly, and the moving assembly (20) is used for driving the grabbing assembly (10) to move.
2. The grasping apparatus according to claim 1, wherein the grasping assembly further comprises:
and a power supply device electrically connected to both ends of the electrostatic material portion in an on-off manner, the power supply device being configured to apply a voltage to the electrostatic material portion to generate static electricity in the electrostatic material portion.
3. The grasping apparatus according to claim 2, wherein the grasping assembly further comprises:
and the voltage controller is electrically connected with the power supply equipment and is used for adjusting the output voltage of the power supply equipment.
4. The grasping apparatus according to claim 1, wherein the moving assembly is a robotic arm.
5. The grasping apparatus according to claim 4, wherein the robot arm includes:
a first rotary joint (21) connected to the gripper assembly (10), the first rotary joint (21) being configured to rotate the gripper assembly (10);
the moving piece is connected with the first rotary joint (21) and used for driving the first rotary joint (21) to move in a first direction and a second direction, the first direction is the height direction of the grabbing component (10), and the second direction is the direction perpendicular to the first direction;
a base (25) connected to the moving member.
6. The gripping device according to claim 5, characterized in that the moving member comprises a second rotary joint (23) and a first link (22), a first end of the first link (22) being connected to the first rotary joint (21) and a second end of the first link (22) being connected to the second rotary joint (23).
7. The grasping apparatus according to claim 5, wherein the robot arm further includes:
a second link (24), a first end of the second link (24) is connected with the moving member, and a second end of the second link (24) is connected with the base (25).
8. The grasping apparatus according to any one of claims 1 to 7, wherein a surface of the electrostatic material portion remote from the insulating carrier is a flat surface.
9. The grasping device according to any one of claims 1 to 7, wherein a material of the electrostatic material portion is plexiglass.
10. A cloth processing apparatus comprising a cloth gripping device, wherein the cloth gripping device is the cloth gripping device of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838985.8A CN110696021A (en) | 2019-09-05 | 2019-09-05 | Gripping device for cloth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838985.8A CN110696021A (en) | 2019-09-05 | 2019-09-05 | Gripping device for cloth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110696021A true CN110696021A (en) | 2020-01-17 |
Family
ID=69194340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910838985.8A Pending CN110696021A (en) | 2019-09-05 | 2019-09-05 | Gripping device for cloth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110696021A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101563770A (en) * | 2006-12-19 | 2009-10-21 | 艾克塞利斯科技公司 | Annulus clamping and backside gas cooled electrostatic chuck |
| CN103038874A (en) * | 2010-08-11 | 2013-04-10 | Toto株式会社 | Electrostatic chuck |
| CN205631231U (en) * | 2016-05-23 | 2016-10-12 | 东莞市嘉鲁特注塑机械有限公司 | Electrostatic adsorption device |
| CN106737624A (en) * | 2017-01-20 | 2017-05-31 | 远东服装（苏州）有限公司 | A kind of mechanical arm material catching apparatus |
| CN108890680A (en) * | 2018-08-23 | 2018-11-27 | 苏州软体机器人科技有限公司 | A kind of actuator carrying out grasping movement using Electrostatic Absorption effect |
| DE102012018438B4 (en) * | 2012-09-19 | 2018-12-13 | Eisenmann Alpha-Tec Gmbh | Handling device with a manipulator for pieces of material |
| CN109129533A (en) * | 2018-10-12 | 2019-01-04 | 重庆大学 | A kind of adaptive electrostatic adsorption type end effector towards in-orbit capture |
| US20190047158A1 (en) * | 2017-08-09 | 2019-02-14 | The Boeing Company | End effectors carrying plies of limp material for shaping by a mandrel |
-
2019
- 2019-09-05 CN CN201910838985.8A patent/CN110696021A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101563770A (en) * | 2006-12-19 | 2009-10-21 | 艾克塞利斯科技公司 | Annulus clamping and backside gas cooled electrostatic chuck |
| CN103038874A (en) * | 2010-08-11 | 2013-04-10 | Toto株式会社 | Electrostatic chuck |
| DE102012018438B4 (en) * | 2012-09-19 | 2018-12-13 | Eisenmann Alpha-Tec Gmbh | Handling device with a manipulator for pieces of material |
| CN205631231U (en) * | 2016-05-23 | 2016-10-12 | 东莞市嘉鲁特注塑机械有限公司 | Electrostatic adsorption device |
| CN106737624A (en) * | 2017-01-20 | 2017-05-31 | 远东服装（苏州）有限公司 | A kind of mechanical arm material catching apparatus |
| US20190047158A1 (en) * | 2017-08-09 | 2019-02-14 | The Boeing Company | End effectors carrying plies of limp material for shaping by a mandrel |
| CN108890680A (en) * | 2018-08-23 | 2018-11-27 | 苏州软体机器人科技有限公司 | A kind of actuator carrying out grasping movement using Electrostatic Absorption effect |
| CN109129533A (en) * | 2018-10-12 | 2019-01-04 | 重庆大学 | A kind of adaptive electrostatic adsorption type end effector towards in-orbit capture |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20200117 |