CN111438702A

CN111438702A - Cloth grabbing assembly

Info

Publication number: CN111438702A
Application number: CN202010291018.7A
Authority: CN
Inventors: 林健君
Original assignee: Ningbo Juhua Optical Science & Technology Co ltd
Current assignee: Ningbo Juhua Optical Science & Technology Co ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-07-24

Abstract

The invention provides a cloth grabbing assembly, which comprises: the device comprises a reference plate, a telescopic arm seat, a telescopic arm group, a needle claw mounting seat fixedly arranged at the tail end of the telescopic arm group and a needle claw mechanism fixed on the needle claw mounting seat. According to the invention, the needle claw mechanisms are borne by the plurality of telescopic arm groups arranged on the base plate, the claw needles extending out of the claw needle mechanisms are matched with the steel columns on the tension springs in the opposite bending directions of the claw needles, so that the claw needles have firmer fixing performance after being penetrated into cloth, and the excessive-density claw needles are not required to be arranged, thereby greatly reducing the cloth loss; in addition, when the cloth is smoothly distributed, negative pressure can be introduced into the air return hole, so that negative pressure for adsorbing the surface of the cloth is generated below the cylinder body; this greatly increases the scope of the invention for adsorbent cloth types.

Description

Cloth grabbing assembly

Technical Field

The invention relates to the technical field of grabbing structures, in particular to a cloth grabbing assembly.

Background

In the current cloth field of snatching, have and snatch the cloth through using vacuum adsorption formula mechanism, nevertheless to screen cloth or ventilative cloth, snatch the process difficulty, the limitation that the cloth was grabbed is great.

Further, there is also a structure disclosed in an invention patent for gripping a cloth by using the principle of electrostatic adsorption, for example, patent application No. CN201910838985.8 entitled "gripping device for cloth", which includes a gripping member including an insulating carrier and an electrostatic material portion provided on a 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.

However, in the above structure, the electrostatic adsorption force is limited, and it is still difficult to grasp a large area of cloth, and in addition, spark is easily generated by electrostatic adsorption in the electrostatic adsorption grasping manner, so that a large potential safety hazard exists in practice.

In addition, a structure for gripping the cloth by passing the cloth through a claw needle is also available in the prior art, and the structure can be referred to as a structure disclosed in the invention patent with the patent application number of "CN 201811065639.2" and the name of "cloth gripping device", and comprises an upper needle plate and a lower needle plate, wherein the upper needle plate and the lower needle plate are arranged in parallel up and down and at a certain distance, and the upper needle plate and the lower needle plate move relatively in parallel along the length direction of the needle plate; the lower end face of the upper needle plate is provided with a plurality of upper row needles, the lower end face of the lower needle plate is provided with a plurality of lower row needles, the lower needle plate is provided with a plurality of needle row holes for the upper row needles to penetrate through, and the needle holes are provided with avoidance spaces for avoiding the movement of the upper row needles; the needle points of the upper row of needles and the lower row of needles are positioned in the same plane. The cloth grabbing mechanism realizes grabbing of the cloth by means of reciprocating motion of the upper row of needles and the lower row of needles after the cloth is inserted, so that tension is generated on the surface of the cloth.

However, the arrangement density of the claw needles on the needle plate is extremely high in the structure, so that the requirement for the cloth grabbing strength is met, and the damage to the surface of the cloth is easily caused.

For the above reasons, there is a need for an improvement in the prior art to enable a fabric gripping assembly to be expanded for types of suitable fabrics and to be less prone to damage.

Disclosure of Invention

In order to solve the defects of the cloth grabbing mechanism in the prior art, the invention provides a cloth grabbing assembly.

The invention is realized by the following scheme: the assembly is grabbed to cloth includes:

The reference plate is connected with a mechanical arm so that the mechanical arm can drive the reference plate to move;

A plurality of groups of telescopic arm bases which are arranged on the reference plate in a manner of rotating around a shaft and can rotate along a waist hole arranged on the reference plate as a track;

The telescopic arm group is fixedly arranged on the telescopic arm seat, a needle claw mounting seat is fixedly arranged at the tail end of the telescopic arm group, the telescopic arm group can deform and is fixed at a deformation position, and the height of the needle claw mounting seat fixed at the tail end of the telescopic arm group is adjusted;

The needle claw mechanism is fixedly arranged on the needle claw mounting seat, the needle claw mechanism comprises a cylinder body, the cylinder body comprises an inner cavity, the lower end of the cylinder body is provided with an opening communicated with the inner cavity, a needle sleeve is fixedly arranged at the opening, a slideway is arranged on the needle sleeve, a piston is movably arranged in the inner cavity of the cylinder body, the lower end of the piston is elastically biased by a spring part, a claw needle is fixedly arranged at the lower end of the piston, the end part of the claw needle is bent in an arc shape, the end part of the claw needle is positioned in the slideway and is movably matched with the slideway, an air inlet hole and an air return hole are formed in the side wall of the cylinder body, and the air inlet hole is communicated with the bottom end of the inner; the air return hole is communicated with a through hole arranged on the needle sleeve; the upper end of the cylinder body is fixedly provided with a guide rod, the needle claw mechanism further comprises a guide plate fixedly arranged with the needle claw mounting seat, a shaft sleeve is fixedly arranged at the bottom end of the guide plate, the guide rod penetrates through the shaft sleeve, a thrust plate is arranged at one end of the guide rod, which penetrates through the shaft sleeve, a mounting plate is arranged at the top of the cylinder body, the mounting plate is provided with parts extending outwards from two sides of the cylinder body, tension springs are fixedly arranged on the parts, and steel balls are arranged at the top ends of the tension springs; the extension spring is the slope setting, and its inclined direction with the direction that the claw needle is buckled is opposite.

In the technical scheme, a plurality of annular grooves are formed in the side wall of the piston at intervals, and O-shaped sealing rings are arranged in the annular grooves.

In the technical scheme, the outer wall of the needle sleeve is provided with external threads, and the external threads are in threaded connection with the internal threads arranged on the inner wall of the opening.

In the technical scheme, the telescopic arm group comprises a first connecting rod group and a second connecting rod group, wherein the first connecting rod group comprises two groups of first long connecting rods which are rotatably arranged on the telescopic arm seat, the end parts of the two groups of first long connecting rods are hinged with first short connecting rods, the two groups of first long connecting rods are arranged in parallel, and the tail end of the first long connecting rod positioned below is provided with a first gear part; the second connecting rod group comprises two groups of second long connecting rods which are arranged in parallel, one ends of the two groups of second long connecting rods are hinged through second short connecting rods, the other ends of the two groups of second long connecting rods are hinged with needle claw mounting seats, a second gear part is arranged on the second long connecting rod positioned below, the first gear part is meshed with the second gear part, and the first long connecting rod positioned above and the second long connecting rod positioned above are in transmission connection through a middle connecting rod; and a first quick screwing screw is arranged at the hinged position of the first short connecting rod and the first long connecting rod, and a second quick screwing screw is arranged at the hinged position of the second short connecting rod and the second long connecting rod.

In the above technical scheme, the guide plate is further provided with a guide hole, the lower end of the thrust plate is fixedly provided with a guide pillar, and the guide pillar is located in the guide hole and is movably matched with the guide hole.

In the technical scheme, a spring seat is arranged in the middle of the needle sleeve, the spring piece is arranged in the spring seat, and two ends of the spring piece respectively abut against the bottom wall of the spring seat and the lower end of the piston.

In the technical scheme, the needle sleeve is provided with four groups of through holes, and the through holes are uniformly distributed at equal angles.

The invention has the beneficial effects that: according to the invention, the needle claw mechanisms are borne by the plurality of telescopic arm groups arranged on the base plate, the claw needles extending out of the claw needle mechanisms are matched with the steel columns on the tension springs in the opposite bending directions of the claw needles, so that the claw needles have firmer fixing performance after being penetrated into cloth, and the excessive-density claw needles are not required to be arranged, thereby greatly reducing the cloth loss; in addition, when the cloth is smoothly distributed, negative pressure can be introduced into the air return hole, so that negative pressure for adsorbing the surface of the cloth is generated below the cylinder body; this greatly increases the scope of the invention for adsorbent cloth types.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a view showing the fit between the reference plate and the telescopic arm set according to the present invention.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a schematic perspective view of the telescopic arm set.

Fig. 5 is a perspective view of the needle claw mechanism.

Fig. 6 is a schematic perspective view of the needle claw mechanism in another direction.

Fig. 7 is a front view of the needle claw mechanism.

3 fig. 3 8 3 is 3 a 3 schematic 3 sectional 3 view 3 taken 3 along 3 a 3- 3 a 3 in 3 fig. 3 7 3. 3

Fig. 9 is a perspective view of the needle guard.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments. Referring to fig. 1 to 9, the cloth gripping assembly includes a reference plate 1, which is connected to a robot arm 100, so that the reference plate 1 can be driven by the robot arm 100 to displace; a plurality of sets of telescopic arm bases 2 are arranged on the reference plate 1, and the telescopic arm bases 2 are arranged on the reference plate 1 in a manner of rotating around a shaft 20 and can rotate along a waist hole 101 arranged on the reference plate 1 as a track; a telescopic arm group 3 is fixedly arranged on the telescopic arm seat 2, a needle claw mounting seat 4 is fixedly arranged at the tail end of the telescopic arm group 3, the telescopic arm group 3 can deform and is fixed at a deformation position, and then the height of the needle claw mounting seat 4 fixed at the tail end of the telescopic arm group is adjusted; a needle claw mechanism 5 is fixedly arranged on the needle claw mounting seat 4, the needle claw mechanism 5 comprises a cylinder body 50, the cylinder body 50 comprises an inner cavity, the lower end of the cylinder body 50 is provided with an opening communicated with the inner cavity, a needle sleeve 51 is fixedly arranged at the opening, a slideway 51a is arranged on the needle sleeve 51, a piston 52 is movably arranged in the inner cavity of the cylinder body 50, the lower end of the piston 52 is elastically biased by a spring piece 53, a claw needle 6 is fixedly arranged at the lower end of the piston 52, the end part of the claw needle 6 is bent in an arc shape, the end part of the claw needle is positioned in the slideway 51a and is movably matched with the slideway 51a, an air inlet hole 50a and an air return hole 50b are formed in the side wall of the cylinder body 50, and the air inlet hole 50a is communicated with the bottom; the air return hole 50b communicates with a through hole 51b provided in the needle hub 51.

A guide rod 54 is fixedly arranged at the upper end of the cylinder body 50, the needle claw mechanism 5 further comprises a guide plate 55 fixedly arranged with the needle claw mounting seat 4, a shaft sleeve 56 is fixedly arranged at the bottom end of the guide plate 55, the guide rod 54 penetrates through the shaft sleeve 56, a thrust plate 57 is arranged at one end of the guide rod which penetrates through the shaft sleeve 56, a mounting plate 59 is arranged at the top of the cylinder body 50, the mounting plate 59 is provided with a part which extends outwards from two sides of the cylinder body, a tension spring 7 is fixedly arranged on the part, and a steel ball 70 is arranged at the top end of the tension spring 7; the tension spring 7 is obliquely arranged, and the oblique direction of the tension spring is opposite to the bending direction of the claw needle.

When the cloth grabbing assembly is used, an air pump device is externally connected to the air inlet 50a, a negative pressure device is externally connected to the air return hole 50b, and when the cloth grabbing assembly is used, the needle claw mechanism 5 arranged at the tail end of the telescopic arm group 3 can be attached to the surface of a grabbed cloth as far as possible by adjusting the telescopic arm group 3; when the cloth grabbing device is used, when cloth with an unsmooth surface is grabbed, the air can be inflated in the air inlet hole 50a, so that the piston moves downwards to drive the claw needle 6 to move downwards and move along the slide way 51a, the needle head of the claw needle 6 stabs outwards and pierces the cloth, and the claw needle has firmer fixing performance after penetrating the cloth through the matching of the steel columns on the tension springs with the bending directions opposite to those of the claw needle, and finally the purpose of grabbing the cloth is achieved. When smooth cloth, then can be through letting in the negative pressure to the return air hole, and then make the negative pressure that produces the surface that is used for adsorbing the cloth below the cylinder body, and then accomplish the cloth and snatch.

A plurality of annular grooves are formed in the side wall of the piston 52 at intervals, and O-shaped sealing rings are arranged in the annular grooves. To improve the seal between the piston 52 and the wall of the internal chamber of the cylinder 50. The outer wall of the needle sleeve 51 is provided with external threads, and the external threads are fixedly connected with the internal threads arranged on the inner wall of the opening in a threaded manner.

As an example of the telescopic arm group 3 being deformable and fixed at a deformed position: the telescopic arm group 3 comprises a first connecting rod group 30 and a second connecting rod group 31, wherein the first connecting rod group 30 comprises two groups of first long connecting rods 30a which are rotatably arranged on the telescopic arm seat 2, the end parts of the two groups of first long connecting rods 30a are hinged with first short connecting rods 30b, the two groups of first long connecting rods 30a are arranged in parallel, and the tail end of the first long connecting rod 30a positioned below is provided with a first gear part 300; the second linkage 31 comprises two groups of second long connecting rods 31a arranged in parallel, one ends of the two groups of second long connecting rods 31a are hinged through second short connecting rods 31b, the other ends of the two groups of second long connecting rods 31a are hinged with needle claw mounting seats 4, a second gear part 301 is arranged on the second long connecting rod 31a positioned below, the first gear part 300 is meshed with the second gear part 301, and the first long connecting rod 30a positioned above and the second long connecting rod 31a positioned above are in transmission connection through a middle connecting rod 32; a first quick-screwing screw 33 is arranged at the hinged position of the first short connecting rod 30b and the first long connecting rod 30a, and a second quick-screwing screw 34 is arranged at the hinged position of the second short connecting rod 31b and the second long connecting rod 31 a.

In the above structure, after the first quick-screwing screw 33 and the second quick-screwing screw 34 are unscrewed, the first quick-screwing screw 33 and the second quick-screwing screw 34 can be locked when the angle between the first connecting rod group 30 and the second connecting rod group 31 is adjusted to reach a required value, and at this time, the position of the telescopic arm group 3 is fixed.

The guide plate 55 is further provided with a guide hole 55a, the lower end of the thrust plate 57 is fixedly provided with a guide post 58, and the guide post 58 is positioned in the guide hole 55a and is movably matched with the guide hole. A spring seat is arranged in the middle of the needle sleeve 51, the spring member 53 is arranged in the spring seat, and two ends of the spring member respectively abut against the bottom wall of the spring seat and the lower end of the piston 52.

Four groups of through holes 51b are arranged on the needle sleeve 51, and the through holes 51b are uniformly distributed at equal angles, so that stable negative pressure adsorption force is formed at the needle sleeve 51.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The assembly is grabbed to cloth, its characterized in that includes:

The reference plate (1) is connected with a mechanical arm (100) so that the reference plate (1) can be driven to displace by the mechanical arm (100);

A plurality of groups of telescopic arm bases (2), wherein the telescopic arm bases (2) are arranged on the reference plate (1) in a manner of rotating around a shaft (20) and can rotate along a waist hole (101) arranged on the reference plate (1) as a track;

The telescopic arm group (3) is fixedly arranged on the telescopic arm seat (2), a needle claw mounting seat (4) is fixedly arranged at the tail end of the telescopic arm group (3), the telescopic arm group (3) can deform and is fixed at a deformation position, and the height of the needle claw mounting seat (4) fixed at the tail end of the telescopic arm group is further adjusted;

A needle claw mechanism (5) fixedly arranged on the needle claw mounting seat (4), the needle claw mechanism (5) comprises a cylinder body (50), the cylinder body (50) comprises an inner cavity, the lower end of the needle sleeve is provided with an opening communicated with the inner cavity, a needle sleeve (51) is fixedly arranged at the opening, a slide way (51 a) is arranged on the needle sleeve (51), a piston (52) is movably arranged in the inner cavity of the cylinder body (50), the lower end of the piston (52) is elastically biased by a spring element (53), the lower end of the piston (52) is fixedly provided with a claw needle (6), the end part of the claw needle (6) is bent in an arc shape, the end part of the claw needle is positioned in the slideway (51 a) and is movably matched with the slideway (51 a), an air inlet hole (50 a) and an air return hole (50 b) are formed in the side wall of the cylinder body (50), and the air inlet hole (50 a) is communicated with the bottom end of the inner cavity; the air return hole (50 b) is communicated with a through hole (51 b) arranged on the needle sleeve (51); the upper end of the cylinder body (50) is fixedly provided with a guide rod (54), the needle claw mechanism (5) further comprises a guide plate (55) fixedly arranged with the needle claw mounting seat (4), the bottom end of the guide plate (55) is fixedly provided with a shaft sleeve (56), the guide rod (54) penetrates through the shaft sleeve (56), a thrust plate (57) is arranged at one end of the guide rod, which penetrates through the shaft sleeve (56), the top of the cylinder body (50) is provided with a mounting plate (59), the mounting plate (59) is provided with parts extending outwards from two sides of the cylinder body, a tension spring (7) is fixedly arranged on the parts, and the top end of the tension spring (7) is provided with a steel ball (70); the tension spring (7) is obliquely arranged, and the oblique direction of the tension spring is opposite to the bending direction of the claw needle.

2. The cloth capture assembly of claim 1, wherein: a plurality of annular grooves are formed in the side wall of the piston (52) at intervals, and O-shaped sealing rings are arranged in the annular grooves.

3. The cloth capture assembly of claim 1, wherein: the outer wall of the needle sleeve (51) is provided with external threads, and the external threads are in threaded connection and fixed with the internal threads arranged on the inner wall of the opening.

4. The cloth capture assembly of claim 1, wherein: the telescopic arm group (3) comprises a first connecting rod group (30) and a second connecting rod group (31), wherein the first connecting rod group (30) comprises two groups of first long connecting rods (30 a) rotatably arranged on the telescopic arm seat (2), the end parts of the two groups of first long connecting rods (30 a) are hinged with first short connecting rods (30 b), the two groups of first long connecting rods (30 a) are arranged in parallel, and the tail end of the first long connecting rod (30 a) positioned below is provided with a first gear part (300); the second connecting rod group (31) comprises two groups of second long connecting rods (31 a) which are arranged in parallel, one ends of the two groups of second long connecting rods (31 a) are hinged through second short connecting rods (31 b), the other ends of the two groups of second long connecting rods (31 a) are hinged with needle claw mounting seats (4), a second gear part (301) is arranged on the second long connecting rod (31 a) which is positioned below, the first gear part (300) is meshed with the second gear part (301), and the first long connecting rod (30 a) which is positioned above and the second long connecting rod (31 a) which is positioned above are in transmission connection through a middle connecting rod (32); a first quick screwing screw (33) is arranged at the hinged position of the first short connecting rod (30 b) and the first long connecting rod (30 a), and a second quick screwing screw (34) is arranged at the hinged position of the second short connecting rod (31 b) and the second long connecting rod (31 a).

5. The cloth capture assembly of claim 1, wherein: the guide plate (55) is also provided with a guide hole (55 a), the lower end of the thrust plate (57) is fixedly provided with a guide post (58), and the guide post (58) is positioned in the guide hole (55 a) and is movably matched with the guide hole.

6. The cloth capture assembly of claim 1, wherein: a spring seat is arranged in the middle of the needle sleeve (51), the spring piece (53) is arranged in the spring seat, and two ends of the spring piece respectively abut against the bottom wall of the spring seat and the lower end of the piston (52).

7. The cloth capture assembly of claim 1, wherein: four groups of through holes (51 b) are arranged on the needle sleeve (51), and the through holes (51 b) are uniformly distributed at equal angles.