CN213259518U - Flexible material is with snatching mechanism - Google Patents

Abstract

The utility model discloses a flexible material gripping mechanism, which belongs to the technical field of flexible gripping, the gripping mechanism for flexible materials solves the problem of the influence of sponge sliding along the gravity direction and lateral wind resistance when gripping flexible products by adopting a central distributed type gripping unit, increases the load capacity of the gripping unit, moves a gripping device to a gripping area by a lifting mechanism, and comprises a confluence plate, a first fixed block, a pneumatic unit and a gripping unit, wherein airflow causes two pneumatic units to contract along the cylinder rod direction of a clamping cylinder simultaneously through the confluence plate, the pneumatic unit pushes a rod needle fixing sleeve, an elastic piece in the compression gripping unit and a transmission device adopt a mode of combining gear and belt transmission to drive a needle to extend out a material supporting plate, thereby realizing the work of gripping sponge materials, the cylinder rod extends out during discharging, the needle fixing sleeve retracts under the action of a spring, and the unloading is realized.

Description

Flexible material is with snatching mechanism

Technical Field

The utility model relates to a flexible material specifically is a flexible material is with snatching mechanism.

Background

A sponge is a porous material, typically made of wood cellulose fibers or foamed plastic polymers. The sponge cushion made of the sponge has the characteristics of good air permeability, softness, comfort and the like, so that the sponge cushion is widely applied to clothes needing to be shaped, such as bras, formal dresses and the like. But the sponge material is difficult to grab in the automatic production process due to the characteristics of bulkiness, porosity, easy deformation and the like. Along with the continuous improvement of processing process automation, also proposed higher requirement to the grabbing device of sponge material, the sponge material can effectively snatch the efficiency that directly influences automatic production line fast.

At present, the sponge feeding adopts the modes of manual feeding, vacuum chuck and mechanical clamping, but the modes have respective serious defects: the manual feeding mode brings the problems of long feeding time, low production efficiency and high manual operation error rate; the sponge has a relatively large ventilation effect and an unobvious adsorption effect, so that the problems of small adsorption force and unstable adsorption caused by the adoption of the vacuum chuck are solved; mechanical clamping is not feasible, the sponge has the characteristics of softness, easy deformation, bulkiness and irregular shape, and the mechanical clamping is difficult to realize stable and accurate clamping.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: a flexible material is with snatching mechanism to solve the above-mentioned problem that prior art exists.

The technical scheme is as follows: a grabbing mechanism for flexible materials comprises a base, a rear side plate arranged on the base, an upper side plate fixedly arranged on the rear side plate, a driving motor fixedly arranged on the base, a small synchronous belt pulley arranged on the driving motor, a trapezoidal synchronous belt arranged on the small synchronous belt pulley, a bearing seat fixedly arranged on the upper side plate, a rotating shaft which is arranged on the bearing seat in an interference fit manner and synchronously rotates along with the trapezoidal synchronous belt, a large synchronous belt pulley arranged on the rotating shaft and used for sleeving the trapezoidal synchronous belt, and a grabbing device arranged on the rotating shaft and used for grabbing sponge;

the grabbing device comprises a fixed seat fixedly mounted at the end part of the rotating shaft, a lifting mechanism arranged on the fixed seat and capable of lifting, a bus bar fixedly mounted on the lifting mechanism, and a clamping device arranged on the bus bar.

In a further embodiment, the lifting mechanism comprises a motor fixing plate screwed on the fixing plate, a lifting motor screwed on the motor fixing plate, a first gear arranged on a rotating shaft of the lifting motor, an inclined supporting block fixedly arranged on the fixing seat, two connecting blocks fixedly arranged on the inclined supporting block, a coupler with an outer wall in interference fit on the connecting blocks, a screw rod arranged on the coupler in interference fit, a shaft sleeve arranged on the screw rod, and a second gear arranged on the screw rod, the gear chain is meshed with the first gear and the second gear, the fixed sliding block is in interference fit with the upper surface of the screw rod and is in threaded connection with the shaft sleeve, the sheet metal covers are arranged at two ends of the inclined supporting block, and the two organ covers are used for isolating dust in a working environment, one end of each organ cover is abutted against the fixed sliding block, and the other end of each organ cover is abutted against the sheet metal covers.

In a further embodiment, the fixed sliding block comprises a first horizontal plane, a first vertical plane vertically arranged on the first horizontal plane, and a first inclined plane arranged on the first vertical plane, and the end of the first inclined plane is subjected to rounding treatment.

In a further embodiment, the clamping device comprises a first fixing block fixedly mounted on a fixing slide block, a U-shaped bracket arranged on the bus board, and a pricking device fixedly mounted on the U-shaped bracket and positioned at the corner of the U-shaped bracket;

the bundling device is provided with two groups of pneumatic units and bundling units, the pneumatic units and the bundling units are symmetrically distributed along the central plane of the U-shaped support and are mounted in the same way, and the two groups of bundling units form an included angle of 60-90 degrees on the plane;

the bus bar is arranged on the first fixing block.

In a further embodiment, the pricking device comprises a clamping cylinder which is arranged on a cushion block and can be clamped and opened, a clamping block which is arranged on the clamping cylinder, a material supporting plate which is arranged on the inner side surface of the U-shaped support and is positioned at the tail end of the U-shaped support, a pushing block which is arranged on the clamping block, a needle fixing sleeve which is arranged on the material supporting plate, an elastic piece which is sleeved in the middle of the needle fixing sleeve, and a pricking needle which is arranged on the needle fixing sleeve.

In a further embodiment, the retainer plate is designed to be trapezoidal, the inclined cutting surface of the retainer plate is provided with an accommodating cavity, and a stepped hole for positioning the elastic piece is arranged inside the accommodating cavity.

In a further embodiment, said needle is mounted in a central bore of a needle hub and the radial directions of the needle hub are fixed together with set screws;

when the clamping cylinder is in a retraction state, the push block props against the needle fixing sleeve to prevent the needle fixing sleeve from being separated from the hole;

when the clamping cylinder extends out, the pushing block further pushes the needle fixing sleeve, so that the needle is extended out and is inserted into sponge material.

In a further embodiment, the driving motor rotates the planetary gearbox to be combined with the synchronous belt, the speed ratio is 3:1, the final speed ratio of the combination of the driving motor and the synchronous belt is 9:1, the outer wall of the rotating shaft is provided with the angular contact ball bearings in an interference fit mode, meanwhile, in order to reduce the shearing stress of an interface, the planetary gearbox and the rotating shaft are installed face to face, the trapezoidal synchronous belt is selected through belt transmission, impact caused by high-speed starting and braking can be relieved in the transmission process, and the functions of overload protection and noise reduction can be achieved.

In a further embodiment, at least three groups of needle fixing sleeves are arranged on the retainer plate;

when the clamping cylinder stretches out, the pushing block further pushes the needle fixing sleeve, the needle is dispersed in the center to prick a product, the slippage of the sponge along the gravity direction during pricking is effectively limited, and the load capacity of the pricking device is further enhanced. Pneumatic drive makes the action of snatching quicker, has improved and has snatched efficiency.

Has the advantages that: the utility model discloses a flexible material is with snatching mechanism, prick the unit through adopting the central decentralization, when having solved and snatch flexible product, for example the sponge slides along the direction of gravity and the influence of side direction windage, the load capacity of pricking the unit has increased more, move to pressing from both sides the region with grabbing device through elevating system, including the cylinder manifold, first fixed block, pneumatic unit, prick the unit and constitute, the air current arouses two pneumatic units to shrink along die clamping cylinder's cylinder pole direction simultaneously through the cylinder manifold, the fixed cover of pneumatic unit push rod needle, the compression is pricked the elastic component in getting the unit and transmission adopts the mode that gear and belt drive combine, the drive pricks the needle and stretches out the support flitch, realize pricking the work of sponge material, the cylinder pole stretches out when unloading, the fixed cover of needle retracts under the effect of spring, realize unloading. Meanwhile, the transmission device adopts a mode of combining gear and belt transmission, can alleviate impact caused by high-speed starting and braking in the transmission process, and can play a role in overload protection and noise reduction.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural diagram 1 of the lifting mechanism of the present invention;

fig. 3 is a schematic structural diagram 2 of the lifting mechanism of the present invention;

fig. 4 is a cross-sectional view of the middle fixed block of the present invention.

The reference signs are: the device comprises a base 101, a rear side plate 102, an upper side plate 103, a driving motor 104, a small synchronous belt pulley 105, a trapezoidal synchronous belt 106, a bearing seat 107, a rotating shaft 108, a large synchronous belt pulley 109, a fixed seat 201, a lifting mechanism 202, a clamping device 2021, a motor fixing plate 2022, a lifting motor 2023, a first gear 2024, an inclined supporting block 2025, a connecting block 2026, a coupling 2027, a screw rod 2028, a shaft sleeve 2029, a second gear 2030, a gear chain 2031, a fixing slider 2032, a sheet metal cover 2033, an organ cover 2034, a confluence plate 203, a clamping device 204, a first fixing block 2041, a U-shaped bracket 2042, a pricking device 2043, a clamping cylinder 2044, a clamping block 2045, a material supporting plate 2046, a pushing block 2047, a needle fixing sleeve 2048, an elastic element 2049, a pricking needle 2050 and a stepped hole.

Detailed Description

Through research and analysis of the applicant, the sponge feeding in the prior art mostly adopts the modes of manual feeding, vacuum chuck and mechanical clamping, but the several modes have respective serious defects: the manual feeding mode brings the problems of long feeding time, low production efficiency and high manual operation error rate; the sponge has a relatively large ventilation effect and an unobvious adsorption effect, so that the problems of small adsorption force and unstable adsorption caused by the adoption of the vacuum chuck are solved; mechanical clamping is not feasible, the sponge has the characteristics of softness, easy deformation, bulkiness and irregular shape, and the mechanical clamping is difficult to realize stable and accurate clamping. In light of these problems, the applicant proposes a gripping mechanism for flexible materials, which is as follows.

As shown in the drawing, the grabbing mechanism for a flexible material includes a base 101, a rear side plate 102, an upper side plate 103, a driving motor 104, a small belt pulley 105 of a timing belt, a trapezoidal timing belt 106, a bearing seat 107, a rotating shaft 108, a large belt pulley 109 of a timing belt, a fixing seat 201, a lifting mechanism 202, a clamping device 2021, a motor fixing plate 2022, a lifting motor 2023, a first gear 2024, a slant supporting block 2025, a connecting block 2026, a coupling 2027, a screw 2028, a shaft sleeve 2029, a second gear 2030, a gear chain 2031, a fixing slider 2032, a sheet metal cover 2033, an organ cover 2034, a confluence plate 203, a clamping device 204, a first fixing block 2041, a U-shaped bracket 2042, a pricking device 2043, a clamping cylinder 2044, a clamping block 2045, a material supporting plate 2046, a pushing block 2047, a needle fixing sleeve 2048, an elastic element 2049, a pricking needle 205.

According to the processing requirements and places of flexible products, such as sponge processing, a clamping manipulator often needs high-speed frequent movement, the traditional chain transmission can cause overlarge operation, so the chain transmission cannot be selected, however, the transmission speed ratio between rotating arms of a motor shaft manipulator is larger, so that the number and the diameter ratio of teeth of a driven gear are increased, or multi-stage gear reduction is required, the gear processing cost is increased, the single-piece gear processing cost is very high, the cost control of a novel product is not compensated, therefore, a rear side plate in a transmission device is arranged on a base, for the structural stability, an upper side plate is fixedly arranged on the rear side plate, connecting side plates are fixedly arranged on the side surfaces of the upper side plate and the rear side plate, and the three connecting side plates are fixedly arranged together, so the stability in frequent operation is improved, the driving motor is fixedly arranged on the base, the small synchronous belt pulley is arranged on the driving motor, the trapezoidal synchronous belt is arranged on the small synchronous belt pulley, the bearing seat is fixedly arranged on the upper side plate, the rotating shaft is arranged on the bearing seat in an interference fit manner and synchronously rotates along with the trapezoidal synchronous belt, the large synchronous belt pulley is arranged on the rotating shaft and has the function of sleeving the trapezoidal synchronous belt, the driving motor is selected to be sleeved with the trapezoidal synchronous belt, the driving motor is selected to be a planetary gearbox and is combined with the synchronous belt, the speed ratio of the driving motor is 3:1, the final speed ratio of the combination of the driving motor and the planetary gearbox is 9:1, the mode of combining gear transmission and belt transmission is selected, the gearbox is not required to be machined and customized by itself, and the existing planetary gearbox on the market can be selected, the condition of cost increase and production cycle extension that can avoid the singlepiece to bring like this, angular contact ball bearing is installed to interference fit above the outer wall of pivot, and simultaneously in order to reduce the shear stress at interface, the face-to-face installation is selected with the pivot to planetary transmission, and in transmission process, alleviates the impact that high-speed start-up and braking brought through trapezoidal hold-in range, can also play the effect of transshipping the assurance and the effect of noise abatement simultaneously.

The sponge processing clamp is operated by moving a clamping device to the upper part of a product through a lifting mechanism, a fixing seat is arranged at the end part of a rotating shaft, the lifting mechanism is arranged on the fixing seat, a bus board is fixedly arranged on the lifting mechanism, the clamping device is arranged on the bus board, a common lifting mechanism is designed to drive a screw nut on a screw rod to move through the rotation of a motor, the rotating speed of the motor is higher, the motor can be connected with the screw rod through a speed reducer generally, but the speed of the linear motion of the Z shaft of the lifting device for sponge processing is higher, the transmission of the lifting mechanism in the utility model is composed of the screw rod and a coupler, a motor fixing plate is screwed on the fixing seat, the lifting motor is screwed on the motor fixing plate, and a first gear is arranged on the rotating shaft of the lifting motor, the inclined supporting block is fixedly arranged on the fixed seat, the connecting block is fixedly arranged on the inclined supporting block, the outer wall of the coupler is in interference fit with the connecting block, the screw rod is arranged on the coupler in interference fit, the shaft sleeve is arranged on the screw rod, the second gear is arranged on the screw rod, the gear chain is meshed with the first gear and the second gear together, the fixed sliding block is in interference fit with the upper surface of the screw rod, the end part of the fixed sliding block is in interference fit with the shaft sleeve, the sheet metal covers are arranged at two ends of the inclined supporting block, one end of the organ cover is abutted against the fixed sliding block, the other end of the organ cover is abutted against the sheet metal cover, dust in an operation environment is prevented from entering the lifting mechanism, the occurrence of influence on lifting efficiency is reduced, the first gear is driven to rotate through the rotation of the lifting motor, and the gear chain is driven to rotate, and then drive the second gear rotatory, and then drive the lead screw rotatory, and then drive solid fixed sliding block and move along the lead screw, and then drive clamping device and move from top to bottom, solid fixed sliding block's vertical face is provided with the first inclined plane of tilt up, the vertical setting of first vertical face is on first horizontal plane, and first inclined plane setting is on first vertical face, in order to prevent that the edges and corners on the first inclined plane in the lift process from interfering other work pieces, keeps the aesthetic property of design simultaneously, the tip radius angle of first inclined plane is handled.

When elevating system is driving clamping device and is moving sponge product top, consider the gravity of sponge self, prevent the sponge along the gliding of vertically gravity direction simultaneously, consequently, gripping device to the sponge has improved the requirement, whether the sponge presss from both sides the effectual efficiency that directly influences the production line that snatchs fast, prior art's sponge is snatched the mechanism and is mostly when being close to the sponge through snatching the structure, the cylinder stretches out, it advances the sponge the inside to drive the acupuncture, snatch the sponge according to the frictional force of needle, rely on the cylinder withdrawal when unloading the sponge, the needle withdrawal is taken off the material inboard, the sponge is blocked and is taken off the material by taking off the flitch, but current device, prick the sponge is pricked when the needle stretches out the taking off the flitch, the sponge is along with pricking take-. After the needle retracts to the stripper plate, the sponge falls off to realize sponge material unloading, and because the direction of the needle is the same as the gravity direction of the sponge, the sponge material is impacted laterally by airflow in the feeding process, when the friction of the needle is insufficient, the posture of the sponge can be changed and even falls off, so that feeding failure is caused, and the efficiency of a production line is influenced.

Compared with the prior art, the first fixing block is fixedly arranged on the fixing sliding block, the U-shaped support is arranged on the bus board, the pricking device is fixedly arranged on the U-shaped support and is positioned at the corner of the U-shaped support, the clamping cylinder is arranged on the cushion block, the clamping block is arranged on the clamping cylinder, the material supporting plate is arranged on the U-shaped support and is positioned at the tail end of the U-shaped support, the pushing block is arranged on the clamping block, the needle fixing sleeve is arranged on the material supporting plate, the elastic piece is sleeved and arranged in the needle fixing sleeve, and the needle is arranged on the needle fixing sleeve; the bundling device is provided with two groups of pneumatic units and bundling units, the pneumatic units and the bundling units are symmetrically distributed along the central plane of the U-shaped support and are mounted in the same way, and the two groups of bundling units form an included angle of 60-90 degrees on the plane; through the design of the symmetrical center dispersing and pricking unit, the influence of the pulley and the lateral wind resistance of the pricking sponge material along the gravity direction is effectively solved, the load capacity of the pricking device is further enhanced, and at least three groups of needle fixing sleeves are arranged on the stripper plate, so that the contact surface between the needles and the sponge material is enlarged, thereby improving the friction force between the needle and the sponge, when the needle is extended out through the clamping cylinder, the pushing block further pushes the needle fixing sleeve, the needle is dispersed in the center to prick the sponge material, in order to prevent the puncture needle from falling off, the retainer plate is designed to be trapezoidal, an accommodating cavity is formed in the inclined cutting surface of the retainer plate, meanwhile, in order to position the elastic part and increase the assembly efficiency, a stepped hole for positioning the elastic part is arranged in the accommodating cavity, the insertion needle is arranged in the central hole of the needle fixing sleeve, and the radial direction of the needle fixing sleeve is fixed together by a set screw; when the clamping cylinder retracts, the push block pushes the needle fixing sleeve to prevent the needle fixing sleeve from being separated from the hole, and when the needles extend out of the sponge material, the resultant force and the gravity of the supporting force provided by the two groups of needles are opposite, the sponge cannot fall off, the push block and the clamping cylinder are positioned at the same side, and the push block moves along the upper surface of the material supporting plate to compress the needle fixing sleeve. Not only effectively restricted the sponge along the slip of gravity direction when pricking, more strengthened the bearing capacity of pricking the device. Pneumatic drive lets the action of snatching more fast, has improved automatic production line's production efficiency, and earlier the time is exerted force to the outside of sponge material with the needle in addition, makes the rigidity of sponge material, then snatchs the inboard edge of sponge material with the mode of mechanical centre gripping, and the clamping-force of this device is great moreover, can resist wind, can be fine overcome the adhesion problem of sponge material and hot briquetting mould.

The working principle is as follows: the transportation mechanism transports the sponge to a specified position, and the pricking mechanism starts to operate; the transmission device is started to operate, the small synchronous belt wheel is driven to rotate so as to drive the trapezoidal synchronous belt to rotate, then the large synchronous belt wheel is driven to rotate so as to drive the rotating shaft to rotate, according to the sponge processing production requirement and occasion, the grabbing mechanism needs to carry out high-speed frequent movement, a mode of combining gear transmission and belt transmission is selected, the trapezoidal synchronous belt is selected for belt transmission, the impact caused by high-speed starting and braking can be relieved in the transmission process, and the functions of overload guarantee and noise reduction can also be achieved; the grabbing device is driven to operate through the transmission device, then the lifting mechanism starts to act, the first gear is driven to rotate through the lifting motor, the gear chain and the second gear are driven to rotate, the fixed sliding block is driven to rotate to a set position on the screw rod, and the clamping device is driven to move to the upper surface of the sponge product; then two groups of pricking units in the pricking device symmetrically move towards each other along the central plane of the U-shaped support, and then the clamping cylinder drives the clamping block to approach towards the sponge product, and further pushes the pushing block to push the needle fixing sleeve, so that the pricking needle extends out and pricks into the sponge material, and the sponge product is clamped.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.

Claims (9)

1. A grabbing mechanism for flexible materials is characterized by comprising

The transmission device comprises a base, a rear side plate arranged on the base, an upper side plate fixedly arranged on the rear side plate, a driving motor fixedly arranged on the base, a small synchronous belt pulley arranged on the driving motor, a trapezoidal synchronous belt arranged on the small synchronous belt pulley, a bearing seat fixedly arranged on the upper side plate, a rotating shaft which is arranged on the bearing seat in an interference fit manner and synchronously rotates along with the trapezoidal synchronous belt, a large synchronous belt pulley arranged on the rotating shaft and used for sleeving the trapezoidal synchronous belt, and a gripping device arranged on the rotating shaft and used for gripping sponge;

the grabbing device comprises a fixed seat fixedly mounted at the end part of the rotating shaft, a lifting mechanism arranged on the fixed seat and capable of lifting, a bus bar fixedly mounted on the lifting mechanism, and a clamping device arranged on the bus bar.

2. The grasping mechanism for a flexible material according to claim 1, characterized in that: the lifting mechanism comprises a motor fixing plate screwed on the fixed seat, a lifting motor screwed on the motor fixing plate, a first gear arranged on a rotating shaft of the lifting motor, an inclined supporting block fixedly arranged on the fixed seat, two connecting blocks fixedly arranged on the inclined supporting block, a coupler with the outer wall in interference fit on the connecting blocks, a screw rod arranged on the coupler in interference fit, a shaft sleeve arranged on the screw rod, and a second gear arranged on the screw rod, the gear chain is meshed with the first gear and the second gear, the fixed sliding block is in interference fit with the shaft sleeve on the screw rod, the end part of the fixed sliding block is in threaded connection with the end part of the shaft sleeve, the sheet metal covers are arranged at two ends of the inclined supporting block, and the two organ covers are used for isolating dust in a working environment, one end of each organ cover is abutted against the fixed sliding block, and the other end of each organ cover is abutted against the sheet metal covers.

3. The grasping mechanism for a flexible material according to claim 2, characterized in that: the fixed sliding block comprises a first horizontal plane, a first vertical plane vertically arranged on the first horizontal plane, and a first inclined plane arranged on the first vertical plane, wherein the end part of the first inclined plane is subjected to round chamfering treatment.

4. The grasping mechanism for a flexible material according to claim 1, characterized in that: the clamping device comprises a first fixing block fixedly mounted on a fixing sliding block, a U-shaped bracket arranged on the bus board, and a binding device fixedly mounted on the U-shaped bracket and positioned at the corner of the U-shaped bracket; the bundling device is provided with two groups of pneumatic units and bundling units, the pneumatic units and the bundling units are symmetrically distributed along the central plane of the U-shaped support and are mounted in the same way, and the two groups of bundling units form an included angle of 60-90 degrees on the plane;

the bus bar is arranged on the first fixing block.

5. The grasping mechanism for a flexible material according to claim 4, characterized in that: the pricking device comprises a clamping cylinder which is arranged on a cushion block and can be clamped and opened, a clamping block which is arranged on the clamping cylinder, a material supporting plate which is arranged on the inner side surface of the U-shaped support and is positioned at the tail end of the U-shaped support, a pushing block which is arranged on the clamping block, a needle fixing sleeve which is arranged on the material supporting plate, an elastic piece which is sleeved in the middle of the needle fixing sleeve, and a pricking needle which is arranged on the needle fixing sleeve.

6. The grasping mechanism for a flexible material according to claim 5, characterized in that: the retainer plate is designed to be trapezoidal, an accommodating cavity is formed in the inclined plane of the retainer plate, and a stepped hole used for positioning the elastic piece is formed in the accommodating cavity.

7. The grasping mechanism for a flexible material according to claim 5, characterized in that: the needle is arranged in the central hole of the needle fixing sleeve, and the radial direction of the needle fixing sleeve is fixed together by a set screw;

when the clamping cylinder is in a retraction state, the push block props against the needle fixing sleeve to prevent the needle fixing sleeve from being separated from the hole;

when the clamping cylinder extends out, the pushing block further pushes the needle fixing sleeve, so that the needle is extended out and is inserted into sponge material.

8. The grasping mechanism for a flexible material according to claim 1, characterized in that: the driving motor selects the combination of the planetary gearbox and the synchronous belt, the speed ratio is 3:1, the final speed ratio of the combination of the planetary gearbox and the synchronous belt is 9:1, the angular contact ball bearings are installed on the outer wall of the rotating shaft in an interference fit mode, and meanwhile, in order to reduce the shearing stress of an interface, the planetary gearbox and the rotating shaft are installed face to face.

9. The grasping mechanism for a flexible material according to claim 5, characterized in that: at least three groups of needle fixing sleeves are arranged on the material supporting plate;

when the clamping cylinder extends out, the pushing block further pushes the needle fixing sleeve, and the puncturing needle is dispersed in the center to puncture a product.

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