CN217675735U - Cloth transfer device and robot equipment - Google Patents
Cloth transfer device and robot equipment Download PDFInfo
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- CN217675735U CN217675735U CN202221331458.1U CN202221331458U CN217675735U CN 217675735 U CN217675735 U CN 217675735U CN 202221331458 U CN202221331458 U CN 202221331458U CN 217675735 U CN217675735 U CN 217675735U
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Abstract
The utility model relates to a cloth transfer device, cloth transfer device are used for and outside transfer structure cooperation, and cloth transfer device includes: the pressing structure is connected with the transfer structure so as to follow the movement of the transfer structure, so that the pressing structure presses the cloth; and the grabbing structure is connected with the pressing structure, is arranged at the edge of the pressing structure and is used for grabbing or releasing the part of the cloth which is not pressed by the pressing structure according to an instruction. When the cloth transferring device is used for transferring cloth, the transferring structure drives the compressing structure to compress the cloth, and the grabbing structure grabs the part of the cloth which is not compressed by the compressing structure at the grabbing position according to the instruction and releases the cloth at the sewing station. The cloth transferring mode enables the placing positions of the cloth transferred at each time to be basically consistent, the cloth transferring mode can be located at the sewing station, the cloth placing accuracy is guaranteed as far as possible, sewing of the cloth by the sewing machine at the sewing station is facilitated, and waste products can be prevented as far as possible.
Description
Technical Field
The utility model relates to a cloth treatment facility technical field especially relates to cloth transfer device and robotic equipment.
Background
On the assembly line of clothing industry, need place the cloth accuracy in the sewing station to make things convenient for the sewing machine to carry out the sewing to the cloth. Currently, the operation of accurately placing the cloth at the sewing station is mainly performed manually by workers. However, the placing position of the worker for placing the cloth and the sewing station have a large error easily, and it is difficult to place all the cloths at the sewing station accurately, so that the deviation is easy to occur during sewing, and waste products are caused.
SUMMERY OF THE UTILITY MODEL
On the basis, it is necessary to provide a cloth transfer device aiming at the problems that a large error easily exists between a placing position and a sewing station when a worker places cloth, all the cloth can be difficultly accurately placed on the sewing station, deviation easily occurs during sewing, and waste products are caused.
An embodiment of the present application provides a cloth transfer device, and cloth transfer device is used for transferring the structure cooperation with the outside, and cloth transfer device includes:
the pressing structure is connected with the transfer structure so as to follow the movement of the transfer structure, so that the pressing structure presses the cloth; and
and the grabbing structure is connected with the pressing structure, is arranged at the edge of the pressing structure and is used for grabbing or releasing the part of the cloth, which is not pressed by the pressing structure, according to the instruction.
When the cloth transferring device is used for transferring cloth, the transferring structure is connected with the pressing structure and used for driving the pressing structure to move, so that the pressing mechanism can be driven to press the cloth, and the position of the cloth is conveniently fixed. And the grabbing structure is connected with the pressing structure, so that when the transferring structure drives the pressing structure to press the cloth, the grabbing structure is also positioned at the grabbing position. After the grabbing structure grabs the part of the cloth which is not compacted by the compacting structure at the grabbing position according to the instruction, the transferring structure drives the compacting structure, the grabbing structure and the cloth to move together until the cloth reaches a sewing station. After the cloth reaches the sewing station, the grabbing structure releases the part of the cloth which is not compacted by the compacting structure according to the instruction, and the transferring structure drives the compacting structure and the grabbing structure to continue to transfer new cloth. The cloth transferring mode enables the placing positions of the cloth transferred at each time to be basically consistent, the cloth transferring mode can be located at the sewing station, the cloth placing accuracy is guaranteed as far as possible, sewing of the cloth by the sewing machine at the sewing station is facilitated, and waste products can be prevented as far as possible. Moreover, by adopting the mode, a worker does not need to repeatedly grab and place the cloth, so that the labor is saved.
In one embodiment, the grasping configuration includes:
the driving assembly is connected with the pressing structure;
and the gripper is connected with the driving assembly, and the driving assembly is used for driving the gripper to move so as to grip or release the part of the cloth which is not compacted by the compacting structure.
In one of the embodiments, the first and second parts of the device,
the grabbing structure further comprises a mounting frame, and the mounting frame is fixedly connected with the pressing structure;
the drive assembly includes: the driving part is arranged on the mounting frame, the first end of the crank arm is connected with an output shaft of the driving part, and the driving part is used for driving the crank arm to rotate around the first end of the crank arm;
the first end of the gripper is in sliding fit with the second end of the crank arm, which is far away from the driving part, the first end of the gripper and the second end of the crank arm can rotate relatively, and the second end of the gripper is rotationally connected with the mounting frame;
when the driving part drives the crank arm to rotate, the crank arm drives the gripper to rotate around the second end of the gripper, so that the gripper is lifted or put down relative to the mounting frame.
In one embodiment, the second end of the crank arm, which is far away from the crank arm, is provided with a sliding part, the first end of the gripper is provided with a sliding groove, and the sliding part is in sliding fit with the sliding groove and can rotate relatively.
In one embodiment, the gripper comprises a main body and a gripping member detachably connected with the main body, and the driving assembly is used for driving the main body to move so as to enable the gripping member to be attached to or detached from the cloth.
In one embodiment, the grasping member includes a quick-change plate and a pressure sensitive adhesive, one side of the quick-change plate is connected with the main body, and the other side of the quick-change plate is connected with the pressure sensitive adhesive.
In one embodiment, the main body is provided with an electromagnet, and the grabbing piece is provided with a magnetic material part at a position corresponding to the electromagnet of the main body;
when the electromagnet is powered off, the electromagnet tightly attracts the magnetic material part so as to connect the main body and the grabbing piece; when the electromagnet is electrified, the main body is separated from the grabbing piece.
In one embodiment, the gripper further comprises an elastic piece, one end of the elastic piece is fixedly connected with the main body, and the other end of the elastic piece is used for abutting against the gripping piece;
when the electromagnet is electrified, the grabbing piece is separated from the main body under the action of the elastic force of the elastic piece.
In one embodiment, the number of the grabbing structures is multiple, and the grabbing structures are sequentially arranged along the circumferential direction of the pressing structure.
An embodiment of the present application further provides a robot apparatus, including a transfer structure and the cloth transfer device of any of the above embodiments, where the cloth transfer device is disposed on an end effector of the transfer structure.
Drawings
FIG. 1 is a schematic view of a cloth transfer apparatus according to an embodiment;
FIG. 2 is a schematic structural view of the grasping configuration of FIG. 1;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 isbase:Sub>A sectional view taken along A-A of FIG. 3;
FIG. 5 is a schematic view of the structure of the grasping element shown in FIG. 2;
fig. 6 is a schematic structural diagram of a robot apparatus according to an embodiment.
Description of reference numerals:
a cloth transfer device 100;
a hold-down structure 110;
a connecting portion 121;
a grasping structure 130; a drive assembly 131; a driving section 1311; a crank arm 1312; a hand grip 132; a main body 1321; gripping members 1322; a quick-release tab 13221; a pressure sensitive adhesive 13222; a mounting bracket 133; a connecting rod 134; a sliding portion 135; a chute 101; a pin 136;
an electromagnet 140; a magnetic steel sheet 141;
an elastic member 150;
a cloth 200;
a robot apparatus 10;
the structure 11 is transferred.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms different from those described herein and similar modifications may be made by those skilled in the art without departing from the spirit and scope of the invention and, therefore, the invention is not to be limited to the specific embodiments disclosed below.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 and 6, an embodiment of the present disclosure provides a cloth transferring apparatus 100, where the cloth transferring apparatus 100 includes a pressing structure 110 and a grabbing structure 130. The cloth transfer device 100 is adapted to cooperate with an external transfer structure 11, and the transfer structure 11 is adapted to move the cloth transfer device 100, for example, the transfer structure 11 may be a robot arm or a parallel robot.
The pressing structure 110 is connected to the transfer structure 11 so as to follow the movement of the transfer structure 11, so that the pressing structure 110 presses the cloth 200. The grasping unit 130 is connected to the pressing unit 110, and the grasping unit 130 is disposed at an edge of the pressing unit 110 for grasping or releasing a portion of the cloth 200, which is not pressed by the pressing unit 110, according to a command.
One side of the pressing structure 110 for pressing the cloth 200 is configured as a plane structure so that the cloth 200 can be moved above the corresponding cloth 200 by the transfer structure 11 and moved downward to press the cloth 200. The shape of the compacting structure 110 may be similar to that of the target cloth 200, that is, if the target cloth 200 is square, the outer edge of the compacting structure 110 is also substantially square. Further, the size of the compacting structure 110 is configured to be slightly smaller than the target cloth, such that at least a portion of the outer edge of the cloth 200 is exposed when the compacting structure 110 compacts the cloth 200 (as shown in fig. 1).
The grasping structure 130 may include a member for adsorbing a portion of the cloth 200 that is not pressed by the pressing structure 110, and a member for driving the member to move relative to the pressing structure 110. When the controller of the cloth transferring device 100 sends an instruction to grab the cloth 200, the grabbing structure 130 is controlled to move towards the cloth 200 until adsorption; when the controller of the cloth transferring apparatus 100 issues an instruction to release the cloth 200, the grabbing structure 130 is controlled to move away from the cloth 200. Since most of the cloth 200 is compressed by the compressing structure 110, the uncompressed portion reaches the limit position after being lifted to a distance by the grasping structure 130, and naturally falls off the grasping structure 130, thereby achieving release.
When the cloth transferring device 100 is used for transferring the cloth 200, the transferring structure 11 is connected with the pressing structure 110 and is used for driving the pressing structure 110 to move, so that the pressing mechanism can be driven to press the cloth 200, and the position of the cloth 200 is conveniently fixed. And since the grabbing structure 130 is connected with the pressing structure 110, when the transferring structure drives the pressing structure 110 to press the cloth 200, the grabbing structure 130 is also at the grabbing position. After the grabbing structure 130 grabs the part of the cloth 200 which is not compacted by the compacting structure 110 at the grabbing position according to the instruction, the transfer structure 11 drives the compacting structure 110, the grabbing structure 130 and the cloth 200 to move together until the cloth 200 reaches the sewing station. After the cloth 200 reaches the sewing station, the grabbing structure 130 releases the part of the cloth 200 which is not pressed by the pressing structure 110 according to the instruction, and the transferring structure 11 drives the pressing structure 110 and the grabbing structure 130 to continue to transfer a new cloth 200. The transfer mode enables the placement positions of the cloth 200 transferred each time to be basically consistent, and the cloth 200 can be located at the sewing station, so that the placement accuracy of the cloth 200 is guaranteed as much as possible, sewing of the cloth 200 at the sewing station by a sewing machine is facilitated, and waste products can be prevented as much as possible. Moreover, the mode is adopted, repeated grabbing and placing of the cloth 200 by workers are not needed, and manpower is saved.
It is understood that, in the present embodiment, a control portion (not shown) is provided, and the instruction in the present embodiment is an instruction for controlling the action of the grasping structure 130 by the control portion.
Generally, a plurality of cloth 200 are placed on the feeding station of the production line, the transfer structure 11 drives the pressing structure 110 and the grabbing structure 130 to move to the feeding station, the pressing structure 110 presses the cloth 200 on the feeding station, and the grabbing structure 130 grabs the part of the cloth 200 which is not pressed by the pressing structure 110 on the feeding station. After the grabbing structure 130 grabs the portion of the fabric 200 that is not tightly pressed by the pressing structure 110, the transferring structure 11 drives the pressing structure 110, the grabbing structure 130 and the fabric 200 to move together until the fabric 200 reaches the sewing station. Thus, the pressing structure 110 presses the same position of each cloth 200 when pressing each cloth 200 at the loading station, so that the grabbing structure 130 grabs the same position of each cloth 200, thereby ensuring the grabbing accuracy.
Referring to fig. 1, in an embodiment, the cloth transferring apparatus 100 further includes a connecting portion 121 for connecting with the transferring structure 11, the connecting portion 121 is connected with the pressing structure 110, and the transferring structure 11 is connected with the connecting portion 121, so that the transferring structure 11 drives the pressing structure 110, the grabbing structure 130 and the cloth 200 to move conveniently.
Referring to fig. 2, in one embodiment, the gripper structure 130 includes a drive assembly 131 and a gripper 132. The driving assembly 131 is connected with the pressing structure 110. The gripper 132 is connected to a driving assembly 131, and the driving assembly 131 is used for driving the gripper 132 to move so as to grip or release the portion of the cloth 200 that is not pinched by the pinching structure 110.
Specifically, since the driving assembly 131 is connected to the pressing structure 110, the gripper 132 is connected to the driving assembly 131, so that the transfer structure 11 can support the driving assembly 131 and the gripper 132 and move the driving assembly 131 and the gripper 132. The driving assembly 131 can drive the hand grip 132 to move, thereby realizing to grip or release the portion of the cloth 200 which is not pressed by the pressing structure 110.
Referring to fig. 2 and 3, in an embodiment, the structure of the grabbing structure 130 further includes a mounting bracket 133, and the mounting bracket 133 is connected to the pressing structure 110. The driving assembly 131 includes a driving portion 1311 and a crank arm 1312, the driving portion 1311 is disposed on the mounting bracket 133, a first end of the crank arm 1312 is connected to an output shaft of the driving portion 1311, and the driving portion 1311 is configured to drive the crank arm 1312 to rotate around the first end of the crank arm 1312. The first end of the hand grip 132 is slidably engaged with the second end of the crank 1312 away from the driving portion 1311 and can rotate relatively, and the second end of the hand grip 132 is rotatably connected with the mounting bracket 133. When the driving unit 1311 drives the crank arm 1312 to rotate, the crank arm 1312 drives the hand grip 132 to rotate around the second end of the hand grip 132, so as to raise or lower the hand grip 132 relative to the mounting frame 133.
In particular, since the driving part 1311 is disposed on the mounting bracket 133, the mounting bracket 133 is connected to the pressing structure 110, thereby facilitating the disposition of the mounting bracket 133 and the driving part 1311. Since the first end of the crank arm 1312 is connected to the output shaft of the driving unit 1311, when the driving unit 1311 rotates the output shaft, the crank arm 1312 can be rotated around the first end of the crank arm. And because the second end of the crank arm 1312 far away from the driving part 1311 is in sliding fit with the first end of the hand grip 132 and can rotate relatively, and the second end of the hand grip 132 is rotatably connected with the mounting frame 133, when the first end of the crank arm 1312 rotates, the second end of the hand grip 132 can be driven to rotate. When the second end of the gripper 132 is rotated in a direction to approach the cloth 200, the gripper 132 grips a portion of the cloth 200 that is not pinched by the pinching structure 110. As hand grip 132 is rotated away from the cloth 200, hand grip 132 releases the portion of cloth 200 that is not pinched by the pinch structure 110.
In the present embodiment, the driving part 1311 is a motor.
Referring to fig. 2 and 3, in an embodiment, the grasping structure 130 further includes a connecting rod 134, one end of the connecting rod 134 is connected to the second end of the grasping arm 132, and the other end is rotatably connected to the mounting bracket 133, so that the grasping arm 132 rotates relative to the mounting bracket 133.
Referring to fig. 3, in one embodiment, the connecting rod 134 is rotatably connected to the mounting bracket 133 by a pin 136.
Referring to fig. 3, in an embodiment, a sliding portion 135 is disposed at a second end of the crank arm 1312, a sliding slot 101 is disposed at a first end of the hand 132, and the sliding portion 135 is slidably engaged with the sliding slot 101 and can rotate relative to the sliding slot 101, so that the hand 132 is driven to rotate during the sliding engagement between the sliding portion 135 and the sliding slot 101, thereby gripping or releasing the portion of the cloth 200 that is not pressed by the pressing structure 110.
In one embodiment, the driving assembly 131 may also be a pneumatic cylinder, a hydraulic cylinder or a linear motor, and directly drives the gripper 132 to grip or release the portion of the cloth 200 that is not pressed by the pressing structure 110.
Referring to fig. 2-4, in one embodiment, the hand grip 132 includes a main body 1321 and a grasping member 1322 detachably connected to the main body 1321, and the driving assembly 131 is used for driving the main body 1321 to move so that the grasping member 1322 is attached to or detached from the cloth 200
Specifically, since the driving assembly 131 can drive the hand grip 132 to move, the hand grip 132 is connected to the gripping member 1322, so that the driving assembly 131 can indirectly drive the gripping member 1322 to move, thereby gripping or releasing the portion of the cloth 200 that is not pressed by the pressing structure 110.
Referring to fig. 5, in one embodiment, the gripping member 1322 includes a quick-release tab 13221 and a pressure-sensitive adhesive 13222, one side of the quick-release tab 13221 is connected to the main body 1321, and the other side of the quick-release tab 13221 is connected to the pressure-sensitive adhesive 13222. When grabbing the portion of the cloth 200 that is not compressed by the compressing structure 110, the pressure-sensitive adhesive 13222 is made to adhere to the cloth 200, thereby achieving grabbing. When the portion of the cloth 200 that is not pressed by the pressing structure 110 is released, the pressure-sensitive adhesive 13222 is separated from the cloth 200, and the cloth 200 can be released. Moreover, the pressure sensitive adhesive 13222 can only adhere one fabric 200 at a time, so that the transfer process of the fabric 200 can be prevented from being influenced by one-time adhesion of a plurality of fabrics 200.
In other embodiments, the gripping member 1322 may be an electrostatic chuck, a vacuum chuck, a bernoulli chuck, a beak-shaped gripper, a needle chuck, or the like, as long as it can grip or release the cloth 200.
Referring to fig. 4, in an embodiment, the main body 1321 is provided with an electromagnet 140, and the gripping member 1322 is provided with a magnetic material portion 141 at a position corresponding to the electromagnet 140 of the main body 1321. In one embodiment, the electromagnet 140 is a power-off type electromagnet, that is, when the electromagnet 140 is powered off, the electromagnet 140 attracts the magnetic material portion 141 to connect the main body 1321 and the grasping pieces 1322; when electromagnet 140 is energized, body 1321 disengages from gripping members 1322. Specifically, when the electromagnet 140 is powered on, the electromagnet 140 loses the magnetic force and is separated from the magnetic material portion 141, so that the main body 1321 is separated from the gripping member 1322, and the new gripping member 1322 is conveniently replaced; when the electromagnet 140 is de-energized, the electromagnet 140 recovers the magnetic force to tightly attract the magnetic material portion 141, so that the main body 1321 is connected with the grasping member 1322 for grasping the cloth 200. The use of a loss of power type electromagnet prevents undesired disengagement of the main body 1321 and the gripping member 1322 in the event of a power failure.
Referring to fig. 4, in an embodiment, the main body 1321 is formed with a first mounting groove, and the electromagnet 140 is located in the first mounting groove, so that the space can be saved.
Referring to fig. 4, in an embodiment, the grip 132 further includes an elastic member 150, one end of the elastic member 150 is fixedly connected to the main body 1321, and the other end is used for abutting against the gripping member 1322. When the electromagnet 140 is powered on, the gripping member 1322 is separated from the main body 1321 by the elastic force of the elastic member 150.
Specifically, since one end of the elastic member 150 is fixedly connected to the main body 1321 and the other end abuts against the catch piece 1322, when the electromagnet 140 has a magnetic force, the main body 1321 and the catch piece 1322 are connected to each other by the magnetic force of the electromagnet 140 and the magnetic material portion 141 against the elastic force of the elastic member 150. At this time, the elastic member 150 is compressed. When the electromagnet 140 loses the magnetic force, the body 1321 is separated from the catch pieces 1322 by the elastic force of the elastic member 150, thereby facilitating the replacement of the catch pieces 1322.
In the present embodiment, the elastic member 150 is a spring, and may be other materials with elastic force, such as rubber.
Referring to fig. 4, in an embodiment, the main body 1321 is formed with a second mounting groove, and the elastic element 150 is located in the second mounting groove, so as to save space.
Referring to fig. 1, in an embodiment, the grabbing structure 130 is disposed at an edge of the pressing structure 110, so that when the grabbing structure 130 grabs the fabric 200, the grabbing structure can grab the edge of the fabric 200, that is, grab a portion that is not pressed by the pressing structure 110, thereby making the fabric 200 not easily deformed during the transferring process.
Referring to fig. 1, in an embodiment, the number of the grabbing structures 130 is multiple, and the grabbing structures 130 are sequentially arranged along the circumferential direction of the pressing structure 110, so that the grabbing structures 130 can grab the edge of the fabric 200 along the circumferential direction of the pressing structure 110, and thus the fabric 200 is grabbed by the grabbing structures 130 along the circumferential direction, and the grabbing accuracy is ensured.
Referring to fig. 1, in an embodiment, the shape of the pressing structure 110 is the same as the shape of the fabric 200, the size of the pressing structure 110 is smaller than the size of the fabric 200, and a projection of the pressing structure 110 on the fabric 200 is within a range of the surface of the fabric 200, so that the pressing structure 110 can press the fabric 200, and the grabbing structure 130 can grab an edge of the fabric 200, thereby facilitating the transfer of the fabric 200.
When the cloth transferring device 100 is used for transferring the cloth 200, the transferring structure 11 drives the pressing structure 110 and the grabbing structure 130 to move to the feeding station together, and the pressing structure 110 presses the cloth 200. After the cloth 200 is compressed, the plurality of grasping structures 130 arranged along the circumference of the compressing structure 110 grasp a portion of the cloth 200 that is not compressed by the compressing structure 110. When grabbing, the driving part 1311 drives the first end of the crank arm 1312 to rotate, so that the sliding part 135 slides along the sliding groove 101, and the crank arm 1312 and the main body 1321 rotate, so that the main body 1321 and the grabbing piece 1322 can approach the part of the cloth 200 that is not pressed by the pressing structure 110 until the pressure-sensitive adhesive 13222 on the grabbing piece 1322 grabs the part that is not pressed by the pressing structure 110. After the cloth 200 is grabbed, the transfer structure 11 drives the pressing structure 110, the grabbing structure 130 and the cloth 200 to move together to the sewing station. In the sewing station, when the pressing structure 110 presses the cloth, the driving part 1311 drives the first end of the crank arm 1312 to rotate in the opposite direction, so that the sliding part 135 slides along the sliding groove 101, and the crank arm 1312 and the main body 1321 rotate, so that the main body 1321 and the gripping member 1322 can be away from the part of the cloth 200 that is not pressed by the pressing structure 110, until the pressure-sensitive adhesive on the gripping member 1322 releases the part that is not pressed by the pressing structure 110, thereby releasing the cloth 200.
Referring to fig. 6, an embodiment of the present application further provides a robot apparatus 10, which includes a transfer structure 11 and a cloth transfer device 100 according to any of the embodiments, where the cloth transfer device 100 is disposed on the transfer structure 11.
In the robot apparatus 10, the transfer structure 11 is connected to the pressing structure 110, and is configured to drive the pressing structure 110 to move, so as to drive the pressing structure to press the cloth 200, thereby facilitating fixing the position of the cloth 200. And since the grabbing structure 130 is connected with the pressing structure 110, when the transferring structure drives the pressing structure 110 to press the cloth 200, the grabbing structure 130 is also at the grabbing position. After the grabbing structure 130 grabs the part of the cloth 200 which is not compacted by the compacting structure 110 at the grabbing position, the transfer structure 11 drives the compacting structure 110, the grabbing structure 130 and the cloth 200 to move together until the cloth 200 reaches the sewing station. After the cloth 200 reaches the sewing station, the grabbing structure 130 releases the part of the cloth 200 which is not pressed by the pressing structure 110, and the transferring structure 11 drives the pressing structure 110 and the grabbing structure 130 to continue to transfer a new cloth 200. The cloth 200 that this kind of transfer mode made every turn places the position and keeps unanimous basically, all can be located sewing station department, has guaranteed the accuracy that cloth 200 placed as far as to be favorable to the sewing machine to sewing cloth 200 at sewing station, and then can prevent the appearance of waste product as far as possible. Moreover, by adopting the mode, a worker does not need to repeatedly grab the cloth 200 and place the cloth 200, so that the labor is saved.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A fabric transfer device for cooperation with an external transfer structure, the fabric transfer device comprising:
the pressing structure is connected with the transfer structure so as to follow the movement of the transfer structure, so that the pressing structure presses the cloth; and
and the grabbing structure is connected with the pressing structure, is arranged at the edge of the pressing structure and is used for grabbing or releasing the part of the cloth which is not pressed by the pressing structure according to an instruction.
2. The cloth transfer device of claim 1, wherein the gripping structure comprises:
the driving assembly is connected with the compression structure;
and the driving assembly is used for driving the hand grip to move so as to grip or release the part of the cloth which is not compacted by the compacting structure.
3. Cloth transfer device according to claim 2,
the grabbing structure further comprises a mounting rack, and the mounting rack is fixedly connected with the pressing structure;
the drive assembly includes: the driving part is arranged on the mounting frame, the first end of the crank arm is connected with the output shaft of the driving part, and the driving part is used for driving the crank arm to rotate around the first end of the crank arm;
the first end of the gripper is in sliding fit with the second end, far away from the driving part, of the crank arm, the first end of the gripper and the second end of the crank arm can rotate relatively, and the second end of the gripper is rotatably connected with the mounting rack;
when the driving part drives the crank arm to rotate, the crank arm drives the hand grip to rotate around the second end of the hand grip, so that the hand grip is lifted or put down relative to the mounting frame.
4. The cloth transfer device of claim 3, wherein a sliding portion is disposed at a second end of the crank arm, the second end of the crank arm being away from the crank arm, a sliding slot is disposed at a first end of the grip, and the sliding portion is in sliding fit with the sliding slot and can rotate relatively.
5. The cloth transfer device of claim 2, wherein the gripper comprises a main body and a gripping member detachably connected to the main body, and the driving assembly is configured to drive the main body to move so as to make the gripping member close to or separate from the cloth.
6. The cloth transfer device of claim 5, wherein the gripping member comprises a quick-change piece and a pressure sensitive adhesive, one side of the quick-change piece is connected with the main body, and the other side of the quick-change piece is connected with the pressure sensitive adhesive.
7. The cloth transfer device according to claim 5, wherein the main body is provided with an electromagnet, and the gripping member is provided with a magnetic material portion at a position corresponding to the electromagnet of the main body;
when the electromagnet is powered off, the electromagnet tightly attracts the magnetic material part so as to connect the main body and the grabbing piece; when the electromagnet is electrified, the main body is separated from the grabbing piece.
8. The cloth transfer device of claim 7, wherein the gripper further comprises an elastic member, one end of the elastic member is fixedly connected with the main body, and the other end of the elastic member is used for abutting against the gripping member;
when the electromagnet is electrified, the grabbing piece is separated from the main body under the action of the elastic force of the elastic piece.
9. The cloth transfer device according to claim 1, wherein the gripping structures are provided in a plurality, and the gripping structures are arranged in sequence along a circumferential direction of the pressing structure.
10. A robotic device comprising a transfer structure and a cloth transfer apparatus as claimed in any one of claims 1 to 9, the cloth transfer apparatus being provided on an end effector of the transfer structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221331458.1U CN217675735U (en) | 2022-05-18 | 2022-05-18 | Cloth transfer device and robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221331458.1U CN217675735U (en) | 2022-05-18 | 2022-05-18 | Cloth transfer device and robot equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217675735U true CN217675735U (en) | 2022-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221331458.1U Active CN217675735U (en) | 2022-05-18 | 2022-05-18 | Cloth transfer device and robot equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217675735U (en) |
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2022
- 2022-05-18 CN CN202221331458.1U patent/CN217675735U/en active Active
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