CN220394057U - Cloth grabbing device and sewing robot - Google Patents
Cloth grabbing device and sewing robot Download PDFInfo
- Publication number
- CN220394057U CN220394057U CN202321223563.8U CN202321223563U CN220394057U CN 220394057 U CN220394057 U CN 220394057U CN 202321223563 U CN202321223563 U CN 202321223563U CN 220394057 U CN220394057 U CN 220394057U
- Authority
- CN
- China
- Prior art keywords
- sucker
- cloth
- linear module
- belt
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000004744 fabric Substances 0.000 title claims abstract description 62
- 238000009958 sewing Methods 0.000 title claims abstract description 24
- 239000000758 substrate Substances 0.000 claims abstract description 34
- 230000001360 synchronised effect Effects 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 238000007665 sagging Methods 0.000 abstract description 3
- 238000009957 hemming Methods 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 5
- 239000012790 adhesive layer Substances 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The utility model discloses a cloth grabbing device and a sewing robot, wherein the cloth grabbing device comprises a substrate, a first sucker, a second sucker, a third sucker and a driving mechanism, wherein the first sucker and the second sucker are movably arranged on the substrate, the third sucker is arranged on the substrate and is positioned between the first sucker and the second sucker, and the driving mechanism is arranged on the substrate. The two ends of the cloth are grabbed by the first sucker and the second sucker, and the middle position of the cloth is grabbed by the third sucker, so that the sagging depth of the cloth can be effectively reduced, and the hemming probability and the small wrinkling height can be effectively reduced when the cloth with the first sucker, the second sucker and the third sucker is placed on a sewing table top. And the first sucker and the second sucker are driven to move oppositely or reversely through the driving mechanism, so that the distance between the first sucker and the second sucker can be adjusted to adapt to cloth with different widths.
Description
Technical Field
The utility model relates to the technical field of sewing machines, in particular to a cloth grabbing device and a sewing robot.
Background
As is well known, in the garment manufacturing process, at least two cut pieces are generally cut, and the cut two cut pieces are overlapped and then sewn at the positions required to be sewn. In the automatic sewing technology, a piece of cutting piece at the top end of a stack of cutting pieces is generally adsorbed by a cloth sucking disc, the adsorbed cutting piece is moved to a sewing mechanism by matching with a driving mechanism, and when two cutting pieces are arranged in the sewing mechanism, the sewing mechanism sews the two overlapped cutting pieces.
However, in the existing automatic sewing technology, the cloth suction cup is generally used for grabbing a cut piece with one specification, and when the size of the cut piece is changed, the cloth suction cup needs to be replaced for adaptation. In order to adapt to the cut pieces with different specifications, two cloth sucking discs with relatively adjustable distances are adopted to adapt to the cut pieces with different specifications. But only two cloth sucking discs are arranged, after the cloth sucking discs grab the two ends of the cut pieces aiming at the cut pieces with larger width, the middle of the cut pieces can droop under the self gravity, so that the cut pieces placed on the sewing mechanism for sewing the table top are uneven, and the sewing of the subsequent cut pieces is affected.
Disclosure of Invention
The utility model mainly aims to provide a cloth grabbing device and a sewing robot, which are used for solving the problem that in the prior art, when grabbing a large cut piece, the middle part of the cloth grabbing device is easy to droop, so that the cut piece placed on a sewing table top is uneven.
In order to solve the technical problems, the technical scheme provided by the utility model is as follows:
a cloth gripping apparatus comprising:
a substrate;
the first sucker is movably arranged on the substrate and used for grabbing one end of the cloth;
the second sucker is movably arranged on the substrate and used for grabbing the other end of the cloth;
the third sucker is arranged on the substrate and used for grabbing the middle position of the cloth; the third sucker is positioned between the first sucker and the second sucker;
and the driving mechanism is arranged on the substrate and used for driving the first sucker and the second sucker to move oppositely or reversely.
As a preferable embodiment, the substrate is provided with a sliding rail, and the first sucker is connected with a first sliding table matched with the sliding rail; the second sucking disc is connected with the second slip table that cooperation slide rail used, first slip table and second slip table are all installed on the slide rail.
As a preferred embodiment, the driving mechanism includes: the motor is arranged on the substrate, and drives the first synchronous wheel, the second synchronous wheel and the synchronous belt wound on the first synchronous wheel and the second synchronous wheel to rotate through the motor;
the first synchronous wheel and the second synchronous wheel are arranged on the base plate or the sliding rail, the first synchronous wheel and the second synchronous wheel are respectively positioned on two sides of the third sucker, the first sliding table is connected with the synchronous belt positioned on one side of the first synchronous wheel, and the second sliding table is connected with the synchronous belt positioned on the other side of the first synchronous wheel.
As a preferred embodiment, the driving mechanism further comprises a third synchronizing wheel and a fourth synchronizing wheel, wherein the third synchronizing wheel and the fourth synchronizing wheel are connected with a driving output end of the driving mechanism, the third synchronizing wheel is positioned below the fourth synchronizing wheel, and the driving mechanism is positioned in the middle of the first synchronizing wheel and the second synchronizing wheel;
the synchronous belt comprises a first driving belt and a second driving belt, the first driving belt is wound on the first synchronous wheel and the third synchronous wheel, the second driving belt is wound on the second synchronous wheel and the fourth synchronous wheel, the first sliding table is connected with the first driving belt positioned at one side of the driving output end of the driving mechanism, and the second sliding table is connected with the second driving belt positioned at the other side of the driving output end of the driving mechanism.
As a preferred embodiment, the cloth gripping device further comprises a first clamping member, wherein the first clamping member comprises a first connecting member and a first clamping plate, one end of the first connecting member is fixed on the first sliding table, a second clamping plate is formed at the other end of the first connecting member, and the first clamping plate is connected with the second clamping plate and compresses the first driving belt;
the cloth grabbing device further comprises a second clamping piece, the second clamping piece comprises a second connecting piece and a third clamping plate, one end of the second connecting piece is fixed on the second sliding table, a fourth clamping plate is formed at the other end of the second connecting piece, and the third clamping plate is connected with the fourth clamping plate and compresses a second transmission belt.
As a preferable embodiment, a yielding port for avoiding the first driving belt is formed in the middle of the first connecting piece.
As a preferred embodiment, the cloth gripping device further comprises a first mounting plate, a second mounting plate, a third mounting plate and a plurality of supporting frames arranged on the base plate at intervals; the number of the sliding rails is two, and the sliding rails are spaced on the supporting frame;
the first sliding table is arranged on the first mounting plate, the second sliding table is arranged on the second mounting plate, the third mounting plate is arranged in the middle of the base plate, and the first sucker, the second sucker and the third sucker are respectively arranged on the first mounting plate, the second mounting plate and the third mounting plate; the first sucker, the second sucker and the third sucker are positioned on the same straight line; the first sucker and the second sucker are positioned between the two sliding rails.
As a preferred embodiment, the number of the supporting frames is four, and the four supporting frames are a first bracket, a second bracket, a third bracket and a fourth bracket in sequence along the length direction of the substrate;
the sliding rail comprises a first section of rail and a second section of rail, two ends of the first section of rail are respectively arranged on a first support and a second support, two ends of the second section of rail are respectively arranged on a third support and a fourth support, and two ends of a third mounting plate are respectively arranged on the second support and the third support.
As a preferred embodiment, the driving mechanism includes a controller, a first linear module and a second linear module, which are disposed on the substrate, wherein the first linear module and the second linear module are respectively located at two sides of the third sucker, the first sucker is disposed on the slider of the first linear module, and the second sucker is disposed on the slider of the second linear module; the controller is electrically connected with the first linear module and the second linear module respectively and is used for driving the first linear module and the second linear module to work simultaneously so as to realize that the first sucker and the second sucker move oppositely or reversely simultaneously.
The utility model also provides a sewing robot which comprises the cloth grabbing device.
The utility model has the following beneficial effects: compared with the prior art, the utility model has the advantages that the first sucker, the second sucker and the third sucker are arranged, and the third sucker is positioned between the first sucker and the second sucker, so that the two ends of the cloth are grabbed by the first sucker and the second sucker, and the middle position of the cloth is grabbed by the third sucker, so that the sagging depth of the cloth can be effectively reduced, and further, the folding probability and the wrinkling size can be effectively reduced when the cloth of the first sucker, the second sucker and the third sucker is placed on a sewing table top. In addition, the first sucker and the second sucker can be driven to move oppositely or reversely through the driving mechanism, so that the distance between the first sucker and the second sucker can be adjusted to adapt to fabrics with different widths.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a cloth gripping apparatus of the present utility model;
FIG. 2 is a perspective view of another view of the cloth gripping apparatus of the present utility model;
FIG. 3 is an enlarged view of area A of FIG. 2;
FIG. 4 is an enlarged view of area B of FIG. 2;
reference numerals: a substrate 10; a drive mechanism 20; a second synchronizing wheel 21; a second belt 22; a fourth synchronizing wheel 23; a motor 24; a third synchronizing wheel 26; a first belt 27; a first synchronizing wheel 28; a timing belt 29; support frames 31, 32, 33, 34; a fourth bracket 31; a third bracket 32; a second bracket 33; a first bracket 34; a third suction cup 40; a second mounting plate 41; a second slide table 42; a second suction cup 50; a third mounting plate 51; a first suction cup 60; a first mounting plate 61; a first slide table 62; a slide rail 70; a second section of track 71; a first section of track 72; a stopper 73; a second clamping member 80; a second connection member 81; a fourth clamping plate 82; a third clamping plate 83; a first clamping member 90; a first connector 91; a second clamping plate 92; a first clamping plate 93; yielding port 94.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, "and/or" throughout this document includes three schemes, taking a and/or B as an example, including a technical scheme, a technical scheme B, and a technical scheme that both a and B satisfy; in addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
Referring to fig. 1-4, a cloth gripping apparatus according to an embodiment of the present utility model is shown.
Referring to fig. 1 and 2, the cloth gripping apparatus includes a substrate 10, a first suction cup 60, a second suction cup 50, a third suction cup 40, and a driving mechanism 20, wherein the first suction cup 60, the second suction cup 50, and the third suction cup 40 are used for gripping cloth, the first suction cup 60 and the second suction cup 50 are movably disposed on the substrate 10, and the third suction cup 40 is mounted on the substrate 10 and located between the first suction cup 60 and the second suction cup 50. The driving mechanism 20 is respectively connected with the first sucking disc 60 and the second sucking disc 50, and the driving mechanism 20 is arranged on the substrate 10 and is used for driving the first sucking disc 60 and the second sucking disc 50 to move in opposite directions or in opposite directions.
According to the utility model, the first sucker 60, the second sucker 50 and the third sucker 40 are arranged, and the third sucker 40 is positioned between the first sucker 60 and the second sucker 50, so that the first sucker 60 and the second sucker 50 are utilized to grasp two ends of cloth, and the third sucker 40 is utilized to grasp the middle position of the cloth, so that the sagging depth of the cloth can be effectively reduced, and further, when the first sucker 60, the second sucker 50 and the third sucker 40 are placed on a sewing table, the hemming probability and the wrinkling size can be effectively reduced. In addition, the driving mechanism 20 can drive the first sucker 60 and the second sucker 50 to move in opposite directions or in opposite directions, so that the distance between the first sucker 60 and the second sucker 50 can be adjusted to adapt to fabrics with different widths.
Specifically, the cloth gripping apparatus of the present utility model may be installed on a corresponding sewing machine through the base plate 10, as needed. Wherein the base plate 10 can be mounted on the sewing apparatus by welding, screws, etc. The first suction cup 60, the second suction cup 50, and the third suction cup 40 may be any mechanism capable of sucking or grabbing cloth, such as a needle suction cup, a vacuum suction cup, and an electric suction cup, which is not limited herein.
When the third suction cup 40 is one, the third suction cup 40 is fixed on the substrate 10 and is not movable, and the first suction cup 60 is mounted at the middle position of the first suction cup 60 and the second suction cup 50, so that the third suction cup 40 can still be positioned at the middle position of the first suction cup 60 and the second suction cup 50 when the distance between the first suction cup 60 and the second suction cup 50 is adjusted. In other embodiments, when the width of the cloth is larger, the third suction cups 40 may be provided in a plurality, and the distance between the third suction cups 40 may be fixed according to the requirement.
In an embodiment, a sliding rail 70 is disposed on the substrate 10, the first chuck 60 is connected with a first sliding table 62 matched with the sliding rail 70, the second chuck 50 is connected with a second sliding table 42 matched with the sliding rail 70, and the first sliding table 62 and the second sliding table 42 are both mounted on the sliding rail 70, so that the first chuck 60 and the second chuck 50 can be slidably disposed on the substrate 10. Specifically, the slide rail 70 may be one or more.
The drive mechanism 20 includes: the motor 24 is provided on the base plate 10, and the first and second synchronizing wheels 28 and 21 and the timing belt 29 wound around the first and second synchronizing wheels 28 and 21 are driven to rotate by the motor 24. The first synchronizing wheel 28 and the second synchronizing wheel 21 are both disposed on the sliding rail 70, specifically, the first synchronizing wheel 28 and the second synchronizing wheel 21 are disposed at two ends of the sliding rail 70, and the synchronous belt 29 is disposed above the sliding rail 70. Alternatively, when the first synchronizing wheel 28 and the second synchronizing wheel 21 are both disposed on the substrate 10, the synchronous belt 29 is located at one side of the sliding rail 70, and the first synchronizing wheel 28 and the second synchronizing wheel 21 are respectively located beside two ends of the sliding rail 70.
When the synchronous belt 29 is wound on the first synchronous wheel 28 and the second synchronous wheel 21, the synchronous belt 29 is divided into two sections of parallel synchronous belts 29 and is respectively positioned at two sides of the first synchronous wheel 28 (the second synchronous wheel 21), wherein the first sliding table 62 and the second sliding table 42 are respectively connected with the synchronous belts 29 positioned at two sides of the first synchronous wheel 28 (the second synchronous wheel 21), namely, the first sliding table 62 is connected with the synchronous belt 29 positioned at one side of the first synchronous wheel 28, and the second sliding table 42 is connected with the synchronous belt 29 positioned at the other side of the first synchronous wheel 28. The output shaft of the motor 24 is connected with the first synchronizing wheel 28, so that when the motor 24 works, the motor can drive the first synchronizing wheel 28 to rotate and match with the second synchronizing wheel 21, and further, the synchronous belts 29 positioned at two sides of the first synchronizing wheel 28 (the second synchronizing wheel 21) can be driven to do reverse movement, and when the motor 24 rotates forward or reversely, the first sucking disc 60 and the second sucking disc 50 can be close or far away.
In an embodiment, the driving mechanism 20 further includes a third synchronizing wheel 26 and a fourth synchronizing wheel 23, the third synchronizing wheel 26 and the fourth synchronizing wheel 23 are connected to the driving output end of the driving mechanism 20, the third synchronizing wheel 26 is located below the fourth synchronizing wheel 23, and the driving mechanism 20 is located at a middle position between the first synchronizing wheel 28 and the second synchronizing wheel 21. The timing belt 29 includes a first belt 27 and a second belt 22, the first belt 27 is wound around the first timing wheel 28 and the third timing wheel 26, the second belt 22 is wound around the second timing wheel 21 and the fourth timing wheel 23, the first sliding table 62 is connected to the first belt 27 at a position on one side of the driving output end of the driving mechanism 20, and the second sliding table 42 is connected to the second belt 22 at a position on the other side of the driving output end of the driving mechanism 20. By configuring the third synchronizing wheel 26 and the fourth synchronizing wheel 23 to be used with the first driving belt 27 and the second driving belt 22 respectively, the first driving belt 27 and the second driving belt 22 can move more stably when the motor 24 drives, and the movement stability of the first sucking disc 60 and the second sucking disc 50 can be improved.
In one embodiment, the cloth gripping apparatus further includes a first mounting plate 61, a second mounting plate 41, a third mounting plate 51, and a plurality of support frames (31, 32, 33, 34) spaced apart from each other on the base plate 10. The number of the sliding rails 70 is two and the sliding rails are spaced on the supporting frames (31, 32, 33, 34). The first sliding table 62 is mounted on the first mounting plate 61, the second sliding table 42 is mounted on the second mounting plate 41, the third mounting plate 51 is mounted in the middle of the base plate 10, and the first suction cup 60, the second suction cup 50 and the third suction cup 40 are mounted on the first mounting plate 61, the second mounting plate 41 and the third mounting plate 51 respectively. The first suction cup 60, the second suction cup 50 and the third suction cup 40 are positioned on the same straight line, and the first suction cup 60 and the second suction cup 50 are positioned between the two sliding rails 70. Correspondingly, for being matched with two sliding rails 70, the number of the first sliding tables 62 is two, and the first sliding tables 62 are arranged on the first mounting plate 61 at intervals, namely, two positions at the bottom of the first mounting plate 61 are respectively connected with the two sliding rails 70 through the two first sliding tables 62. The number of the second sliding tables 42 is two, and the second sliding tables 42 are arranged on the second mounting plate 41 at intervals, namely, two positions at the bottom of the second mounting plate 41 are respectively connected with the two sliding rails 70 through the two second sliding tables 42. Therefore, when the substrate 10 is mounted on the device, the plurality of support frames are used together with the two slide rails 70, so that the stability of the movement of the first sucker 60 and the second sucker 50 can be improved, and the stability of the mounting of the first sucker 60, the second sucker 50 and the third sucker 40 can be improved.
In one embodiment, the number of the supporting frames is four, and the four supporting frames (31, 32, 33, 34) are a first supporting frame 34, a second supporting frame 33, a third supporting frame 32 and a fourth supporting frame 31 in sequence from left to right. Each slide rail 70 includes a first section of track 72 and a second section of track 71, two ends of the first section of track 72 are respectively disposed on the first bracket 34 and the second bracket 33, two ends of the second section of track 71 are respectively disposed on the third bracket 32 and the fourth bracket 31, two ends of the third mounting plate 51 are respectively mounted on the second bracket 33 and the third bracket 32, that is, the first section of track 72 and the second section of track 71 are disposed on two sides of the third suction cup 40. The first synchronizing wheel 28 is arranged at one end of the first section of track 72 far away from the third sucking disc 40, and the second synchronizing wheel 21 is arranged at one end of the second section of track 71 far away from the third sucking disc 40; alternatively, the first and second synchronizing wheels 28, 21 are located beside the first and second section of track 72, 71, respectively. The first section of track 72 and the second section of track 71 may be on the same line or on different lines, and the user may limit according to the requirement. With the four support frames (31, 32, 33, 34), the third mounting plate 51 can be efficiently mounted, and the first section of rail 72 and the second section of rail 71 can be arranged at intervals.
In an embodiment, the sliding rail 70 may not be divided into the first section of rail 72 and the second section of rail 71. Both ends of the first section track 72 and the second section track 71 may be provided with stoppers 73 for limiting the movement range of the first suction cup 60 and the second suction cup 50, and sensors (not shown) may be provided at both ends of the first section track 72 and the second section track 71 to stop the motor 24 when the first suction cup 60 moves to the end of the first section track 72.
In the above embodiment, referring to fig. 3, the cloth gripping apparatus further includes the first clamping member 90, the first clamping member 90 includes the first connecting member 91 and the first clamping plate 93, one end of the first connecting member 91 is fixed on the first sliding table 62, the other end of the first connecting member 91 is formed with the second clamping plate 92, and the first clamping plate 93 is connected with the second clamping plate 92 and compresses the first driving belt 27. Specifically, the first clamping plate 93 and the second clamping plate 92 may be locked by a screw or by a snap connection, etc., so as to compress the first driving belt 27. The friction force between the first clamping members 90 and the first driving belt 27 is utilized, so that the first driving belt 27 can pull the first sucking discs 60 to move together when the motor 24 is driven.
Referring to fig. 4, the cloth gripping apparatus further includes a second clamping member 80, the second clamping member 80 including a second connection member 81 and a third clamping plate 83, one end of the second connection member 81 being fixed to the second sliding table 42, the other end of the second connection member 81 being formed with a fourth clamping plate 82, the third clamping plate 83 being connected to the fourth clamping plate 82 and pressing the second driving belt 22. Specifically, the third clamping plate 83 and the fourth clamping plate 82 may be locked by a screw or by a snap connection, so as to compress the second driving belt 22, so that the second driving belt 22 may pull the second suction cup 50 to move together when the motor 24 is driven.
In an embodiment, the first clamping plate 93 and/or the second clamping plate 92 are provided with a damping layer or an adhesive layer for increasing friction force, etc. on the surface contacting the first driving belt 27, so that the reliability of the connection between the first suction cup 60 and the first driving belt 27 can be improved. The third clamping plate 83 and/or the fourth clamping plate 82 is provided with a damping layer or an adhesive layer for increasing friction force, etc. on the surface contacting the second driving belt 22, so that the reliability of the connection of the second suction cup 50 with the second driving belt 22 can be improved.
In the above embodiment, since the first belt 27 is divided into two parallel sections under the action of the first synchronizing wheel 28 and the second synchronizing wheel 21, when the first clamping member 90 needs to bypass one section of the first belt 27, the first connecting member 91 is provided with the yielding opening 94 for avoiding the first belt 27, thereby preventing the first connecting member 91 from affecting the movement of the first belt 27. Alternatively, in the same manner, if necessary, the second connecting member 81 may be provided with a relief hole to prevent the second belt 22 from moving, which is not limited herein.
In other embodiments of the driving mechanism 20, the driving mechanism 20 includes a controller (not shown in the drawing) and a first linear module (not shown in the drawing) and a second linear module (not shown in the drawing) disposed on the substrate 10, where the first linear module and the second linear module are respectively located at two sides of the third suction cup 40, the first suction cup 60 is disposed on a slider of the first linear module, and the second suction cup 50 is disposed on a slider of the second linear module, so as to implement the movable disposition of the first suction cup 60 and the second suction cup 50 on the substrate 10. The controller is electrically connected with the first linear module and the second linear module respectively, and the controller is used for driving the first linear module and the second linear module to work simultaneously so as to realize the simultaneous opposite movement or reverse movement of the first sucker 60 and the second sucker 50. Therefore, when the sewing equipment needs to grasp cloth with different widths, the controller can drive the first linear module and the second linear module to work, so as to adjust the distance between the first sucker 60 and the second sucker 50.
In an embodiment, the utility model further comprises a sewing robot comprising the cloth gripping apparatus of any of the embodiments described above.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.
Claims (10)
1. A cloth gripping apparatus, comprising:
a substrate;
the first sucker is movably arranged on the substrate and used for grabbing one end of the cloth;
the second sucker is movably arranged on the substrate and used for grabbing the other end of the cloth;
the third sucker is arranged on the substrate and used for grabbing the middle position of the cloth; the third sucker is positioned between the first sucker and the second sucker;
and the driving mechanism is arranged on the substrate and used for driving the first sucker and the second sucker to move oppositely or reversely.
2. The cloth grabbing device according to claim 1, wherein the substrate is provided with a sliding rail, the first sucker is connected with a first sliding table matched with the sliding rail, the second sucker is connected with a second sliding table matched with the sliding rail, and the first sliding table and the second sliding table are both installed on the sliding rail.
3. The cloth gripping apparatus according to claim 2, wherein the driving mechanism comprises: the motor is arranged on the substrate, and drives the first synchronous wheel, the second synchronous wheel and the synchronous belt wound on the first synchronous wheel and the second synchronous wheel to rotate through the motor;
the first synchronous wheel and the second synchronous wheel are arranged on the base plate or the sliding rail, the first synchronous wheel and the second synchronous wheel are respectively positioned on two sides of the third sucker, the first sliding table is connected with the synchronous belt positioned on one side of the first synchronous wheel, and the second sliding table is connected with the synchronous belt positioned on the other side of the first synchronous wheel.
4. A cloth gripping apparatus according to claim 3, wherein the driving mechanism further comprises a third synchronizing wheel and a fourth synchronizing wheel, both of which are connected to the driving output end of the driving mechanism, the third synchronizing wheel being located below the fourth synchronizing wheel, the driving mechanism being located at an intermediate position between the first synchronizing wheel and the second synchronizing wheel;
the synchronous belt comprises a first driving belt and a second driving belt, the first driving belt is wound on the first synchronous wheel and the third synchronous wheel, the second driving belt is wound on the second synchronous wheel and the fourth synchronous wheel, the first sliding table is connected with the first driving belt positioned at one side of the driving output end of the driving mechanism, and the second sliding table is connected with the second driving belt positioned at the other side of the driving output end of the driving mechanism.
5. The cloth gripping apparatus according to claim 4, further comprising a first clamping member including a first connecting member and a first clamping plate, one end of the first connecting member being fixed to the first sliding table, the other end of the first connecting member being formed with a second clamping plate, the first clamping plate being connected to the second clamping plate and pressing the first driving belt;
the cloth grabbing device further comprises a second clamping piece, the second clamping piece comprises a second connecting piece and a third clamping plate, one end of the second connecting piece is fixed on the second sliding table, a fourth clamping plate is formed at the other end of the second connecting piece, and the third clamping plate is connected with the fourth clamping plate and compresses a second transmission belt.
6. The cloth gripping apparatus of claim 5, wherein a relief opening for receiving the first belt is provided in the middle of the first connector.
7. The cloth gripping apparatus of claim 3, further comprising a first mounting plate, a second mounting plate, a third mounting plate, and a plurality of support frames spaced apart on the base plate; the number of the sliding rails is two, and the sliding rails are spaced on the supporting frame;
the first sliding table is arranged on the first mounting plate, the second sliding table is arranged on the second mounting plate, the third mounting plate is arranged in the middle of the base plate, and the first sucker, the second sucker and the third sucker are respectively arranged on the first mounting plate, the second mounting plate and the third mounting plate; the first sucker, the second sucker and the third sucker are positioned on the same straight line; the first sucker and the second sucker are positioned between the two sliding rails.
8. The cloth gripping apparatus according to claim 7, wherein the number of the supporting frames is four, and the four supporting frames are a first bracket, a second bracket, a third bracket and a fourth bracket in sequence along the length direction of the substrate;
the sliding rail comprises a first section of rail and a second section of rail, two ends of the first section of rail are respectively arranged on a first support and a second support, two ends of the second section of rail are respectively arranged on a third support and a fourth support, and two ends of a third mounting plate are respectively arranged on the second support and the third support.
9. The cloth gripping apparatus according to claim 1, wherein the driving mechanism comprises a controller, a first linear module and a second linear module, wherein the first linear module and the second linear module are arranged on the substrate, the first linear module and the second linear module are respectively positioned at two sides of a third sucker, the first sucker is arranged on a sliding block of the first linear module, and the second sucker is arranged on a sliding block of the second linear module; the controller is electrically connected with the first linear module and the second linear module respectively and is used for driving the first linear module and the second linear module to work simultaneously so as to realize that the first sucker and the second sucker move oppositely or reversely simultaneously.
10. A sewing robot comprising a cloth gripping apparatus according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321223563.8U CN220394057U (en) | 2023-05-19 | 2023-05-19 | Cloth grabbing device and sewing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321223563.8U CN220394057U (en) | 2023-05-19 | 2023-05-19 | Cloth grabbing device and sewing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220394057U true CN220394057U (en) | 2024-01-26 |
Family
ID=89602375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321223563.8U Active CN220394057U (en) | 2023-05-19 | 2023-05-19 | Cloth grabbing device and sewing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220394057U (en) |
-
2023
- 2023-05-19 CN CN202321223563.8U patent/CN220394057U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106793747A (en) | A kind of automatic FPC make-up machines and pasting board method | |
| CN104746249A (en) | Sewing device | |
| CN209659736U (en) | FPC automatic adhering machine structure | |
| CN110010951A (en) | Double sided stick adhesive equipment for battery core rubberizing | |
| CN220394057U (en) | Cloth grabbing device and sewing robot | |
| CN112009816B (en) | Box covering machine | |
| CN212357595U (en) | Folding cut-parts transfer device and cut-parts processing equipment | |
| CN108082925B (en) | Laminate loading and unloading device | |
| CN110002071A (en) | Automatic labeling equipment | |
| CN210535419U (en) | Automatic folding machine | |
| CN111719249A (en) | Cutting piece processing equipment and cutting piece processing method | |
| CN110039794B (en) | Double-station sheet material superposition device and method | |
| CN209850302U (en) | Rotary platform of automatic screw locking mechanism | |
| CN220011377U (en) | Clamp for stacking cartons | |
| CN220563751U (en) | Cut-parts snatchs mechanism | |
| CN212582148U (en) | Auxiliary cutting piece folding device and cutting piece processing equipment | |
| CN212800759U (en) | Cut-parts processing equipment | |
| CN212923847U (en) | Cut-parts fixture, open bone cut-parts folding equipment and cut-parts processing equipment | |
| CN212357591U (en) | Cut-parts open bone device, refute line device and processing equipment | |
| CN113184577A (en) | Children's book production line of visiting | |
| CN220318176U (en) | Fabric fold adjusting device | |
| CN212357592U (en) | Cut-parts folding equipment and cut-parts processing equipment | |
| CN214692114U (en) | Material taking device for sewing | |
| CN107877927B (en) | Automatic feeding method of box packing machine | |
| CN220055773U (en) | Position identification loading attachment of stack material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |