A mechanical grabbing mechanism used at the unloading end of a knitting device

Abstract

The present invention discloses a mechanical gripping mechanism applied to the unloading end of a knitting device, comprising a guide plate installed on the body of the knitting device, the guide plate being provided with a main guide groove; a plurality of touch control positions which are installed on the guide plate at intervals along the extension direction of the main guide groove; a moving auxiliary component which cooperates to guide and move along the extension trajectory of the main guide groove; a driving motor installed on one side of the moving auxiliary component; a clamping device installed on the other side of the moving auxiliary component and comprising a fixed gripper component and a movable gripper component. The present invention has a simple structure and only needs one power source to drive the clamping device to move along the L-shaped main guide groove on the guide plate. In addition, during the movement, a plurality of touch control positions are used to assist the clamping device in completing a complete set of finished product unloading actions for the knitted product. The movement trajectory is precise, and the opening and closing state of the clamping part can be stably controlled. The manufacturing cost is low, the action is simple, the failure rate is low, and the operation is smooth.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a mechanical grasping mechanism applied to a blanking end of a knitting device. Background Art

[0002] In the current loom industry, the gripping mechanism used to grab products for unloading generally adopts a multi-axis manipulator. Each action of the multi-axis manipulator is driven by multiple motors to respectively realize the actions of clamping, grabbing, transporting, releasing, placing, and straightening the products. These manipulators are driven by multiple motors.

[0003] For example, Chinese invention patent CN202110964578.9 discloses an automatic finishing system for a flat knitting machine. In this patent, the mechanical actions of each workstation are all controlled by an electronic control system, such as the grabbing of the manipulator, the lifting and lowering of the grabbing part, the opening and closing of the movable arm relative to the fixed arm, and the delivery of the knitted products to the receiving platform. All these actions need to be driven by a separate motor or cylinder. Moreover, the whole set of actions is not perfect enough. If the flipping direction and straightening of the product are to be realized, a driving source needs to be added. The overall structure is too complicated and the actions are changeable, so the manufacturing cost is high and the failure rate is also high.

[0004] The robot feeding methods used in the existing knitting equipment on the market are similar to the above-mentioned patents, and all have the above-mentioned technical defects, and cannot meet the requirements of modern production for the simplicity and practicality of equipment. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a mechanical grabbing mechanism applied to the unloading end of a knitting device.

[0006] The technical solution adopted by the present invention is: a mechanical grabbing mechanism applied to the unloading end of a knitting device, installed on the body of the knitting device, used to grab the knitted product and unload it, the mechanical grabbing mechanism has:

[0007] A guide plate is fixedly mounted on the machine body, and a main guide groove is provided on the guide plate, and two ends of the main guide groove are respectively a zero position and an end position;

[0008] There are a plurality of touch control positions which are arranged on the guide plate at intervals along the extending direction of the main guide groove;

[0009] A mobile auxiliary component, cooperating with the extension track of the main guide groove to perform guided movement;

[0010] A driving motor is mounted on one side of the movement assisting component;

[0011] The clamping device is installed on the side of the movement auxiliary component away from the driving motor, and includes a fixed gripper component and a movable gripper component, wherein the fixed gripper component includes:

[0012] A fixed plate, fixedly mounted on the movement auxiliary component, wherein the fixed plate is provided with a hinge seat;

[0013] A clamping plate, mounted on one side of the fixing plate;

[0014] The movable gripper assembly comprises:

[0015] A movable plate, hinged to the hinge seat;

[0016] A guide bearing mounted on one free end of the movable plate;

[0017] A clamping movable plate is mounted on the other free end of the movable plate;

[0018] A tension spring is provided between the clamping fixed plate and the clamping movable plate, and the clamping fixed plate, the clamping movable plate and the tension spring together constitute a clamping part. During the movement of the clamping device from the zero position to the final position, the guide bearing contacts and disengages from several touch control positions in sequence. The touch control position controls the movable plate to rotate relative to the fixed plate by controlling the guide bearing, and enables the clamping part to switch between a slightly open state, a widely opened state and a clamped state. In the slightly open state, the gap between the clamping fixed plate and the clamping movable plate is just enough for the knitted product to pass through.

[0019] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0020] Preferably, the main guide groove is L-shaped, and one branch groove of the main guide groove arranged in the transverse direction is set as a transverse branch groove, and the other branch groove is a longitudinal branch groove, and the uppermost end of the longitudinal branch groove is the highest point of the main guide groove;

[0021] The touch control bits include:

[0022] An adjusting cross bar, mounted on the guide plate and arranged on the upper side of the transverse branch groove;

[0023] An adjusting longitudinal rod is mounted on the guide plate and arranged on the left side of the longitudinal branch groove;

[0024] A guide movable block, mounted on the guide plate and arranged below the adjusting longitudinal rod;

[0025] During the displacement of the guide bearing along the shaft of the adjusting cross bar, the clamping portion is in a slightly open state; during the displacement of the guide bearing along the shaft of the adjusting longitudinal bar, the clamping portion is in a greatly opened state; during the displacement of the guide bearing along the shaft of the adjusting longitudinal bar, the clamping portion is in a clamped state.

[0026] Preferably, the guide plate is fixedly mounted on the machine body by an upper fixed bracket and a lower fixed bracket, and the upper fixed bracket is located above the lower fixed bracket.

[0027] Preferably, the movement auxiliary component includes a gear and at least one bearing, wherein the bearing moves along the extension trajectory of the main guide groove inside or outside the guide plate, the gear is fixedly mounted on the motor shaft of the drive motor, a through hole is provided on the fixed plate for placing the gear, and a rack is provided on one side of the main guide groove along the extension direction for the gear to mesh with.

[0028] Preferably, the bearing includes an upper bearing and a lower bearing, and the guide plate is further provided with at least one L-shaped auxiliary guide groove, the upper bearing is slidably connected in the auxiliary guide groove, and the lower bearing is slidably connected to the lower end surface of the guide plate.

[0029] Preferably, a torsion spring is provided on the guide movable block, and a lower end of the adjusting longitudinal rod is provided with a giving way inclined surface for the guide movable block to rotate and give way.

[0030] Preferably, a shaft rod hinged to the hinge seat is provided at the middle position of the movable plate or at one side of the middle position.

[0031] Preferably, a guiding slope is provided at one end of the adjusting cross bar close to the adjusting longitudinal bar.

[0032] Preferably, the movable plate is located on a side of the fixed plate away from the drive motor, a first pin head is provided at the right end of the fixed plate, a second pin head is provided on the movable plate and is correspondingly arranged above the first pin head, and the tension spring is installed between the first pin head and the second pin head.

[0033] Preferably, the guide plate is further provided with a zero position proximity switch and an end position proximity switch, the zero position proximity switch is located at the leftmost end of the main guide groove, and the end position proximity switch is located at the uppermost end of the main guide groove.

[0034] More preferably, a material unloading rack is installed on the knitting equipment, the upper end surface of the material unloading rack is arranged horizontally, and a pressing hand is provided above the material unloading rack.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention has a simple structure and only needs one power source to drive the clamping device to move along the main guide groove on the guide plate. In the process of movement, multiple touch control positions such as an adjusting cross bar, a guiding movable block, and an adjusting longitudinal bar installed on the guide plate are used to assist the clamping device to complete a whole set of product unloading actions such as clamping, grabbing, transporting, loosening, placing, and straightening the knitted product. Finally, the product can be placed flat on the unloading rack. The action process is perfect, the motion trajectory is accurate, the opening and closing state of the clamping part is controlled stably, the manufacturing cost is low, the action is simple, the failure rate is low, and the operation is smooth. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 This is a schematic diagram of a structure in a zero-position waiting state in an embodiment of the present application;

[0039] Figure 2 This is a structural schematic diagram of a clamping device in an embodiment of the present application performing a turning action before rising;

[0040] Figure 3 This is a structural schematic diagram of an embodiment of the present application in which the guide bearing slides to the guide movable block, and the guide movable block drives the clamping part to prepare to enter a greatly opened state;

[0041] Figure 4 This is a structural schematic diagram of a clamping device in an embodiment of the present application in a rising process, in which the clamping portion is in a greatly opened state;

[0042] Figure 5 This is a structural diagram of an embodiment of the present application in which the guide bearing slides to the uppermost end of the adjusting longitudinal rod, and the clamping portion is in a greatly opened state to wait for the knitting product to be completed;

[0043] Figure 6 This is a structural schematic diagram of an embodiment of the present application in which the clamping device rises to the highest point, the guide bearing is separated from the adjusting longitudinal rod, and the clamping part is in a clamping state and clamps the knitted product;

[0044] Figure 7 This is a schematic diagram of the structure in which a clamping part grabs a knitted product and descends in one embodiment of the present application;

[0045] Figure 8 This is a structural schematic diagram of a clamping device in an embodiment of the present application, in which the clamping device is lowered to perform a turning action just before it moves horizontally;

[0046] Fig. 9 This is a structural schematic diagram of a clamping part in an embodiment of the present application placing a knitted product on a material unloading rack and about to perform a smoothing action;

[0047] Fig.10 This is a schematic diagram of the structure of the clamping device in one embodiment of the present application returning to the zero position;

[0048] Fig.11 This is a first-view structural diagram of the entirety of an embodiment of the present application after the guide plate is removed;

[0049] Fig.12 This is a second-view structural diagram of the entire structure after the guide plate is removed in one embodiment of the present application;

[0050] Fig.13 This is a third-view structural diagram of the entire structure after the guide plate is removed in one embodiment of the present application;

[0051] Fig.14 This is an overall structural diagram of a guide plate involved in an embodiment of the present application;

[0052] Fig.15 This is an assembly structure diagram of a clamping device and a moving auxiliary component in one embodiment of the present application;

[0053] Fig.16 In one embodiment of the present application, Figure 2 The overall structure diagram of the state from the rear side perspective;

[0054] Fig.17 In one embodiment of the present application, the present application is installed on a knitting device and is in Figure 7 Schematic diagram of the state structure;

[0055] Fig.18 for Fig.17 A partial enlarged view of part A;

[0056] Fig.19 In one embodiment of the present application, the present application is installed on a knitting device and is in Fig. 9 Schematic diagram of the state structure;

[0057] Fig. 20 for Fig.19 A partial enlarged view of part B in FIG.

[0058] Marked in the accompanying drawings: 1-guide plate, 101-main guide groove, 1011-rack, 102-auxiliary guide groove, 2-drive motor, 3-fixed gripper assembly, 301-hinge seat, 302-first pin head, 303-clamping fixed plate, 4-movable gripper assembly, 401-guide bearing, 402-axis rod, 403-second pin head, 404-clamping movable plate, 5-moving auxiliary assembly, 501-gear, 502-lower bearing, 503-upper bearing, 6-adjusting cross bar, 601-guide slope, 7-guide movable block, 701-torsion spring, 8-adjusting longitudinal rod, 801-yielding slope, 9-tension spring, 10-machine body, 11-unloading rack, 1101-pressing hand, 12-knitted product, 13-zero position proximity switch, 14-end position proximity switch, 15-lower fixed bracket, 16-upper fixed bracket.

[0059] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0062] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] Specific implementation plan: see Figure 1-Figure 20 The present invention is a mechanical grabbing mechanism applied to the unloading end of a knitting device, which is installed on the body 10 of the knitting device and is used to grab the knitted product 12 and unload it. The mechanical grabbing mechanism has:

[0064] The guide plate 1 is fixedly mounted on the machine body 10, and a main guide groove 101 is provided on the guide plate 1, and two ends of the main guide groove 101 are respectively a zero position and a terminal position;

[0065] There are several touch control positions, which are arranged on the guide plate 1 at intervals along the extension direction of the main guide groove 101; the moving auxiliary component 5 cooperates with the extension track of the main guide groove 101 to guide and move;

[0066] A driving motor 2 is mounted on one side of the moving auxiliary component 5;

[0067] The clamping device is installed on the side of the mobile auxiliary component 5 away from the driving motor 2, and includes a fixed gripper component 3 and a movable gripper component 4, wherein the fixed gripper component 3 includes:

[0068] A fixed plate, fixedly mounted on the moving auxiliary component 5, and provided with a hinge seat 301;

[0069] A clamping plate 303 is installed on one side of the fixed plate;

[0070] The movable gripper assembly 4 comprises:

[0071] The movable plate is hinged to the hinge seat 301;

[0072] A guide bearing 401 is mounted on one free end of the movable plate;

[0073] A clamping movable plate 404 is mounted on the other free end of the movable plate;

[0074] A tension spring 9 is provided between the clamping fixed plate 303 and the clamping movable plate 404. The clamping fixed plate 303, the clamping movable plate 404 and the tension spring 9 together constitute a clamping part. In the process of the clamping device moving from the zero position to the end position, the guide bearing 401 contacts and disengages from several touch control positions in sequence. The touch control position controls the rotation of the movable plate relative to the fixed plate by controlling the guide bearing 401, and enables the clamping part to switch between a slightly open state, a widely opened state and a clamped state. In the slightly open state, the gap between the clamping fixed plate 303 and the clamping movable plate 404 is just enough for the knitted product 12 to pass through.

[0075] In this embodiment, the main guide groove 101 is L-shaped, and one branch groove of the main guide groove 101 arranged in the transverse direction is a transverse branch groove, and the other branch groove is a longitudinal branch groove, and the uppermost end of the longitudinal branch groove is the highest point of the main guide groove 101;

[0076] The touch control bits include:

[0077] An adjusting cross bar 6 is mounted on the guide plate 1 and arranged on the upper side of the transverse branch groove;

[0078] The adjusting longitudinal rod 8 is mounted on the guide plate 1 and arranged on the left side of the longitudinal branch groove;

[0079] A guide movable block 7 is mounted on the guide plate 1 and arranged below the adjusting longitudinal rod 8;

[0080] During the displacement of the guide bearing 401 along the rod of the adjusting cross bar 6, the clamping portion is in a slightly open state; during the displacement of the guide bearing 401 along the rod of the adjusting longitudinal rod 8, the clamping portion is in a greatly opened state; during the displacement of the guide bearing 401 from the adjusting longitudinal rod 8 and along the longitudinal direction, the clamping portion is in a clamped state.

[0081] In other embodiments, the extension path of the main guide groove 101 may also be other shapes, such as an S shape. The core of the present application is that during the movement of the clamping device along the main guide groove 101, the running path of the guide bearing 401 can be controlled by a plurality of touch control positions of different shapes and structures, thereby controlling the clamping part to switch between a slightly open state, a widely opened state and a clamped state, so as to meet the whole set of product unloading actions such as clamping, grabbing, transporting, loosening, placing, and straightening the knitted product 12.

[0082] In this embodiment, the spacing between the adjusting longitudinal rod 8 and the longitudinal support groove is smaller than the spacing between the adjusting cross rod 6 and the cross support groove. This arrangement ensures that when the guide bearing 401 abuts against the adjusting cross rod 6 and the adjusting longitudinal rod 8 respectively, the clamping parts will be in different clamping states respectively.

[0083] Specifically, the guide plate 1 is fixedly mounted on the machine body 10 via an upper fixing bracket 15 and a lower fixing bracket 16 , and the upper fixing bracket 15 is located above the lower fixing bracket 16 .

[0084] As a preferred implementation of this embodiment, the movement auxiliary component 5 includes a gear 501 and at least one bearing, wherein the bearing moves along the extension trajectory of the main guide groove 101 inside or outside the guide plate 1, and the gear 501 is fixedly mounted on the motor shaft of the drive motor 2. A through hole for placing the gear 501 is provided on the fixed plate, and a rack 1011 for meshing the gear 501 is provided on one side of the main guide groove 101 along the extension direction.

[0085] Then, the bearing includes an upper bearing 503 and a lower bearing 502. The connecting line of the upper bearing 503 and the lower bearing 502 together forms a triangle or a trapezoid, thereby making the overall structure of the mobile auxiliary component 5 more stable. In this embodiment, there is one upper bearing 503 and two lower bearings 502, thereby forming a triangular position distribution. The guide plate 1 is also provided with at least one L-shaped auxiliary guide groove 102. The upper bearing 503 is slidably connected to the auxiliary guide groove 102, and the lower bearing 502 is slidably connected to the lower end surface of the guide plate 1. Please refer to Fig.14The overall structure of the guide plate 1 is L-shaped, and the groove tracks of the main guide groove 101 and the auxiliary guide groove 102 and the edge of the guide plate 1 are kept parallel in any section, so that it can be ensured that when the clamping device slides along the main guide groove 101, the upper bearing 503 can slide synchronously in the auxiliary guide groove 102, and the lower bearing 502 can slide synchronously on the lower end surface of the guide plate 1, so that the clamping device as a whole can slide stably along the main guide groove 101.

[0086] In this embodiment, a torsion spring 701 is provided on the guide movable block 7, and a paving inclined surface 801 is provided at the lower end of the adjusting longitudinal rod 8 for the guide movable block 7 to rotate and pave.

[0087] In addition, a shaft rod 402 hinged to the hinge seat 301 is provided at the middle position or one side of the middle position of the movable plate.

[0088] In this embodiment, a guiding inclined surface 601 is provided at one end of the adjusting cross bar 6 close to the adjusting longitudinal bar 8 .

[0089] In this embodiment, the movable plate is located on the side of the fixed plate away from the drive motor 2, and a first pin head 302 is provided at the right end of the fixed plate, and a second pin head 403 correspondingly arranged above the first pin head 302 is provided on the movable plate, and a tension spring is installed between the first pin head 302 and the second pin head 403.

[0090] As another preferred implementation of this embodiment, a zero position proximity switch 13 and an end position proximity switch 14 are also provided on the guide plate 1. The zero position proximity switch 13 is located at the leftmost end of the main guide groove 101, and the end position proximity switch 14 is located at the uppermost end of the main guide groove 101. In this embodiment, the zero position proximity switch 13 and the end position proximity switch 14 are both magnetic induction sensors. The zero position proximity switch 13 and the end position proximity switch 14 are provided to control the starting position and the end position of each complete unloading process.

[0091] More specifically, a material unloading rack 11 is installed on the knitting equipment, the upper end surface of the material unloading rack 11 is arranged horizontally, and a pressing hand 1101 is provided above the material unloading rack 11.

[0092] Working principle: The present application is installed at the unloading end of the knitting equipment body, and ensures that the transverse branch grooves on the guide plate 1 are arranged horizontally, the longitudinal branch grooves are arranged vertically, and the upper end surface of the unloading rack 11 is arranged horizontally. When it is necessary to complete the unloading work of the knitted product 12 that has just been woven through the present application, first start the drive motor 2, the drive motor 2 works, and drives the gear 501 to rotate. Since the gear 501 is engaged with the rack 1011 located on the inner side wall of the main guide groove 101, and the gear 501 is also inserted in the through hole of the fixed plate, the gear 501 will be displaced on the rack 1011 along the extension track of the main guide groove 101, and drive the fixed plate to drive the clamping device and the drive motor 2 as a whole to displace along the extension track of the main guide groove 101 (in order to enhance the structural stability between the drive motor 2 and the fixed plate, the drive motor 2 is additionally connected to the fixed plate through multiple fixing blocks). During this process, the upper bearing 503 installed on the fixed plate will slide in the secondary guide groove 102, and the lower bearing 502 installed on the fixed plate will slide on the lower end surface of the guide plate 1, thereby ensuring that the clamping device and the drive motor 2 as a whole can stably move along the extension trajectory of the main guide groove 101.

[0093] Set the initial position to zero, Figure 1-Figure 10 Together they form a complete material cutting process. Figure 1 In this figure, the clamping device is in a zero position waiting state, and the guide bearing 401 abuts against the lower end of the adjusting crossbar 6. Since the movable plate is hinged to the hinge seat 301 of the fixed plate through the shaft 402, the distance between the clamping fixed plate 303 and the clamping movable plate 404 is sufficient to make the clamping part in a slightly open state; the driving motor 2 drives the clamping device to move along the horizontal support groove, and the guide bearing 401 also slides along the rod body of the adjusting crossbar 6. Please continue to refer to Figure 2 In this figure, the guide bearing 401 has slid away from the adjusting crossbar 6, and the clamping device performs a 90-degree turning action along the corner of the horizontal support groove and the vertical support groove. At this time, since the adjusting crossbar 6 does not continue to provide support for the guide bearing 401, the movable plate and the fixed plate are tightened with each other under the action of the tension spring 9, and a certain clamping pressure is maintained, and the clamping fixed plate 303 and the clamping movable plate 404 are in a clamping state; then please continue to refer to Figure 3 In this figure, the clamping device has risen along the vertical support groove, and the guide bearing 401 touches the guide movable block 7 during the rising process. The guide movable block 7 rotates clockwise and abuts against the yielding inclined surface 801; please continue to refer to Figure 4In this figure, the guide movable block 7 has been reset by the torsion spring 701. The guide movable block 7 is used to guide the guide bearing 401 to the adjusting vertical rod 8. When the guide bearing 401 rises along the rod of the adjusting vertical rod 8, the clamping part is in a greatly opened state (the clamping part realizes the switching between the slightly opened state, the greatly opened state and the clamped state through the hinged rotation of the movable plate on the fixed plate, which is specifically assisted by the change of the motion trajectory of the guide bearing 401); please continue to refer to Figure 5 In this figure, the guide bearing 401 slides to the uppermost end of the adjusting longitudinal rod 8, and the clamping portion is in a greatly opened state to wait for the knitted product 12 to be knitted; please continue to refer to Figure 6 In this figure, the clamping device is driven by the driving motor 2 to continue to rise to the highest point. At this time, the gear 501 is also located at the highest point of the vertical support groove, and the guide bearing 401 is separated from the adjusting longitudinal rod 8. Since the adjusting longitudinal rod 8 does not continue to provide support for the guide bearing 401, the clamping part is in a clamping state and clamps the knitted product 12; please continue to refer to Figure 7 In this figure, the clamping part grabs the knitted product 12 and descends. During this process, unlike the ascending process, since there is no guide movable block 7 for guidance, the guide bearing 401 will not move along the rod of the adjusting vertical rod 8, so the clamping part will always remain in the clamped state and descend; please continue to refer to Figure 8 In this figure, the clamping device descends to the corner of the horizontal support groove and the vertical support groove and makes a 90-degree turn. At this time, the clamping part will remain in the clamping state; please continue to refer to Fig. 9 In this figure, the guide bearing 401 is guided into the adjusting cross bar 6 via the guiding slope 601 at the end of the adjusting cross bar 6. Figure 1 At this time, the clamping part will be in a slightly open state, the knitted product 12 will be placed horizontally and placed above the unloading rack 11, and the pressing hand 1101 on the unloading rack 11 will press the knitted product 12. Since the clamping part is in a slightly open state and will not clamp the knitted product 12, when the driving motor 2 drives the clamping device to move to the zero position, the knitted product 12 will be separated from the clamping part and placed on the unloading rack 11, and the pressing hand 1101 will press one end (if the knitted product 12 is a glove, that is, the rib part), and the smoothing action is completed by the clamping movable plate 404 and the clamping fixed plate 303; please continue to refer to Fig.10 In this figure, the clamping device returns to Figure 1 The zero position state in the machine completes a complete product grabbing and unloading.

[0094] The above description of a mechanical grabbing mechanism applied to the unloading end of a knitting device of the present invention is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mechanical grabbing mechanism applied to the unloading end of a knitting device, installed on the body of the knitting device, used to grab the knitted product and unload it, characterized in that: The mechanical grasping mechanism comprises: A guide plate is fixedly mounted on the machine body, and a main guide groove is provided on the guide plate, and two ends of the main guide groove are respectively a zero position and an end position; There are a plurality of touch control positions which are arranged on the guide plate at intervals along the extending direction of the main guide groove; A mobile auxiliary component is used to cooperate with the extension track of the main guide groove to perform guided movement; A driving motor is mounted on one side of the movement assisting component; The clamping device is installed on the side of the movement auxiliary component away from the driving motor, and includes a fixed gripper component and a movable gripper component, wherein the fixed gripper component includes: A fixed plate, fixedly mounted on the movement auxiliary component, wherein the fixed plate is provided with a hinge seat; A clamping plate, mounted on one side of the fixing plate; The movable gripper assembly comprises: A movable plate, hinged to the hinge seat; A guide bearing mounted on one free end of the movable plate; A clamping movable plate is mounted on the other free end of the movable plate; A tension spring is provided between the clamping fixed plate and the clamping movable plate, and the clamping fixed plate, the clamping movable plate and the tension spring together constitute a clamping portion. During the movement of the clamping device from the zero position to the final position, the guide bearing contacts and disengages from a plurality of the touch control positions in sequence. The touch control positions control the movable plate to rotate relative to the fixed plate by controlling the guide bearing, and enable the clamping portion to switch between a slightly open state, a greatly opened state and a clamped state. In the slightly open state, the gap between the clamping fixed plate and the clamping movable plate is just enough for the knitted product to pass through. The main guide groove is L-shaped, and one branch groove of the main guide groove arranged in the transverse direction is set as a transverse branch groove, and the other branch groove is a longitudinal branch groove, and the uppermost end of the longitudinal branch groove is the highest point of the main guide groove; The touch control bits include: An adjusting cross bar, mounted on the guide plate and arranged on the upper side of the transverse branch groove; An adjusting longitudinal rod is mounted on the guide plate and arranged on the left side of the longitudinal branch groove; A guide movable block, mounted on the guide plate and arranged below the adjusting longitudinal rod; When the guide bearing is displaced along the shaft of the adjusting cross bar, the clamping portion is in a slightly open state; when the guide bearing is displaced along the shaft of the adjusting longitudinal bar, the clamping portion is in a greatly opened state; when the guide bearing is separated from the adjusting longitudinal bar and displaced longitudinally, the clamping portion is in a clamped state; The guide plate is also provided with a zero position proximity switch and a final position proximity switch, wherein the zero position proximity switch is located at the leftmost end of the main guide groove, and the final position proximity switch is located at the uppermost end of the main guide groove.

2. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to claim 1, characterized in that: The movement auxiliary component includes a gear and at least one bearing, wherein the bearing moves along the extension trajectory of the main guide groove inside or outside the guide plate, the gear is fixedly mounted on the motor shaft of the drive motor, a through hole is provided on the fixed plate for placing the gear, and a rack is provided on one side of the main guide groove along the extension direction for the gear to mesh with.

3. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to claim 2, characterized in that: The bearing includes an upper bearing and a lower bearing. The guide plate is also provided with at least one L-shaped auxiliary guide groove. The upper bearing is slidably connected to the auxiliary guide groove, and the lower bearing is slidably connected to the lower end surface of the guide plate.

4. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to any one of claims 1 to 3, characterized in that: The guide movable block is provided with a torsion spring, and the lower end of the adjusting longitudinal rod is provided with a giving way inclined surface for the guide movable block to rotate and give way.

5. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to claim 4, characterized in that: A shaft rod hinged to the hinge seat is provided at the middle position of the movable plate or at one side of the middle position.

6. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to claim 5, characterized in that: One end of the adjusting cross bar close to the adjusting longitudinal bar is provided with a guiding inclined surface.

7. A mechanical grabbing mechanism applied to the unloading end of a knitting device according to any one of claims 5-6, characterized in that: The movable plate is located on a side of the fixed plate away from the drive motor, a first pin head is provided at the right end of the fixed plate, a second pin head is provided on the movable plate and is arranged correspondingly above the first pin head, and the tension spring is installed between the first pin head and the second pin head.

8. The mechanical gripping mechanism applied to the unloading end of a knitting device according to claim 1, characterized in that: A material unloading rack is installed on the knitting device, the upper end surface of the material unloading rack is arranged horizontally, and a pressing hand is arranged above the material unloading rack.

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