Selvedge grabbing mechanism for fabric alignment

Abstract

The application discloses a selvedge grabbing mechanism for cloth alignment, comprising a gripper frame, a gripper moving mechanism arranged on the gripper frame, and a plurality of grippers arranged on the gripper moving mechanism, wherein the positions of the plurality of grippers on the gripper moving mechanism correspond to a plurality of grabbing points of a circumferential edge of the cloth, the gripper moving mechanism comprises an X-direction displacement mechanism for driving the grippers to move along the width direction of the cloth, and a Y-direction displacement mechanism for driving the grippers to move along the length direction of the cloth, and the plurality of grippers move along the width and length directions of the cloth to adapt to the grabbing of the plurality of grabbing points of the edges of the cloth with different sizes.

Description

TECHNICAL FIELD

[0001] The present application relates to the sewing equipment technical field, especially to a cloth edge grabbing mechanism for cloth alignment. BACKGROUND

[0002] In the sewing industry, some processes need to grab and transport or align the cloth, such as the front and back pieces of clothes before sewing, which need to cover the front piece of clothes on the back piece of clothes and align them before sewing the front and back pieces of clothes together.

[0003] In the existing technology, there is a cloth grabbing mechanism, which generally includes a gripper frame and a gripper arranged on the gripper frame. The existing cloth grabbing mechanism generally grabs one end of the cloth by the gripper during the process of grabbing the cloth, and then drags the cloth for transportation or covering on another cloth, and then aligns the front and back pieces of cloth by manual work.

[0004] The existing cloth grabbing mechanism has the problem that the position of the gripper is fixed and cannot be changed, and when the size of the cloth changes, the gripper needs to be disassembled and reassembled or the entire cloth grabbing mechanism needs to be replaced.

[0005] Therefore, the existing technology needs to be improved. SUMMARY

[0006] In view of the above problems of the prior art, the present application aims to provide a cloth edge grabbing mechanism for cloth alignment, which can adapt to the grabbing of cloth of different sizes.

[0007] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0008] A cloth edge grabbing mechanism for cloth alignment, wherein:

[0009] It comprises a gripper frame, a gripper moving mechanism arranged on the gripper frame, and a plurality of grippers arranged on the gripper moving mechanism, the positions of the plurality of grippers on the gripper moving mechanism correspond to a plurality of grabbing points of the circumferential edge of the cloth.

[0010] The gripper moving mechanism comprises an X-direction displacement mechanism for driving the gripper to move along the width direction of the cloth, and a Y-direction displacement mechanism for driving the gripper to move along the length direction of the cloth, and the plurality of grippers move along the width and length directions of the cloth to adapt to the grabbing of a plurality of grabbing points of the edges of cloth of different sizes.

[0011] The X-direction displacement mechanism comprises a width linkage mechanism for driving two grippers to move simultaneously in the same direction or in the opposite direction along the width direction of the cloth on the gripper frame.

[0012] The X-direction displacement mechanism further comprises four slider groups slidingly arranged on the gripper frame, the positions of the four slider groups correspond to the upper left corner, the lower left corner, the upper right corner and the lower right corner of the cloth, and each of the four slider groups is connected with a gripper corresponding to the grabbing point of the four corners;

[0013] The upper left slider group and the upper right slider group are connected with a width linkage mechanism, the width linkage mechanism drives the upper left slider group and the upper right slider group connected therewith to move simultaneously in the same direction or in opposite directions along the width direction of the cloth on the gripper frame, and the lower left slider group and the lower right slider group are connected with a width linkage mechanism, the width linkage mechanism drives the lower left slider group and the lower right slider group connected therewith to move simultaneously in the same direction or in opposite directions along the width direction of the cloth on the gripper frame.

[0014] The upper left slider group and the upper right slider group are slidingly arranged with the Y-direction displacement mechanism, and the gripper is arranged on the Y-direction displacement mechanism.

[0015] The width linkage mechanism comprises a controllable motor and a linkage group, the linkage group comprises a middle rod and end rods connected at both ends of the middle rod, the middle rod is connected with the controllable motor, and the ends of the two end rods away from the middle rod are connected with the slider groups, respectively, and the controllable motor drives the middle rod of the linkage group to rotate to drive the two end rods to spread out or close in.

[0016] The middle rod comprises a middle linkage, and the two end rods comprise a first linkage and a second linkage, and the first linkage, the middle linkage and the second linkage are connected in a chain shape.

[0017] The middle linkage is provided with a rotation point, the controllable motor is connected with the middle linkage and drives the middle linkage to rotate around the rotation point, the two ends of the middle linkage are rotationally connected with the first linkage and the second linkage, respectively, and the ends of the first linkage and the second linkage away from the middle linkage are rotationally connected with a slider group, respectively.

[0018] The X-direction displacement mechanism further comprises two slider groups slidingly arranged on the gripper frame, the positions of the two slider groups correspond to the left middle edge and the right middle edge of the cloth, the left middle slider group and the right middle slider group are connected with a width linkage mechanism, the width linkage mechanism drives the left middle slider group and the right middle slider group connected therewith to move simultaneously in the same direction or in opposite directions along the width direction of the cloth on the gripper frame, and the left middle slider group and the right middle slider group are slidingly arranged with Y-direction displacement mechanisms, respectively, and the Y-direction displacement mechanisms are provided with the grabbing points of the grippers corresponding to the left middle edge or the right middle edge of the cloth.

[0019] Two Y-direction displacement mechanisms are arranged on the left and right sides of the upper end of the frame body, and the upper end of the frame body is connected with an angle adjusting structure.

[0020] The frame body comprises upper, middle and lower rod portions arranged in parallel and spaced apart along the length direction of the cloth, and each of the upper, middle and lower rod portions is slidably provided with two slider groups moving in opposite directions.

[0021] The slider group comprises two slider seats arranged in parallel and spaced apart along the length direction of the cloth, and a connecting plate connecting the two slider seats, and each of the upper, middle and lower rod portions comprises two parallel sliding rods arranged perpendicularly to the length direction of the cloth, and the two slider seats of each slider group are slidably arranged on the two parallel sliding rods.

[0022] It should be understood that, within the scope of the present application, the above-mentioned technical features of the present application and the technical features specifically described in the following (such as embodiments) can be combined with each other to form new or preferred technical solutions. Due to the limited space, they will not be listed one by one here.

[0023] The cloth edge grabbing mechanism for cloth alignment of the present application can drive multiple grippers to move in the width and length directions of the cloth by arranging X-direction displacement mechanisms and Y-direction displacement mechanisms on the gripper frame, so as to adapt to the grabbing of multiple grabbing points on the edges of cloth of different sizes. For example, if the cloth becomes wider, the grippers can move in the direction of the increased width, and if the cloth becomes longer, the grippers can move in the direction of the increased length. Meanwhile, the positions of the multiple grippers on the gripper moving mechanism correspond to the multiple grabbing points on the circumferential edge of the cloth, so that the whole piece of cloth can be grabbed flat, instead of grabbing only one end of the cloth in the prior art. Therefore, the cloth edge grabbing mechanism of the present application can be used in the subsequent automatic alignment process of the cloth. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained from the structures shown in the drawings without creative labor for those skilled in the art.

[0025] Figure 1 The structure diagram of an embodiment of the cloth edge grabbing mechanism for cloth alignment of the present application;

[0026] Figure 2 The distribution diagram of the grabbing points on the cloth of an embodiment of the present application;

[0027] Figure 3 For Figure 1 Structure schematic diagram of the structure back;

[0028] Figure 4 For Figure 3 Structure first perspective angle schematic diagram;

[0029] Figure 5 For Figure 3 Structure second perspective angle schematic diagram;

[0030] Figure 6 Structure schematic diagram of the invention's grab frame;

[0031] Figure 7 Structure schematic diagram of the upper grab group and the X-direction displacement mechanism and the Y-direction displacement mechanism;

[0032] Figure 8 Structure schematic diagram of the middle grab group and the X-direction displacement mechanism and the Y-direction displacement mechanism;

[0033] Figure 9 Structure schematic diagram of the lower grab group and the X-direction displacement mechanism.

[0034] Explanation of reference signs:

[0035] 100-grabbing mechanism, 1-grab frame, 11-upper rod part, 12-middle rod part, 13-lower rod part, 14-sliding rod, 15-center rod, 16-connection seat, 17-first side rod, 18-second side rod, 2-grab moving mechanism, 3-grab, 31-upper grab group, 32-middle grab group, 33-lower grab group, 4-X-direction displacement mechanism, 41-width linkage mechanism, 411-controllable motor, 412-linkage group, 4121-first linkage, 4122-middle linkage, 4123-second linkage, 42-sliding block group, 421-sliding block seat, 422-connection plate, 5-Y-direction displacement mechanism, 51-screw rod, 52-sliding block, 6-angle adjusting structure, 61-angle adjusting motor, 62-rotation shaft, 63-connection seat, 200-cloth, 201-grabbing point. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indications will also change accordingly.

[0038] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In addition, the description such as "first", "second", etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.

[0040] Please refer to Figure 1 The present application provides a selvedge grabbing mechanism 100 for fabric alignment, which comprises a gripper frame 1, a gripper moving mechanism 2 arranged on the gripper frame 1, and a plurality of grippers 3 arranged on the gripper moving mechanism 2. The positions of the plurality of grippers 3 on the gripper moving mechanism 2 correspond to a plurality of grabbing points 201 on the circumferential edge of the fabric 200. The gripper frame 1 is rectangular, and in other embodiments, the gripper frame 1 can also be circular. The gripper moving mechanism 2 is driven by electricity or other power, such as hydraulic or pneumatic power. The selvedge grabbing mechanism 100 of the present application further comprises an electric control system for electrically connecting with the gripper moving mechanism 2 to drive the grippers 3 on the gripper moving mechanism 2 to move. The electric control system can be controlled by PLC or single-chip microcomputer.

[0041] The grippers 3 of the embodiments of the present application can adopt existing gripper structures, such as needle type suction cups, flexible tentacles, needle type clamping jaws, etc.

[0042] As shown in Figure 2 As an embodiment, the plurality of grabbing points 201 of the fabric 200 (in this embodiment, the front piece of a T-shirt) are located on the circumferential edge of the fabric, i.e. the plurality of grabbing points 201 form a circle on the selvedge around the fabric 200. The circumferential circle can be a rectangular circle, a circular circle or a special-shaped circle.

[0043] The grabbing points 201 are at least four, corresponding to the upper left corner, lower left corner, upper right corner and lower right corner of the edge of the cloth 200, the upper left corner and upper right corner of the cloth 200 form two grabbing points in the width direction of the upper part of the cloth 200, the lower left corner and lower right corner of the cloth 200 form two grabbing points in the width direction of the lower part of the cloth 200, the four grabbing points 201 form a rectangular ring or a trapezoidal ring, so that the gripper 3 can grab the four corners of the cloth 200 in the circumferential direction, and can grab the whole cloth 200 flatly, combined with the lifting mechanism on the production line, the whole cloth 200 can be lifted flatly and completely, which is convenient for the subsequent alignment process with the back piece cloth, unlike the prior art which can only grab one end of the cloth, such as the upper end or the lower end, so that the cloth can only be dragged after being grabbed by the prior art, and cannot be used for the subsequent automatic alignment process, and can only be aligned manually.

[0044] In other embodiments, the grabbing points 201 can also be arranged in the middle of the width direction of the edge of the cloth 200, or in the middle of the length direction, or in the non-edge area of the cloth. In other embodiments, one, two or more grabbing points 201 can be arranged at each corner of the edge of the cloth 200.

[0045] As shown in Figure 1 and Figure 3 The gripper moving mechanism 2 of the present application includes an X-direction displacement mechanism 4 for driving the gripper 3 to move in the width direction of the cloth 200, and a Y-direction displacement mechanism 5 for driving the gripper 3 to move in the length direction of the cloth 200, the plurality of grippers 3 move in the width and length directions of the cloth 200 to adapt to the grabbing of the grabbing points 201 of the edge of the cloth 200 of different sizes.

[0046] The X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5 can adopt a linear movement module, such as a guide rail and slider structure, a screw and nut structure, etc. As a mode, the X-direction displacement mechanism 4 is arranged on the gripper frame 1, the Y-direction displacement mechanism 5 is arranged on the X-direction displacement mechanism 4, and the gripper 3 is arranged on the Y-direction displacement mechanism 5. In this way, when the X-direction displacement mechanism 4 moves along the width direction of the cloth 200 on the gripper frame 1, the Y-direction displacement mechanism 5 on the X-direction displacement mechanism 4 also moves along the width direction of the cloth 200, thereby driving the gripper 3 on the Y-direction displacement mechanism 5 to move along the width direction of the cloth 200 to adapt to the size change of the cloth 200 in the width direction. When the X-direction displacement mechanism 4 is stationary and the Y-direction displacement mechanism 5 moves along the length direction of the cloth 200 on the X-direction displacement mechanism 4, the gripper 3 on the Y-direction displacement mechanism 5 moves along the length direction of the cloth 200 to adapt to the size change of the cloth 200 in the length direction. The movement amount of the X-direction displacement mechanism 4 in the width direction and the movement amount of the Y-direction displacement mechanism 5 in the length direction can be controlled by an electric control system. When the size of the cloth 200 changes, the coordinate data of each grabbing point 201 of the cloth 200 after the size change can be input, and then the electric control system drives the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5 to move so that each gripper 3 moves to the corresponding coordinates to facilitate grabbing. Alternatively, a camera device electrically connected to the electric control system is arranged on the gripper frame 1 of the present application. The camera device detects the positions of each grabbing point 201 on the periphery of the cloth 200 and compares with the positions of each gripper 3. The electric control system moves the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5 according to the comparison result to move the gripper 3 in the width and length directions to align with the grabbing points 201 on the periphery of the cloth 200, thereby automatically adjusting the positions of the grippers 3 according to the size change of the cloth 200.

[0047] The cloth edge grabbing mechanism 100 of the present application can move the gripper 3 along the width and length directions of the cloth under the action of the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5, thereby being able to adapt to the grabbing of multiple grabbing points 201 on the periphery of cloth 200 of different sizes.

[0048] In other embodiments, the Y-direction displacement mechanism 5 can be arranged on the gripper frame 1, the X-direction displacement mechanism 4 can be arranged on the Y-direction displacement mechanism 5, and the gripper 3 can be arranged on the X-direction displacement mechanism 4.

[0049] Further, as Figure 4 and Figure 5As shown, the X-direction displacement mechanism 4 of this embodiment includes a width linkage mechanism 41 that drives two grippers 3 together. The width linkage mechanism 41 drives the two grippers 3 connected to it to move simultaneously towards each other or simultaneously in opposite directions along the width direction of the fabric 200 on the gripper frame 1. That is, in this embodiment of the invention, the two grippers 3 corresponding to the gripping points 201 on both sides of the width direction of the fabric 200 are linked, rather than driven independently. The two grippers 3 in the width direction are connected together by a width linkage mechanism 41 to form a group, and the two grippers 3 in this group move simultaneously towards each other or simultaneously in opposite directions in the width direction. When moving towards each other, it matches the gripping points 201 on both sides of the width direction after the fabric 200 narrows; when moving in opposite directions, it matches the gripping points 201 on both sides of the width direction after the fabric 200 widens.

[0050] The width linkage mechanism 41 reduces the number of reference points and the number of driving structures. With the width linkage mechanism 41, the X-direction displacement mechanism 4 of this invention allows a set of grippers positioned along the width of the fabric 200 to be symmetrically positioned with the centerline of the fabric 200's length as a reference line. The width linkage mechanism 41 drives this set of grippers to move symmetrically with reference to the centerline. That is, under the control of the width linkage mechanism 41, as... Figure 4 As shown, when the left gripper 3 in this group moves a certain distance relative to the center line in the length direction, the right gripper 3 in the same group also moves a certain distance relative to the center line in the length direction. In this way, only one reference line is used, and the reference line is set symmetrically, which can reduce the calculation of the movement. At the same time, the two grippers 3 in a group of grippers use only one drive mechanism, which simplifies the drive structure of the two grippers 3 in the width direction.

[0051] Specifically, the X-direction displacement mechanism 4 in this embodiment of the invention further includes four slider groups 42 slidably disposed on the gripper frame 1, such as... Figure 2As shown, the positions of the four slider groups 42 correspond to the upper left, lower left, upper right and lower right corners of the cloth 200, and the four slider groups 42 are connected with the grippers 3 corresponding to the four corner gripping points 201 respectively. The upper left and upper right slider groups 42 are connected with a width linkage mechanism 41, which drives the two slider groups 42 to move simultaneously in the same direction or in the opposite direction along the width direction of the cloth 200 on the gripper frame 1. The lower left and lower right slider groups 42 are also connected with a width linkage mechanism 41, which drives the two slider groups 42 to move simultaneously in the same direction or in the opposite direction along the width direction of the cloth 200 on the gripper frame 1. The four slider groups 42 at the upper left, lower left, upper right and lower right positions are connected (directly or indirectly) with the grippers 3, and at least four grippers 3 correspond to the upper left, lower left, upper right and lower right corner gripping points 201 of the cloth 200 respectively. In this way, the circumferentially surrounding four corner gripping points 201 of the cloth 200 can be gripped by the four grippers 3, so that the whole piece of cloth 200 can be gripped flat. The four slider groups 42 can adjust the displacement of the four grippers 3 in the width direction of the cloth 200. The grippers 3 on the upper left and upper right slider groups 42 are simultaneously adjusted by a width linkage mechanism 41, and the grippers 3 on the lower left and lower right slider groups 42 are simultaneously adjusted by a width linkage mechanism 41.

[0052] In this embodiment, the Y-direction displacement mechanism 5 is arranged on the upper left and upper right slider groups 42, and the grippers 3 are arranged on the Y-direction displacement mechanism 5. That is, in this embodiment, the Y-direction displacement mechanism 5 on the upper left and upper right slider groups 42 is moved to adjust the position of the grippers 3 on the Y-direction displacement mechanism 5 in the length direction of the cloth 200, so as to adapt to the change of the length direction size of the cloth 200. In this embodiment, the Y-direction displacement mechanism 5 is not arranged on the lower left and lower right slider groups 42, and the positions of the lower left and lower right slider groups 42 are used as the reference datum for the movement of the Y-direction displacement mechanism 5 on the upper left and upper right slider groups 42 in the length direction of the cloth 200. In this way, the structure can be simplified. It can be understood that in other embodiments, the Y-direction displacement mechanism 5 can also be arranged on the lower left and lower right slider groups 42.

[0053] Further, the X-direction displacement mechanism 4 of the embodiment of the present application further comprises two slider groups 42 arranged on the gripper frame 1, such as Figure 2As shown, the positions of the two slider groups 42 correspond to the positions of the left middle and right middle edges of the cloth 200, and the left middle and right middle slider groups 42 are connected by the width linkage mechanism 41, which drives the left middle and right middle slider groups 42 connected thereto to move simultaneously in the same direction or in opposite directions along the width direction of the cloth 200 on the gripper frame 1. The Y-direction displacement mechanism 5 is slidably arranged on the left middle and right middle slider groups 42, and the gripper 3 is arranged on the Y-direction displacement mechanism 5 to correspond to the grabbing point 201 on the left middle or right middle edge of the cloth 200. The two grippers 3 at the left middle and right middle positions can also be adjusted in the width and length directions under the action of the width linkage mechanism 41 and the Y-direction displacement mechanism 5.

[0054] The arrangement of the left middle and right middle slider groups 42 enables the cloth edge grabbing mechanism 100 of the present application to have at least six grippers 3 corresponding to the six grabbing points 201 on the left upper, left middle, left lower, right lower, right middle, and right upper edges of the cloth 200, which can further improve the flatness of the cloth 200 after being grabbed by the grippers 3, facilitating subsequent alignment.

[0055] Preferably, as shown in Figure 3 and Figure 5 The left upper and right upper Y-direction displacement mechanisms 5 are also connected with the angle adjustment structure 6, and at least two grippers 3 are arranged on each angle adjustment structure 6, which adjusts the included angle between the grippers 3 and the width direction of the cloth 200. As shown in Figure 2 The two grippers 3 on each angle adjustment structure 6 correspond to the two grabbing points 201 on the left upper or right upper edge of the cloth 200, and the angle adjustment structure 6 adjusts the included angle between the two grippers 3 corresponding to the two grabbing points 201 on the left upper or right upper edge of the cloth 200 and the width direction of the cloth 200. The adjustment of the included angle is to adapt to the needs of different shoulder heights of human body. In the present embodiment, Figure 2 The cloth is a T-shirt cloth, and the two grabbing points 201 on the left upper and right upper edges correspond to the left shoulder and right shoulder of the human body, respectively. Different body types have different shoulder heights, so the included angle between the left upper and right upper edges of the cloth 200 and the width direction of the cloth 200 is different. When the shoulder size of the cloth 200 changes, the cloth edge grabbing mechanism 100 of the present application can adjust the angle of the corresponding gripper 3 through the angle adjustment structure 6, thereby adapting to the grabbing of the cloth 200 after the shoulder size changes.

[0056] As an embodiment, as shown in Figure 6As shown, the gripper frame 1 of the present application comprises upper rod part 11, middle rod part 12 and lower rod part 13 which are respectively arranged perpendicularly to the length direction of cloth 200 and are parallel and spaced, and two opposite or reverse moving slider groups 42 are slidingly arranged on the upper rod part 11, the middle rod part 12 and the lower rod part 13. In the embodiment, the upper rod part 11, the middle rod part 12 and the lower rod part 13 each comprise two parallel sliding rods 14 which are perpendicular to the length direction of cloth 200, wherein the two sliding rods 14 of the upper rod part 11 are independently arranged, and the middle rod part 12 and the lower rod part 13 share one sliding rod 14, that is, the middle rod part 12 and the lower rod part 13 are three parallel sliding rods 14 in total, a center rod 15 is arranged perpendicularly to the center of the plurality of sliding rods 14, a first side rod 17 and a second side rod 18 are respectively arranged on the two sides, and the center rod 15, the first side rod 17, the second side rod 18 and the plurality of sliding rods 14 jointly form a rectangular gripper frame 1. Each slider group 42 of the embodiment of the present application can simultaneously slide on the two parallel sliding rods 14, thereby improving the stability of the slider group 42 sliding.

[0057] The gripper frame 1 of the embodiment further comprises a connecting seat 16 which connects the entire cloth edge grabbing mechanism 100 to other mechanisms, such as a mechanical hand or a lifting arm structure.

[0058] Preferably, in the embodiment, two grippers 3 are also arranged on the center rod 15, so that the grabbing points 201 at the middle positions of the cloth 200 can be grabbed, thereby further improving the stability and flatness of the cloth 200 grabbing.

[0059] As shown, Figure 1 In the embodiment of the present application, two slider groups 42 are respectively slidingly arranged on the upper rod part 11, the two slider groups 42 are symmetrically arranged on the two sides of the center rod 15 with the center rod 15 as the center, two slider groups 42 are respectively slidingly arranged on the middle rod part 12, the two slider groups 42 are also symmetrically arranged on the two sides of the center rod 15 with the center rod 15 as the center, and two slider groups 42 are respectively slidingly arranged on the lower rod part 13, the two slider groups 42 are also symmetrically arranged on the two sides of the center rod 15 with the center rod 15 as the center.

[0060] Since each slider group 42 is connected with a gripper 3, the two grippers 3 on the upper rod part 11 correspond to the upper gripper group 31, the two grippers 3 on the middle rod part 12 correspond to the middle gripper group 32, and the two grippers 3 on the lower rod part 13 correspond to the lower gripper group 33, as shown in the middle. Figure 3 As shown, Figure 2 The grippers 3 on the upper gripper group 31 correspond to the grabbing points 201 at the upper left and upper right positions of the cloth 200, the grippers 3 on the middle gripper group 32 correspond to the grabbing points 201 at the middle left and middle right positions of the cloth 200, and the grippers 3 on the lower gripper group 33 correspond to the grabbing points 201 at the lower left and lower right positions of the cloth 200.

[0061] In this embodiment, the upper gripper group 31 is provided with four grippers 3, the middle gripper group 32 is provided with two grippers 3, and the lower gripper group 33 is provided with two grippers 3. Figure 2 As shown, in this embodiment of the invention, the multiple grippers 3 correspond to eight gripping points 201 on the circumferential edge of the fabric 200.

[0062] like Figures 7 to 9 As shown, the width linkage mechanism 41 of this embodiment includes a controllable motor 411 and a linkage group 412. The linkage group 412 includes a middle rod and end rods respectively connected to both ends of the middle rod. The middle rod is connected to the controllable motor 411, and the ends of the two end rods opposite to the middle rod are respectively connected to the slider group 42. The controllable motor 411 drives the middle rod of the linkage group 412 to rotate, thereby causing the two end rods to extend or retract. The controllable motor 411 is connected to an electronic control system. The controllable motor 411 can be a stepper motor or a servo motor. The rotation of the controllable motor 411 causes the end rods of the linkage group 412 to extend or retract. The extension or retraction of the end rods of the linkage group 412 causes the slider groups 42 at both ends of the linkage group 412 to move in opposite directions or towards each other in the width direction, thereby realizing the linkage adjustment of the gripper 3 in the width direction.

[0063] Specifically, the intermediate rod includes an intermediate connecting rod 4122, and the two end rods include a first connecting rod 4121 and a second connecting rod 4123. The first connecting rod 4121, the intermediate connecting rod 4122, and the second connecting rod 4123 are chain-connected. The intermediate connecting rod 4122 is provided with a rotation point O. The controllable motor 411 is connected to the intermediate connecting rod 4122 and drives the intermediate connecting rod 4122 to rotate around the rotation point O. The two ends of the intermediate connecting rod 4122 are respectively rotatably connected to the first connecting rod 4121 and the second connecting rod 4123. The ends of the first connecting rod 4121 and the second connecting rod 4123 away from the intermediate connecting rod 4122 are respectively rotatably connected to a slider group 42.

[0064] Figure 7Fig. 3 is a schematic view of the connection structure of the upper gripper group 31 and the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5. The upper gripper group 31 includes four grippers 3 arranged on the left and right sides respectively. Each of the two grippers 3 is rotationally connected to a connecting seat 63 of the angle adjusting structure 6. A rotating shaft 62 is arranged on the connecting seat 63 and connected to the gripper 3. The rotation of the rotating shaft 62 causes the rotation of the gripper 3. The rotating shaft 62 is in transmission connection with an angle adjusting motor 61. A reversing mechanism, such as a worm gear mechanism, is arranged between the rotating shaft 62 and the angle adjusting motor 61 to convert the horizontal rotation into vertical rotation. The angle adjusting motor 61 is installed on the Y-direction displacement mechanism 5. The Y-direction displacement mechanism 5 includes a sliding block 52 and a lead screw 51. Each sliding block group 42 includes two sliding block seats 421 arranged in parallel along the length direction of the cloth 200, and a connecting plate 422 connecting the two sliding block seats 421. The two sliding block seats 421 of each sliding block group 42 are slidingly arranged on two parallel sliding rods 14. In this way, each sliding block group 42 of the embodiment is arranged on the two parallel sliding rods 14, thereby improving the stability of the sliding of each sliding block group 42. Specifically, a sliding hole is arranged on the sliding block seat 421. The sliding rod 14 penetrates through the sliding hole on the sliding block seat 421, so that the sliding block seat 421 can slide on the sliding rod 14. The lead screw 51 is installed on the connecting plate 422. The sliding block 52 is in screw transmission connection with the lead screw 51. The Y-direction displacement mechanism 5 further includes a lead screw motor (not shown) in transmission connection with the lead screw 51. The rotation of the lead screw motor drives the rotation of the lead screw 51, so that the sliding block 52 on the lead screw 51 moves in the length direction. The movement of the sliding block 52 drives the linear movement of the angle adjusting motor 61 and the gripper 3 thereon in the length direction. The connecting plates 422 of the two sliding block groups 42 are rotationally connected to a first connecting rod 4121 and a second connecting rod 4123 respectively. A controllable motor 411 is installed on the central rod 15. The rotation connection between the first connecting rod 4121, the intermediate connecting rod 4122, the second connecting rod 4123, and the sliding block seat 421 is achieved by a rotating bearing. When the controllable motor 411 rotates, the intermediate connecting rod 4122 rotates around the midpoint O on the intermediate connecting rod 4122. The rotation of the intermediate connecting rod 4122 drives the rotation of the first connecting rod 4121 and the second connecting rod 4123 at the two ends of the intermediate connecting rod 4122 relative to the intermediate connecting rod 4122, and simultaneously moves outward or inward, so that the two sliding block groups 42 simultaneously move towards or away from each other in the width direction.

[0065] Figure 8 Fig. 4 is a structural view of the connection between the middle gripper group 32 and the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5. The gripper 3 of the middle gripper group 32 is directly installed on the sliding block 52. The X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5 thereon have the same connection relationship as those on the upper gripper group 31, which will not be described herein.

[0066] Figure 9The structure diagram for connecting the lower gripper group 33 with the X-direction displacement mechanism 4, the gripper 3 on the lower gripper group 33 is directly installed on the connecting plate 422, and the X-direction displacement mechanism 4 thereon has the same connection relationship with the X-direction displacement mechanism 4 on the upper gripper group 31, which will not be described here.

[0067] The selvedge grabbing mechanism 100 for cloth alignment provided in the embodiment of the application can drive multiple grippers 3 to move in the width and length directions of the cloth 200 by setting the X-direction displacement mechanism 4 and the Y-direction displacement mechanism 5 on the gripper frame 1, so as to adapt to the grabbing of multiple grabbing points 201 on the edges of cloth 200 of different sizes. Meanwhile, the positions of the multiple grippers 3 of the grabbing mechanism 100 on the gripper moving mechanism 2 correspond to the multiple grabbing points 201 on the circumferential edge of the cloth 200, so that the whole cloth can be flatly grabbed, which can be applied to the subsequent automatic alignment process of the cloth, improves the automation degree of the cloth sewing, and improves the production efficiency.

[0068] The above description is only an example for clearly illustrating the application, and does not limit the patent scope of the application. It is impossible to enumerate all the embodiments here, and any equivalent structural transformation or direct / indirect application in other related technical fields based on the concept of the application and the content of the technical solutions of the application are included in the patent protection scope of the application.

Claims

1. A selvedge grabbing mechanism for fabric alignment, characterized in that: it comprises a gripper frame, a gripper moving mechanism arranged on the gripper frame, and a plurality of grippers arranged on the gripper moving mechanism, the positions of the plurality of grippers on the gripper moving mechanism corresponding to a plurality of grabbing points of a circumferential edge of the fabric; the gripper moving mechanism comprises an X-direction displacement mechanism for driving the grippers to move along the width direction of the fabric, and a Y-direction displacement mechanism for driving the grippers to move along the length direction of the fabric, the plurality of grippers moving along the width and length directions of the fabric to adapt to the grabbing of a plurality of grabbing points of the edges of fabrics of different sizes; the X-direction displacement mechanism comprises a width linkage mechanism for driving two grippers connected by the width linkage mechanism to simultaneously move towards each other or in opposite directions along the width direction of the fabric on the gripper frame; the X-direction displacement mechanism further comprises four slider groups slidingly arranged on the gripper frame, the positions of the four slider groups corresponding to the upper left corner, the lower left corner, the upper right corner, and the lower right corner of the fabric, and each of the four slider groups is connected with a gripper corresponding to the grabbing point of the four corners; the X-direction displacement mechanism further comprises two slider groups slidingly arranged on the gripper frame, the positions of the two slider groups corresponding to two positions of the left middle edge and the right middle edge of the fabric; the gripper frame comprises an upper rod portion, a middle rod portion, and a lower rod portion arranged in parallel and spaced apart perpendicularly to the length direction of the fabric, and two slider groups slidingly arranged on the upper rod portion, the middle rod portion, and the lower rod portion for moving the slider groups towards each other or in opposite directions; the upper left slider group and the upper right slider group are connected by a width linkage mechanism, the width linkage mechanism driving the upper left slider group and the upper right slider group connected by the width linkage mechanism to simultaneously move towards each other or in opposite directions along the width direction of the fabric on the gripper frame, and the lower left slider group and the lower right slider group are connected by a width linkage mechanism, the width linkage mechanism driving the lower left slider group and the lower right slider group connected by the width linkage mechanism to simultaneously move towards each other or in opposite directions along the width direction of the fabric on the gripper frame; the Y-direction displacement mechanism is slidingly arranged on the upper left slider group and the upper right slider group, and the grippers are arranged on the Y-direction displacement mechanism; the width linkage mechanism comprises a controllable motor and a linkage group, the linkage group comprises a middle rod member and end rod members connected to both ends of the middle rod member, the middle rod member is connected to the controllable motor, and the ends of the two end rod members away from the middle rod member are connected to the slider groups, the controllable motor drives the middle rod member of the linkage group to rotate to drive the two end rod members to extend outward or retract inward; the left middle slider group and the right middle slider group are connected by a width linkage mechanism, the width linkage mechanism driving the left middle slider group and the right middle slider group connected by the width linkage mechanism to simultaneously move towards each other or in opposite directions along the width direction of the fabric on the gripper frame, and the Y-direction displacement mechanism is slidingly arranged on the left middle slider group and the right middle slider group, and the grippers arranged on the Y-direction displacement mechanism correspond to the grabbing points on the left middle edge or the right middle edge of the fabric. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The upper left and upper right Y-direction displacement mechanisms are further connected with angle adjusting structures, at least two grippers are arranged on each angle adjusting structure, and the angle adjusting structure adjusts the included angle between the gripper and the width direction of the cloth.

2. The selvedge gripping mechanism of claim 1, wherein, The intermediate link comprises a middle connecting rod, the two end link members comprise a first connecting rod and a second connecting rod, and the first connecting rod, the middle connecting rod and the second connecting rod are connected in a chain shape. The middle connecting rod is provided with a rotation point, the controllable motor is connected with the middle connecting rod and drives the middle connecting rod to rotate around the rotation point, the two ends of the middle connecting rod are rotationally connected with the first connecting rod and the second connecting rod respectively, and the ends, away from the middle connecting rod, of the first connecting rod and the second connecting rod are rotationally connected with a sliding block group respectively.

3. The selvedge gripping mechanism of claim 1, wherein, The sliding block group comprises two sliding block seats arranged in parallel and at intervals along the length direction of the cloth, and a connecting plate connected with the two sliding block seats, the upper rod part, the middle rod part and the lower rod part each comprise two parallel sliding rods arranged perpendicularly to the length direction of the cloth, and the two sliding block seats of each sliding block group are slidingly arranged on the two parallel sliding rods.

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