Automatic fabric grabbing and hanging device based on ceiling fabric fitting line

Abstract

The invention relates to the technical field of automobile ceiling production equipment, and discloses an automatic fabric grabbing and hanging device based on a ceiling fabric fitting line, the automatic fabric grabbing and hanging device comprises a material rack frame, a moving rack, a transverse adjusting mechanism, a grabbing mechanism and a longitudinal adjusting mechanism, a connecting flange in butt joint with a robot is arranged on the material rack frame, and a clamping part is arranged on one side edge of the material rack frame; the movable frame and the clamping part are oppositely arranged in parallel; the transverse adjusting mechanism is used for driving the moving frame to get close to or away from the clamping part. The grabbing mechanism is used for automatically grabbing or releasing the fabric; the longitudinal adjusting mechanism is used for changing the distance between the two outermost grabbing mechanisms on the moving frame and the distance between the two outermost grabbing mechanisms on the clamping part. According to the automatic fabric grabbing and hanging device based on the ceiling fabric fitting line, all the mechanisms and all the parts are matched to act, and finally full-automatic operation of automatic grabbing, tensioning, turning over and hanging of the fabric is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile roof production equipment, and in particular to an automatic material grabbing and hanging device based on a roof fabric laminating line. Background Art

[0002] The soft interior of the canopy is one of the essential interior parts of the car. With the advancement of technology, the production process of the car canopy has also shown a diversified development trend. The production of the canopy has changed from the traditional dry process to a variety of processes such as dry and wet processes. According to the different combinations of substrate molding and fabric lamination processes, one-step and two-step processes have been derived. Among the many processes for canopy production, the wet two-step process has gradually been favored by major interior parts manufacturers due to its low raw material cost, high production efficiency and good product stability.

[0003] At present, the automation level of substrate molding production is high. Only raw material loading and semi-finished product discharging require operators, and the entire substrate molding line can achieve fully automated operation. However, the fabric bonding line cannot achieve fully automated production at present. The main reason is that the fabric needs to be turned over and hung on the fabric clamp after rolling glue and spraying water. This process has no supporting tooling mechanism and can only be done manually. This not only affects product production efficiency and increases production costs, but also leads to high workload for workers and the product scrap rate cannot be effectively controlled. Summary of the invention

[0004] Based on the above problems, the purpose of the present invention is to provide an automatic fabric grabbing and hanging device based on the canopy fabric fitting line, which meets the action requirements of the fabric from grabbing to hanging.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic material grabbing and hanging device based on a canopy fabric laminating line comprises a material rack frame, a movable rack, a lateral adjustment mechanism, a grabbing mechanism and a longitudinal adjustment mechanism, wherein:

[0007] The rack frame is provided with a connection flange that docks with the robot. The robot is used to drive the rack frame to move and flip. One side of the rack frame is a clamping part.

[0008] The movable rack is slidably arranged on the material rack frame, and the movable rack and the clamping part are arranged parallel and opposite to each other;

[0009] The lateral adjustment mechanism is used to drive the moving frame to approach or move away from the clamping part;

[0010] The grabbing mechanism is used to automatically grab or release the fabric, and a plurality of grabbing mechanisms are distributed on the moving frame and the clamping part along the longitudinal direction, and the longitudinal direction is consistent with the length direction of the moving frame;

[0011] The longitudinal adjustment mechanism is used to change the distance between the two outermost gripping mechanisms on the moving frame and the distance between the two outermost gripping mechanisms on the clamping part.

[0012] As an optional solution, first guide rails are respectively provided on both sides of the material rack frame adjacent to the clamping portion, and the two first guide rails are correspondingly slidably matched with the two ends of the movable rack;

[0013] The transverse adjustment mechanism includes a first driving member, which is installed on the material rack frame. The driving end of the first driving member is connected to one or both ends of the mobile rack, so that the mobile rack moves along the first guide rail, thereby tensioning the fabric in the transverse direction, which is perpendicular to the longitudinal direction.

[0014] As an optional solution, the two ends of the clamping part and the two ends of the moving frame are respectively provided with second guide rails, and the second guide rails are slidably matched with the corresponding grabbing mechanism;

[0015] The longitudinal adjustment mechanism includes a second driving member, which is installed on the clamping part or the movable frame. The driving end of the second driving member is connected to the grabbing mechanism, so that the grabbing mechanism moves along the second guide rail, thereby tensioning the fabric in the longitudinal direction.

[0016] As an optional scheme, a secondary adjustment component is further arranged between the second driving member and the clamping part or the movable frame, and the secondary adjustment component includes a first relatively movable plate and a second relatively movable plate. The first relatively movable plate is fixed on the clamping part or the movable frame, and the second relatively movable plate is connected to the second driving member. The first relatively movable plate is provided with a plurality of first locking holes arranged equidistantly along the longitudinal direction, and the second relatively movable plate is provided with a first fastener matching with any first locking hole.

[0017] As an optional solution, the first relatively movable plate is slidably matched with the second relatively movable plate, a longitudinal guide groove is provided on the first relatively movable plate, and a guide block extending into the longitudinal guide groove is provided on the second relatively movable plate.

[0018] As an optional solution, at least three grabbing mechanisms are provided on the movable frame and the clamping part. The two outermost grabbing mechanisms on the movable frame and the two outermost grabbing mechanisms on the clamping part are used to clamp the four corners of the fabric, and the middle grabbing mechanism on the movable frame and the middle grabbing mechanism on the clamping part are used to clamp the two side edges of the fabric.

[0019] As an optional solution, an anti-movement mechanism is also included, which is used to adjust and lock the position of the middle grabbing mechanism on the movable frame and the position of the middle grabbing mechanism on the clamping part along the longitudinal direction.

[0020] As an optional solution, a third guide rail is respectively provided in the middle of the moving frame and the middle of the clamping part, and the third guide rail is slidably matched with the corresponding grabbing mechanism;

[0021] The anti-movement mechanism includes a locking plate respectively arranged on the clamping part and the movable frame and located on one side of the third guide rail, a fourth guide rail arranged in the same direction as the third guide rail is arranged on the locking plate, a connecting plate is arranged on the grasping mechanism, the connecting plate is slidably matched with the fourth guide rail, and a second fastener for fixing the locking plate is arranged on the connecting plate.

[0022] As an optional solution, the locking plate is provided with a plurality of second locking holes which are arranged equidistantly along the longitudinal direction, and the connecting plate is provided with a third fastener which cooperates with any second locking hole.

[0023] As an optional solution, the gripping mechanism includes a base, a third driving member, a fourth driving member and a clamping member, the base is mounted on the mobile frame or the clamping portion, the third driving member is mounted on the base, the driving end of the third driving member is connected to the fourth driving member, and the driving end of the fourth driving member is connected to the clamping member;

[0024] The third driving member is used to drive the clamping member to move along the transverse direction, which is perpendicular to the longitudinal direction; the fourth driving member is used to drive the clamping member to move along a direction perpendicular to the longitudinal direction and perpendicular to the transverse direction; the clamping member is used to clamp the fabric.

[0025] The beneficial effects of the present invention are as follows: the automatic fabric grabbing and hanging device based on the canopy fabric fitting line realizes the grabbing operation of the entire fabric through the combination of a material rack frame, a movable rack and multiple grabbing mechanisms; the fabric is longitudinally tightened by a longitudinal adjustment mechanism to meet the operational requirements of the canopy fabric fitting; the position of the grabbing mechanism in the width direction can be adjusted by a transverse adjustment mechanism to meet the operational requirements of fabrics of different widths; and combined with the handling and turning actions of the robot, the fully automated operations of automatic grabbing, tensioning, turning over and hanging of the fabric are finally realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a structural schematic diagram of a fabric automatic grabbing and hanging device based on a canopy fabric laminating line provided by an embodiment of the present invention;

[0027] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0028] Figure 3 yes Figure 1 Enlarged view of point B in the middle;

[0029] Figure 4 yes Figure 1 Enlarged view of point C in the middle.

[0030] In the attached figure:

[0031] 1. Material rack frame; 11. Connecting flange; 12. Clamping part; 13. First guide rail; 14. Second guide rail; 15. Third guide rail;

[0032] 2. Mobile rack;

[0033] 3. lateral adjustment mechanism; 31. first driving member;

[0034] 4. Grasping mechanism; 41. Connecting plate; 42. Base; 43. Third driving member; 44. Fourth driving member; 45. Clamping member;

[0035] 5. Longitudinal adjustment mechanism; 51. Second driving member; 52. First relatively movable plate; 53. Second relatively movable plate; 54. First locking hole; 55. Longitudinal guide groove; 56. Guide block;

[0036] 6. Anti-movement mechanism; 61. Locking plate; 62. Fourth guide rail; 63. Second fastener; 64. Second locking hole; 65. Third fastener. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0041] See also Figures 1 to 4 As shown, this embodiment provides an automatic material grabbing and hanging device based on the canopy fabric laminating line, including a material rack frame 1, a movable rack 2, a lateral adjustment mechanism 3, a grabbing mechanism 4 and a longitudinal adjustment mechanism 5, wherein:

[0042] The rack frame 1 is provided with a connection flange 11 that is connected to the robot. The robot is used to drive the rack frame 1 to move and flip. One side of the rack frame 1 is a clamping portion 12.

[0043] The movable frame 2 is slidably disposed on the material frame frame 1, and the movable frame 2 and the clamping portion 12 are arranged parallel and opposite to each other;

[0044] The lateral adjustment mechanism 3 is used to drive the moving frame 2 to move closer to or away from the clamping portion 12;

[0045] The grabbing mechanism 4 is used to automatically grab or release the fabric, and a plurality of grabbing mechanisms 4 are distributed on the moving frame 2 and the clamping portion 12 along the longitudinal direction, and the longitudinal direction is consistent with the length direction of the moving frame 2;

[0046] The longitudinal adjustment mechanism 5 is used to change the distance between the two outermost gripping mechanisms 4 on the moving frame 2 and the distance between the two outermost gripping mechanisms 4 on the clamping portion 12 .

[0047] Optionally, first guide rails 13 are respectively provided on both sides of the material rack frame 1 adjacent to the clamping portion 12, and the two first guide rails 13 are correspondingly slidably matched with the two ends of the mobile rack 2;

[0048] The transverse adjustment mechanism 3 includes a first driving member 31, which is installed on the material rack frame 1. The driving end of the first driving member 31 is connected to one end or both ends of the mobile rack 2, so that the mobile rack 2 moves along the first guide rail 13, thereby tensioning the fabric in the transverse direction, which is perpendicular to the longitudinal direction.

[0049] Thus, the position of the grabbing mechanism 4 in the width direction can be adjusted by the lateral adjustment mechanism 3 to meet the operation requirements of fabrics of different widths. The first driving member 31 here should have a locking function, which can be an automatic control form of a motor screw, or can be a Figure 1 The hand wheel screw manual adjustment form shown. The former form can meet the requirements of fully automated production; the latter form is more convenient for on-site operation and has low cost.

[0050] Optionally, the two ends of the clamping portion 12 and the two ends of the moving frame 2 are respectively provided with second guide rails 14, and the second guide rails 14 are slidably matched with the corresponding grasping mechanism 4;

[0051] The longitudinal adjustment mechanism 5 includes a second driving member 51, which is installed on the clamping portion 12 or the movable frame 2. The driving end of the second driving member 51 is connected to the grabbing mechanism 4, so that the grabbing mechanism 4 moves along the second guide rail 14, thereby tensioning the fabric in the longitudinal direction.

[0052] Thus, the fabric is longitudinally tightened by the longitudinal adjustment mechanism 5 to meet the requirements of the roof fabric fitting operation. The second driving member 51 here should have a locking function, preferably as follows Figure 1 The pneumatic drive form shown has quick response and precise movement.

[0053] Furthermore, a secondary adjustment component is provided between the second driving member 51 and the clamping portion 12 or the mobile frame 2, see Figure 2 The secondary adjustment assembly includes a first relatively movable plate 52 and a second relatively movable plate 53. The first relatively movable plate 52 is fixed on the clamping portion 12 or the movable frame 2. The second relatively movable plate 53 is connected to the second driving member 51. The first relatively movable plate 52 is provided with a plurality of first locking holes 54 arranged equidistantly along the longitudinal direction. The second relatively movable plate 53 is provided with a first fastener that cooperates with any first locking hole 54.

[0054] Among them, a larger longitudinal adjustment range of the grabbing mechanism 4 is achieved through the secondary adjustment component to adapt to fabrics of different sizes; the first fastener can be a locking bolt to achieve position locking of the first relatively movable plate 52 and the second relatively movable plate 53; in addition, the supporting equipment press machine is equipped with material receiving pins at the bonding feeding mechanism, and the secondary adjustment component can better avoid interference between the grabbing mechanism 4 and the material receiving pins, and select a suitable grabbing position.

[0055] Furthermore, the first relatively movable plate 52 and the second relatively movable plate 53 are slidably matched, a longitudinal guide groove 55 is provided on the first relatively movable plate 52 , and a guide block 56 extending into the longitudinal guide groove 55 is provided on the second relatively movable plate 53 .

[0056] Optionally, at least three grabbing mechanisms 4 are provided on the movable frame 2 and the clamping part 12, the two outermost grabbing mechanisms 4 on the movable frame 2 and the two outermost grabbing mechanisms 4 on the clamping part 12 are used to clamp the four corners of the fabric, and the middle grabbing mechanism 4 on the movable frame 2 and the middle grabbing mechanism 4 on the clamping part 12 are used to clamp the two side edges of the fabric.

[0057] In this way, the entire fabric is reliably grasped and kept taut in the transverse and longitudinal directions to meet the requirements for fitting with the canopy.

[0058] Optionally, the automatic fabric grabbing and hanging device based on the canopy fabric laminating line further includes an anti-slip mechanism 6, which is used to adjust and lock the position of the middle grabbing mechanism 4 on the moving frame 2 and the position of the middle grabbing mechanism 4 on the clamping portion 12 along the longitudinal direction. Similarly, according to the arrangement of the material receiving pins at the laminating feeding mechanism of the supporting equipment press, the anti-slip mechanism 6 is used to adjust the grabbing mechanism 4 in the middle position to an area that does not interfere with the material receiving pins.

[0059] Optionally, a third guide rail 15 is respectively provided in the middle of the mobile frame 2 and the middle of the clamping portion 12, and the third guide rail 15 is slidably matched with the corresponding grasping mechanism 4;

[0060] See Figure 3 The anti-movement mechanism 6 includes a locking plate 61 which is respectively arranged on the clamping portion 12 and the movable frame 2 and is located on one side of the third guide rail 15. The locking plate 61 is provided with a fourth guide rail 62 arranged in the same direction as the third guide rail 15. The gripping mechanism 4 is provided with a connecting plate 41, which is slidably matched with the fourth guide rail 62. The connecting plate 41 is provided with a second fastener 63 for fixing the locking plate 61.

[0061] Furthermore, the locking plate 61 is provided with a plurality of second locking holes 64 equidistantly arranged along the longitudinal direction, and the connecting plate 41 is provided with a third fastener 65 matched with any second locking hole 64 .

[0062] Among them, the second guide rail 14 and the third guide rail 15 can be in a segmented form or in an integrated form; the third guide rail 15 and the fourth guide rail 62 are guided together to improve the stability of the longitudinal movement of the grabbing mechanism 4; the second fastener 63 can be a locking bolt to achieve position locking of the grabbing mechanism 4; the third fastener 65 can be a knob plunger pin. On the premise that the longitudinal position of the grabbing mechanism 4 can be locked and adjusted, the knob plunger pin cooperates with the second locking hole 64 to effectively prevent the movement of the grabbing mechanism 4 caused by the fabric turning over process.

[0063] Optionally, the gripping mechanism 4 includes a base 42, a third driving member 43, a fourth driving member 44 and a clamping member 45, see Figure 4 , the base 42 is mounted on the moving frame 2 or the clamping part 12, the third driving member 43 is mounted on the base 42, the driving end of the third driving member 43 is connected to the fourth driving member 44, and the driving end of the fourth driving member 44 is connected to the clamping member 45;

[0064] The third driving member 43 is used to drive the clamping member 45 to move along the transverse direction, which is perpendicular to the longitudinal direction; the fourth driving member 44 is used to drive the clamping member 45 to move along a direction perpendicular to the longitudinal direction and perpendicular to the transverse direction; the clamping member 45 is used to clamp the fabric.

[0065] Among them, the third driving member 43, the fourth driving member 44 and the clamping member 45 are preferably cylinders, and can also be replaced by electric cylinders, motor screws, etc., and can be used in conjunction with the longitudinal adjustment mechanism 5 to realize the function of multi-position grabbing and transferring of fabrics.

[0066] Overall production process flow:

[0067] 1) According to the size of the fabric to be bonded, the automatic material grabbing and hanging device based on the canopy fabric bonding line is preliminarily adjusted. Specifically, ① according to the size of the fabric to be bonded, the position of the movable frame 2 is adjusted through the lateral adjustment mechanism 3, so that the size of the automatic material grabbing and hanging device based on the canopy fabric bonding line is adapted to the size of the fabric width; ② according to the arrangement of the material receiving pins at the bonding feeding mechanism of the supporting equipment press, the grabbing mechanism 4 in the middle position is adjusted to the area that does not interfere with the material receiving pins through the anti-slip mechanism 6, and the grabbing mechanisms 4 at the four corners are adjusted in place through the secondary adjustment components according to the same principle of non-interference with the material receiving pins; ③ the automatic material grabbing and hanging device based on the canopy fabric bonding line is connected to the supporting robot through the connecting flange 11;

[0068] 2) The fabric after glue rolling and water spraying is moved to the grabbing position;

[0069] 3) The supporting visual system takes pictures, and the visual guidance supporting robot drives the automatic material grabbing and hanging device based on the canopy fabric fitting line to the fabric grabbing position;

[0070] 4) multiple (eight in this embodiment) gripping mechanisms 4 grip the fabric;

[0071] 5) The longitudinal adjustment mechanism 5 at the four corners is activated, driving the grabbing mechanism 4 and the grabbed fabric to move in the longitudinal direction, thereby achieving tensioning of the fabric in the longitudinal direction;

[0072] 6) The robot drives the automatic material grabbing and hanging device based on the canopy fabric laminating line and the fabric to the turning position for turning over;

[0073] 7) The robot drives the automatic material grabbing and hanging device based on the canopy fabric laminating line and the fabric to the hanging position;

[0074] 8) The supporting press machine is used to connect the materials and nail the fabrics at the feeding mechanism;

[0075] 9) The grabbing mechanism 4 is opened, and the robot drives the automatic material grabbing and hanging device based on the canopy fabric laminating line to the origin position;

[0076] At this point, the automatic fabric grabbing and hanging device based on the canopy fabric bonding line, the robot, the visual system and the material receiving pin mechanism at the press feeding mechanism have systematically realized the fully automated operations of automatic grabbing, tensioning, turning over and hanging of the fabric after rolling glue and spraying water.

[0077] In summary, the automatic fabric grabbing and hanging device based on the canopy fabric laminating line has the following advantages:

[0078] 1) By orderly combining the material rack frame 1 and multiple grabbing mechanisms 4, automatic grabbing of fabrics is realized, and multiple grabbing mechanisms 4 also meet the grabbing requirements of fabrics of different specifications; and then the robot controls the turning and transfer of fabrics, and finally realizes the precise hanging of fabrics;

[0079] 2) The longitudinal adjustment mechanism 5 at the four corners realizes the stretching and tensioning of the fabric in the longitudinal direction, which meets the tensioning requirements of the fabric lamination on the basis of reducing the cost of fabric consumables; the longitudinal adjustment mechanism 5 has high operating stability, which solves the problem of fabric wrinkles in the product after lamination due to insufficient manual tensioning of the fabric;

[0080] 3) Through the lateral adjustment mechanism 3, the fabric is tensioned in the lateral direction and can be adjusted according to the fabric width, and the versatility is further improved; at the same time, in order to ensure the stability of the robot-driven material rack frame 1 operation, this lateral adjustment mechanism 3 is only arranged on one side of the robot.

[0081] 4) The anti-movement mechanism 6 realizes the longitudinal adjustment locking and anti-movement functions of the grabbing mechanism 4 in the middle position, ensures reliable grabbing of the fabric, and effectively solves the problem of movement of the grabbing mechanism 4 caused by the fabric turning over.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. The automatic material grabbing and hanging device based on the canopy fabric laminating line is characterized by: It comprises a material rack frame (1), a movable rack (2), a transverse adjustment mechanism (3), a grasping mechanism (4) and a longitudinal adjustment mechanism (5), wherein: The material rack frame (1) is provided with a connecting flange (11) for docking with a robot, and the robot is used to drive the material rack frame (1) to move and flip, and one side of the material rack frame (1) is a clamping portion (12); The movable frame (2) is slidably arranged on the material rack frame (1), and the movable frame (2) and the clamping portion (12) are arranged parallel and opposite to each other; The lateral adjustment mechanism (3) is used to drive the movable frame (2) to move closer to or farther away from the clamping portion (12); The grabbing mechanism (4) is used to automatically grab or release fabrics, and a plurality of the grabbing mechanisms (4) are distributed on the movable frame (2) and the clamping portion (12) along a longitudinal direction, wherein the longitudinal direction is consistent with a length direction of the movable frame (2); The longitudinal adjustment mechanism (5) is used to change the distance between the two outermost gripping mechanisms (4) on the moving frame (2) and the distance between the two outermost gripping mechanisms (4) on the clamping portion (12).

2. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 1 is characterized in that: First guide rails (13) are respectively provided on both side edges of the material rack frame (1) adjacent to the clamping portion (12), and the two first guide rails (13) are slidably matched with the two ends of the movable rack (2); The transverse adjustment mechanism (3) comprises a first driving member (31), the first driving member (31) is mounted on the material rack frame (1), and the driving end of the first driving member (31) is connected to one end or both ends of the movable rack (2), so that the movable rack (2) moves along the first guide rail (13), thereby tensioning the fabric in a transverse direction, wherein the transverse direction is perpendicular to the longitudinal direction.

3. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 1 is characterized in that: The two ends of the clamping portion (12) and the two ends of the movable frame (2) are respectively provided with second guide rails (14), and the second guide rails (14) are slidably matched with the corresponding grasping mechanism (4); The longitudinal adjustment mechanism (5) comprises a second driving member (51), the second driving member (51) being mounted on the clamping portion (12) or the movable frame (2), the driving end of the second driving member (51) being connected to the gripping mechanism (4), so that the gripping mechanism (4) moves along the second guide rail (14), thereby tensioning the fabric in the longitudinal direction.

4. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 3 is characterized in that: A secondary adjustment component is also provided between the second driving member (51) and the clamping portion (12) or the movable frame (2), and the secondary adjustment component comprises a first relatively movable plate (52) and a second relatively movable plate (53), the first relatively movable plate (52) being fixed to the clamping portion (12) or the movable frame (2), the second relatively movable plate (53) being connected to the second driving member (51), the first relatively movable plate (52) being provided with a plurality of first locking holes (54) equidistantly arranged along the longitudinal direction, and the second relatively movable plate (53) being provided with a first fastener cooperating with any of the first locking holes (54).

5. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 4 is characterized in that: The first relatively movable plate (52) and the second relatively movable plate (53) are slidably matched, the first relatively movable plate (52) is provided with a longitudinal guide groove (55), and the second relatively movable plate (53) is provided with a guide block (56) extending into the longitudinal guide groove (55).

6. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 1 is characterized in that: At least three gripping mechanisms (4) are arranged on the movable frame (2) and the clamping portion (12); the two outermost gripping mechanisms (4) on the movable frame (2) and the two outermost gripping mechanisms (4) on the clamping portion (12) are used to clamp the four corners of the fabric; the middle gripping mechanism (4) on the movable frame (2) and the middle gripping mechanism (4) on the clamping portion (12) are used to clamp the two side edges of the fabric.

7. The automatic fabric grabbing and hanging device based on the canopy fabric laminating line according to claim 6 is characterized in that: It also includes an anti-movement mechanism (6), which is used to adjust and lock the position of the grabbing mechanism (4) in the middle of the mobile frame (2) and the position of the grabbing mechanism (4) in the middle of the clamping part (12) along the longitudinal direction.

8. The automatic fabric grabbing and hanging device based on the ceiling fabric laminating line according to claim 7 is characterized in that: A third guide rail (15) is provided in the middle of the movable frame (2) and in the middle of the clamping portion (12), respectively, and the third guide rail (15) is slidably matched with the corresponding grasping mechanism (4); The anti-movement mechanism (6) comprises a locking plate (61) which is respectively arranged on the clamping portion (12) and the movable frame (2) and is located on one side of the third guide rail (15); the locking plate (61) is provided with a fourth guide rail (62) arranged in the same direction as the third guide rail (15); the gripping mechanism (4) is provided with a connecting plate (41), the connecting plate (41) is slidably matched with the fourth guide rail (62), and the connecting plate (41) is provided with a second fastener (63) for fixing the locking plate (61).

9. The automatic fabric grabbing and hanging device based on the ceiling fabric laminating line according to claim 8 is characterized in that: The locking plate (61) is provided with a plurality of second locking holes (64) arranged equidistantly along the longitudinal direction, and the connecting plate (41) is provided with a third fastener (65) matched with any of the second locking holes (64).

10. The automatic fabric grabbing and hanging device based on the ceiling fabric laminating line according to claim 1 is characterized in that: The gripping mechanism (4) comprises a base (42), a third driving member (43), a fourth driving member (44) and a clamping member (45); the base (42) is mounted on the mobile frame (2) or the clamping portion (12); the third driving member (43) is mounted on the base (42); a driving end of the third driving member (43) is connected to the fourth driving member (44); and a driving end of the fourth driving member (44) is connected to the clamping member (45); The third driving member (43) is used to drive the clamping member (45) to move along a transverse direction, wherein the transverse direction is perpendicular to the longitudinal direction; The fourth driving member (44) is used to drive the clamping member (45) to move along a direction perpendicular to the longitudinal direction and perpendicular to the transverse direction; The clamping member (45) is used for clamping the fabric.

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