Mechanical hand device for a fully automatic braiding machine

Abstract

This invention discloses a robotic arm device for a fully automatic knitting machine, relating to the field of knitting equipment technology. It includes a frame plate, and further includes a robotic arm assembly, a robotic arm gripping and releasing control assembly, a robotic arm gripping and releasing power assembly, a robotic arm swing feeding control assembly, and a robotic arm swing feeding power assembly. The robotic arm assembly is located in front of the frame plate, and both the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly are located in front of the robotic arm assembly. The robotic arm gripping and releasing power assembly and the robotic arm swing feeding power assembly are located behind the frame plate and are respectively connected to the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly. It features precise gripping and swing feeding capabilities, suitable for gripping and feeding knitting materials in fully automatic knitting equipment. When used with a fully automatic knitting machine, it can knit various types of mats, curtains, and decorative fabrics.

Description

Technical Field

[0001] This invention relates to the field of weaving equipment technology, and in particular to a robotic arm device for a fully automatic weaving machine. Background Technology

[0002] In the existing technology, the weaving equipment used to weave various mats, curtains and decorative fabrics mostly relies on manual addition of weaving materials during the weaving process. Although there are a few automatic feeding devices, the feeding is generally uneven, which results in the woven products being neither neat nor flat, thus affecting the product quality.

[0003] Chinese Patent (Patent Application No. 201921506134.5) discloses a "manipulator for gripping components to be packaged on a braiding machine," which includes a ring, a crossbeam, a toothed ring, a fixed shaft, a middle block, a hinge seat I, a diagonal connecting rod, a gate-shaped component, a motor I, a gear I, a stop pin, an arm, a hinge seat II, and grippers. The crossbeam is fixedly connected to the ring, the toothed ring is fixedly connected to the outer circumference of the ring, the fixed shaft is fixedly connected to the lower middle part of the crossbeam, the middle block is slidably connected to the fixed shaft, the hinge seat I is provided on the middle block, the upper end of the diagonal connecting rod is hinged to the hinge seat I, the gate-shaped component is slidably connected to the outer ring of the ring, two stop pins are arranged opposite each other on the gate-shaped component, the two stop pins are in contact with the inner circumferential surface of the ring, the motor I is fixedly connected to the gate-shaped component, and the gear I is fixedly connected to the output shaft of the motor I.

[0004] Another Chinese patent (patent application number 201520922892.0) discloses a "warp knitting machine with a robotic arm," which includes a knitting mechanism, a guide bar traversing mechanism, a warp feeding mechanism, and a pull-and-take mechanism. The pull-and-take mechanism includes a motor and a fabric winding shaft. The motor is connected to the fabric winding shaft via a belt drive or chain drive mechanism. The warp knitting machine also includes an automatic gripping device, which includes a gantry frame, a base slide rail, a crossbeam, and a robotic claw. The warp knitting machine also includes a lubricating oil circulation device, which includes an oil pump. The oil pump includes an oil inlet pipe, an oil outlet pipe, a pump body, an impeller, and a pump shaft. This warp knitting machine can rapidly cool the temperature of the lubricating oil.

[0005] Another Chinese patent (patent application number 202311391832.6) discloses a "robotic arm cooperative device for processing irregularly shaped workpieces on a braiding machine," which includes: a circular braiding machine for braiding irregularly shaped workpieces, with the workpiece mandrel passing through the circular braiding machine; a robotic arm unit and a follower support unit, respectively arranged on both sides of the circular braiding machine, which clamp the two ends of the workpiece mandrel. This invention clamps large-sized irregularly shaped workpieces using the robotic arm unit and follower support unit, achieving support and feeding of large-sized irregularly shaped workpieces during the braiding process. It adjusts the vertical position of the workpiece mandrel according to its shape, ensuring that the braiding position of the workpiece mandrel is always at the center of the circular braiding machine, improving the consistency of yarn tension in all directions of the workpiece mandrel during the braiding process, and improving the braiding quality.

[0006] Another Chinese patent (patent application number 202310024851.9) discloses "An Auxiliary Weaving Robot for a Carbon Fiber Weaving Machine," whose key technical features include: a base on which an adhesive assembly is fixedly connected. The adhesive assembly includes a feed box, a first upright plate, a first motor, a disc, a telescopic component, and a dipping component. The feed box is fixedly connected to the base, the first upright plate is fixedly connected to the base, and the first upright plate and the feed box are spaced apart. The first motor is fixedly connected to the first upright plate. This auxiliary weaving robot for a carbon fiber weaving machine, by using an end-fixing mechanism in conjunction with the feed box, first upright plate, first motor, disc, telescopic component, and dipping component, enables the device to automatically fix the ends of carbon fiber threads to the weaving cylinder. This makes the weaving process more continuous, simplifies the operation, and reduces labor input to a certain extent, making it easier for the operator to use. Summary of the Invention

[0007] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a robotic arm device that can accurately grip and oscillate to deliver knitting materials, suitable for fully automatic knitting equipment.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is to invent a robotic arm device for a fully automatic knitting machine, including a frame plate 37, and further including a robotic arm assembly, a robotic arm gripping and releasing control assembly, a robotic arm gripping and releasing power assembly, a robotic arm swing feeding control assembly, and a robotic arm swing feeding power assembly; the robotic arm assembly is disposed in front of the frame plate 37, the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly are both disposed in front of the robotic arm assembly, and the robotic arm gripping and releasing power assembly and the robotic arm swing feeding power assembly are both disposed in rear of the frame plate 37 and are respectively connected to the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly;

[0009] The robotic arm assembly includes a material receiving plate 2, a movable clamping arm 3, a stationary clamping arm 4, a chute bottom plate 7, a left chute plate 36, and a right chute plate 27. The left chute plate 36 and the right chute plate 27 are respectively disposed on the left and right sides of the chute bottom plate 7, and each of them has sliding holes in the left and right directions for the stationary clamping arm 4 and the movable clamping arm 3 to pass through. The movable clamping arm 3 is in the shape of a "∟" long rod, and the stationary clamping arm 4 is also in the shape of a long rod. The material receiving plate 2 has a material receiving groove 54 in the middle of its upper side, and its upper right side is connected to the rear side of the left end of the stationary clamping arm 4. The left end "I" of the movable clamping arm 3 is tilted to the right, and the left end of the stationary clamping arm 4 is tilted to the left. The upper right side of the left end "I" of the movable clamping arm 3 and the upper part of the left end of the stationary clamping arm 4 form the robotic arm gripping opening. The rear of the chute bottom plate 7 is connected to the robotic arm swing feeding control assembly.

[0010] The robotic gripper gripping and releasing control assembly includes a static gripper sliding mechanism, a moving gripper sliding mechanism, a gripping and releasing swing mechanism, and a gripping and releasing swing mechanism reset mechanism.

[0011] The static clamping arm sliding mechanism includes a static clamping arm sliding block 29, a static clamping arm sliding block bearing 31, a static clamping arm sliding block bearing pin 13, and a static clamping arm sliding block clamping screw 12. The upper and lower parts of the static clamping arm sliding block 29 are respectively provided with sliding holes in the left and right directions for the static clamping arm 4 and the movable clamping arm 3 to pass through. The static clamping arm sliding block clamping screw 12 is located on the upper part of the static clamping arm sliding block 29 and is used to connect the static clamping arm sliding block 29 and the static clamping arm 4 as a whole. The static clamping arm sliding block bearing pin 13 sets the static clamping arm sliding block bearing 31 in the middle of the front of the static clamping arm sliding block 29.

[0012] The movable clamping arm sliding mechanism includes a movable clamping arm sliding block 8, a movable and stationary clamping arm sliding block bearing 10, a movable clamping arm sliding block bearing pin 49, and a movable clamping arm sliding block clamping screw 32. The upper and lower parts of the movable clamping arm sliding block 8 are respectively provided with sliding holes in the left and right directions for the stationary clamping arm 4 and the movable clamping arm 3 to pass through. The movable clamping arm sliding block clamping screw 32 is located at the lower part of the movable clamping arm sliding block 8 and is used to connect the movable clamping arm sliding block 8 and the movable clamping arm 3 as a whole. The movable clamping arm sliding block bearing pin 49 positions the movable and stationary clamping arm sliding block bearing 10 at the front center of the movable clamping arm sliding block 8.

[0013] The clamping and releasing swing mechanism includes a clamping and releasing swing surface rod 11 and a clamping and releasing swing inner rod 26. The clamping and releasing swing surface rod 11 is C-shaped, with a clamping and releasing swing cam 33 disposed in its middle. The clamping and releasing swing surface rod 11 is disposed in front of the slide base plate 7, and the clamping and releasing swing cam 33 is located between the moving and stationary clamping arm sliding block bearing 10 and the stationary clamping arm sliding block bearing 31. The clamping and releasing swing inner rod 26 is disposed behind the slide base plate 7, and its upper and lower ends are connected to the upper and lower ends of the clamping and releasing swing surface rod 11 by an upper connecting screw 15 and a lower connecting screw 20, respectively. The rear of the clamping and releasing swing inner rod 26 is connected to the robotic arm clamping and releasing power assembly.

[0014] The clamping and releasing swing mechanism reset mechanism includes a clamping and releasing swing mechanism reset spring 34, a clamping and releasing swing mechanism reset spring left hanging screw 35, and a stationary clamping arm sliding block bearing pin 13. The clamping and releasing swing mechanism reset spring left hanging screw 35 is located at the front end of the moving clamping arm sliding block bearing pin 49. The two ends of the clamping and releasing swing mechanism reset spring 34 are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw 35 and the moving clamping arm sliding block bearing pin 49.

[0015] The clamping and releasing swing mechanism reset mechanism also includes an extension plate 30 and a right-hand hanging screw 28 for the clamping and releasing swing mechanism reset spring. The left end of the extension plate 30 is set at the front end of the static clamping arm sliding block bearing 31 by the static clamping arm sliding block bearing pin 13. The two ends of the clamping and releasing swing mechanism reset spring 34 are respectively hooked between the left-hand hanging screw 35 for the clamping and releasing swing mechanism reset spring and the right-hand hanging screw 28 for the clamping and releasing swing mechanism reset spring set at the right end of the extension plate 30.

[0016] The robotic gripper release power assembly includes a robotic gripper release power shaft 39, a robotic gripper release power bearing seat 38, a robotic gripper release power shaft crank arm 18, a robotic gripper release power shaft crank arm joint 19, a robotic gripper release power cam connecting rod 24, and a robotic gripper release power cam mechanism.

[0017] The front end of the robotic arm gripping and releasing power shaft 39 is connected to the middle of the gripping and releasing swing inner rod 26. Its rear end extends out of the right side of the frame plate 37 and then through the robotic arm gripping and releasing power bearing seat 38 located behind the frame plate 37. One end of the robotic arm gripping and releasing power shaft crank arm 18 is then fitted onto it. The other end of the robotic arm gripping and releasing power shaft crank arm 18 is hinged to the robotic arm gripping and releasing power shaft crank arm joint 19 through the robotic arm gripping and releasing power shaft crank arm pin 17. The upper end of the robotic arm gripping and releasing power cam connecting rod 24 is connected to the lower end of the robotic arm gripping and releasing power shaft crank arm joint 19, and the lower end of the robotic arm gripping and releasing power cam connecting rod 24 is connected to the robotic arm gripping and releasing power cam mechanism.

[0018] At both ends of the inner hole of the robotic arm gripping and releasing power bearing seat 38, robotic arm gripping and releasing power bearings 52 are respectively provided.

[0019] The robotic arm swing feeding control component includes a robotic arm swing feeding push mechanism and a robotic arm swing feeding reset mechanism.

[0020] The robotic arm swing feeding mechanism includes a robotic arm swing feeding push rod 9, a robotic arm swing feeding push shaft 43, and a robotic arm swing feeding push bearing seat 48. An arc-shaped groove 51 is provided in the middle of the front of the slide bottom plate 7. The robotic arm swing feeding push bearing seat 48 is located behind the left part of the slide bottom plate 7. The lower end of the robotic arm swing feeding push rod 9 is connected to the front end of the robotic arm swing feeding push shaft 43, and the upper end of the robotic arm swing feeding push rod 9 abuts against the upper left step of the arc-shaped groove 51. The rear part of the robotic arm swing feeding push shaft 43 passes through the slide bottom plate 7 and then through the robotic arm swing feeding push bearing seat 48. After passing through the middle right part of the frame plate 37, it is connected to the robotic arm swing feeding power assembly.

[0021] The robotic arm swing feeding and reset mechanism includes a robotic arm swing feeding and reset spring 22, a robotic arm swing feeding and reset spring upper hook plate 16, and a robotic arm swing feeding and reset spring lower hook plate 23. The left end of the robotic arm swing feeding and reset spring upper hook plate 16 is fixed to the upper front end of the right slide plate 27 by a right slide plate screw 14. The robotic arm swing feeding and reset spring lower hook plate 23 is located at the lower right front part of the frame plate 37. The upper and lower ends of the robotic arm swing feeding and reset spring 22 are hooked to the right end 47 of the robotic arm swing feeding and reset spring upper hook plate 16 and the lower part of the robotic arm swing feeding and reset spring lower hook plate 23, respectively.

[0022] At both ends of the inner hole of the robotic arm swing feeding push bearing seat 48, robotic arm swing feeding push bearings 50 are respectively provided.

[0023] The robotic arm swing feeding power assembly includes a robotic arm swing feeding push shaft 43, a robotic arm swing feeding push shaft rear bearing seat 41, a robotic arm swing feeding push shaft crank arm 44, a robotic arm swing feeding push shaft crank arm joint 46, a robotic arm swing feeding push power cam connecting rod 25, and a robotic arm swing feeding push cam mechanism.

[0024] The robotic arm swing feeding drive shaft 43, which passes through the rear end of the robotic arm swing feeding drive bearing seat 48, passes through the robotic arm swing feeding drive shaft rear bearing seat 41 located in the middle right part behind the frame plate 37, and then mounts one end of the robotic arm swing feeding drive shaft crank arm 44; the other end of the robotic arm swing feeding drive shaft crank arm 44 is hinged to the robotic arm swing feeding drive shaft crank arm joint 46 through the robotic arm swing feeding drive shaft crank arm pin 45. The upper end of the robotic arm swing feeding drive power cam connecting rod 25 is connected to the lower end of the robotic arm swing feeding drive shaft crank arm joint 46, and the lower end of the robotic arm swing feeding drive power cam connecting rod 25 is connected to the robotic arm swing feeding drive cam mechanism.

[0025] At both ends of the inner hole of the rear bearing seat 41 of the robotic arm swing feeding push shaft, there are rear bearings 53 of the robotic arm swing feeding push shaft.

[0026] The cross-sections of the moving clamping arm 3 and the stationary clamping arm 4 are circular, rectangular, or triangular.

[0027] The robotic arm device for a fully automatic knitting machine of the present invention uses a robotic arm gripping and releasing power component to provide power, and a robotic arm gripping and releasing control component to operate the robotic arm component to achieve precise gripping of the knitting material; at the same time, a robotic arm swing feeding power component is used to provide power, and a robotic arm swing feeding control component to operate the robotic arm component to swing and feed the knitting material gripped by the robotic arm component. Therefore, it is suitable for feeding, gripping and feeding of fully automatic knitting equipment, which can avoid the decline in the quality of the knitted product due to uneven feeding and can improve production efficiency. Attached Figure Description

[0028] Figure 1 This is a front view schematic diagram of the present invention;

[0029] Figure 2 This is a rear view schematic diagram of the present invention;

[0030] Figure 3 This is a top view of the present invention;

[0031] Figure 4 This is a top sectional view of the present invention along the AA axis;

[0032] Figure 5 This is a magnified schematic diagram of the H portion of the present invention;

[0033] Figure 6 This is a magnified schematic diagram of part K of the present invention;

[0034] Figure 7 This is a magnified schematic diagram of the S portion of the present invention.

[0035] In the picture:

[0036] 1 is the discharge hole; 2 is the receiving plate; 3 is the moving clamping arm; 4 is the stationary clamping arm; 5 is the feed chute; 6 is the left slide plate screw; 7 is the slide bottom plate; 8 is the moving clamping arm sliding block; 9 is the robot arm swing feeding push rod; 10 is the moving and stationary clamping arm sliding block bearing; 11 is the clamping and releasing swing surface rod; 12 is the stationary clamping arm sliding block clamping screw; 13 is the stationary clamping arm sliding block bearing pin; 14 is the right slide plate screw; 15 is the upper connecting screw; 16 is the robot arm swing feeding reset spring hook plate; 17 is the robot arm clamping and releasing power shaft crank arm pin. 18 is the robotic arm gripping and releasing the power shaft crank arm; 19 is the robotic arm gripping and releasing the power shaft crank arm joint; 20 is the lower connecting screw; 21 is the lower hook hanging plate screw of the robotic arm swing feeding reset spring; 22 is the robotic arm swing feeding reset spring; 23 is the lower hook hanging plate of the robotic arm swing feeding reset spring; 24 is the robotic arm gripping and releasing the power cam connecting rod; 25 is the robotic arm swing feeding push power cam connecting rod; 26 is the gripping and releasing swing inner rod; 27 is the right slide plate; 28 is the right hanging screw of the gripping and releasing swing mechanism reset spring; 29 is... 30 is the extension plate, 31 is the static clamping arm sliding block bearing, 32 is the moving clamping arm sliding block clamping screw, 33 is the clamping and releasing swing cam, 34 is the clamping and releasing swing mechanism return spring, 35 is the left hanging screw of the clamping and releasing swing mechanism return spring, 36 is the left slide plate, 37 is the frame plate, 38 is the robot arm clamping and releasing power bearing seat, 39 is the robot arm clamping and releasing power shaft, 40 is the robot arm clamping and releasing power shaft crank arm screw, 41 is the robot arm swing feeding push shaft rear bearing seat, and 42 is the robot arm swing... 43 is the crank arm screw of the moving feed push shaft; 44 is the crank arm of the moving feed push shaft of the moving arm; 45 is the crank arm pin of the moving feed push shaft of the moving arm; 46 is the crank arm joint of the moving feed push shaft of the moving arm; 47 is the right end; 48 is the bearing seat of the moving feed push shaft of the moving arm; 49 is the bearing pin of the moving clamping arm sliding block; 50 is the bearing of the moving arm moving feed push shaft; 51 is the arc-shaped groove; 52 is the power bearing for the moving arm clamping and releasing; 53 is the rear bearing of the moving feed push shaft of the moving arm; 54 is the material receiving groove. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. The following description is by way of example, but the scope of protection of the present invention should not be limited thereto.

[0038] The orientation descriptions in this instruction manual are as follows:

[0039] Figure 1 and Figure 5 The top, bottom, left, and right in the middle are the actual top, bottom, left, and right; the front and inside are the actual front and back, respectively.

[0040] Figure 2The top and bottom in the middle are the actual top and bottom, the front and inside are the actual back and front, and the left and right are the actual right and left sides.

[0041] Figure 3 , Figure 4 , Figure 6 , Figure 7 The left and right sides in the middle are the actual left and right sides, the top and bottom are the actual back and front, and the front and inside are the actual top and bottom.

[0042] Example 1:

[0043] The robotic arm device for the fully automatic knitting machine in this embodiment consists of a frame plate 37, a robotic arm assembly, a robotic arm gripping and releasing control assembly, a robotic arm gripping and releasing power assembly, a robotic arm swing feeding control assembly, and a robotic arm swing feeding power assembly.

[0044] The frame plate 37 is a rectangular plate with a feed chute 5 on the upper left side, which connects to the discharge hole 1 on the left side when it reaches the upper middle part.

[0045] The robotic arm assembly consists of a material receiving plate 2, a moving gripper arm 3, a stationary gripper arm 4, a slide bottom plate 7, a left slide plate 36, and a right slide plate 27.

[0046] The slide base plate 7 is a rectangular plate arranged horizontally, with an arc-shaped groove 51 in the middle. The elongated left slide plate 36 and right slide plate 27 are respectively arranged on the left and right sides of the slide base plate 7 (fixed by two left slide plate screws 6 and two right slide plate screws 14 respectively), and the upper and lower parts of the slide plates are respectively provided with sliding holes in the left and right directions for the static clamping arm 4 and the moving clamping arm 3 to pass through.

[0047] The movable gripper 3 is a long bar shaped like an "∟" (i.e., an "L" shape tilted to the left), with its left end "I" section being relatively short and tilted to the right; the stationary gripper 4 is a long bar shaped like a "∟" (i.e., an "L" shape tilted to the left); the cross-sections of the movable gripper 3 and the stationary gripper 4 are circular, rectangular, triangular, or other shapes (rectangular is used in this example), and the upper right side of the left end "I" section of the movable gripper 3 and the upper part of the left end face of the stationary gripper 4 form the gripper jaw.

[0048] The material receiving plate 2 is a rectangular thin plate with a material receiving groove 54 in the middle of its upper side. Its upper right side is connected to the rear side of the left end of the stationary clamping arm 4. The left end "I" of the movable clamping arm 3 can slide left and right against the front of the material receiving plate 2.

[0049] The gripper-release control assembly consists of a static gripper sliding mechanism, a moving gripper sliding mechanism, a gripper-release swing mechanism, and a gripper-release swing mechanism reset mechanism.

[0050] The static clamping arm sliding mechanism consists of a static clamping arm sliding block 29, a static clamping arm sliding block bearing 31, a static clamping arm sliding block bearing pin 13, and a static clamping arm sliding block clamping screw 12.

[0051] The stationary clamping arm sliding block 29 is elongated, with sliding holes in the upper and lower parts for the stationary clamping arm 4 and the moving clamping arm 3 to pass through in the left and right directions, respectively; the stationary clamping arm sliding block clamping screw 12 is located on the upper part of the stationary clamping arm sliding block 29, for connecting the stationary clamping arm sliding block 29 and the stationary clamping arm 4 as one unit; the stationary clamping arm sliding block bearing 31 is located in the middle of the front of the stationary clamping arm sliding block 29, and is fixed by the stationary clamping arm sliding block bearing pin 13.

[0052] The moving clamping arm sliding mechanism consists of a moving clamping arm sliding block 8, a moving and stationary clamping arm sliding block bearing 10, a moving clamping arm sliding block bearing pin 49, and a moving clamping arm sliding block clamping screw 32.

[0053] The movable clamping arm sliding block 8 is also elongated, with sliding holes in the upper and lower parts for the stationary clamping arm 4 and the movable clamping arm 3 to pass through in the left and right directions, respectively; the movable clamping arm sliding block clamping screw 32 is located at the lower part of the movable clamping arm sliding block 8, for connecting the movable clamping arm sliding block 8 and the movable clamping arm 3 as one unit; the movable and stationary clamping arm sliding block bearing 10 is located at the front middle of the movable clamping arm sliding block 8, and is fixed by the movable clamping arm sliding block bearing pin 49.

[0054] The clamping and releasing swing mechanism consists of a clamping and releasing swing surface rod 11 and a clamping and releasing swing inner rod 26.

[0055] The clamping and releasing swing surface rod 11 is shaped like the letter "C", and a clamping and releasing swing cam 33, which is similar in shape to a bidirectional (i.e., up and down) gourd, is provided in the middle of its left side. The clamping and releasing swing surface rod 11 is located in front of the slide bottom plate 7, and the clamping and releasing swing cam 33 is located between the moving and stationary clamping arm sliding block bearing 10 and the stationary clamping arm sliding block bearing 31.

[0056] The clamping and releasing swing inner rod 26 is in the shape of "(" and is set behind the slide bottom plate 7 and in front of the frame plate 37. Its upper and lower ends are connected to the upper and lower ends (i.e. the two ends of C) of the clamping and releasing swing surface rod 11 through the upper connecting screw 15 and the lower connecting screw 20 respectively. A robotic arm clamping and releasing power shaft 39 that extends backward through the frame plate 37 is fixed behind the clamping and releasing swing inner rod 26.

[0057] The clamping and releasing swing mechanism reset mechanism consists of a clamping and releasing swing mechanism reset spring 34, a clamping and releasing swing mechanism reset spring left hanging screw 35, and a static clamping arm sliding block bearing pin 13.

[0058] The left hanging screw 35 of the clamping and releasing swing mechanism return spring is located at the front end of the moving clamping arm sliding block bearing pin 49. The two ends of the clamping and releasing swing mechanism return spring 34 are respectively hooked between the left hanging screw 35 and the moving clamping arm sliding block bearing pin 49. (Another option is: the clamping and releasing swing mechanism return mechanism also includes an extension plate 30 and a right hanging screw 28. The left end of the extension plate 30 is located at the front end of the stationary clamping arm sliding block bearing 31 by the stationary clamping arm sliding block bearing pin 13. The two ends of the clamping and releasing swing mechanism return spring 34 are respectively hooked between the left hanging screw 35 and the right hanging screw 28 located at the right end of the extension plate 30.)

[0059] The robotic gripper release power assembly consists of a robotic gripper release power shaft 39, a robotic gripper release power bearing seat 38, and a robotic gripper release power shaft crank arm 18.

[0060] The front end of the robotic arm gripping and releasing power shaft 39 is connected to the middle of the gripping and releasing swing inner rod 26. Its rear end extends out of the right side of the frame plate 37 and then through the robotic arm gripping and releasing power bearing seat 38 located behind the frame plate 37. One end of the robotic arm gripping and releasing power shaft crank arm 18 is then fitted and fixed by the robotic arm gripping and releasing power shaft crank arm screw 40.

[0061] The inner hole of the robotic arm gripping and releasing power bearing seat 38 is larger at both ends and smaller in the middle, with robotic arm gripping and releasing power bearings 52 respectively installed at both ends. The robotic arm gripping and releasing power shaft 39 is a stepped shaft, with its steps abutting against the inner ring of the robotic arm gripping and releasing power bearing 52 at the front end, and the outer ring of the robotic arm gripping and releasing power bearing 52 at the rear end is positioned by a retaining ring (not marked in the figure).

[0062] The robotic arm swing feeding control component consists of a robotic arm swing feeding push mechanism and a robotic arm swing feeding reset mechanism.

[0063] The robotic arm swing feeding mechanism consists of a robotic arm swing feeding push rod 9, a robotic arm swing feeding push shaft 43, and a robotic arm swing feeding push bearing seat 48.

[0064] The robotic arm swing feeding drive bearing seat 48 is located behind the left part of the slide bottom plate 7; the robotic arm swing feeding drive rod 9 is in the position of... The lower end of the shaft is connected to the front end of the swing feeding push shaft 43 of the robot arm, and the upper end of the shaft abuts against the upper left step of the arc-shaped groove 51. The swing feeding push shaft 43 of the robot arm is a double-step shaft. Its rear end passes through the bottom plate 7 of the slide groove and then through the swing feeding push bearing seat 48 of the robot arm. After passing through the middle right part of the frame plate 37, it is connected to the swing feeding power component of the robot arm.

[0065] At both ends of the inner hole of the robotic arm swing feeding push bearing seat 48, robotic arm swing feeding push bearings 50 are respectively provided, with a spacer (not marked in the figure) installed in between. The front step of the robotic arm swing feeding push shaft 43 abuts against the inner ring of the front robotic arm swing feeding push bearing 50, and the outer ring of the rear robotic arm swing feeding push bearing 50 is positioned by a retaining ring (not marked in the figure).

[0066] The robotic arm swing feeding reset mechanism consists of a robotic arm swing feeding reset spring 22, a robotic arm swing feeding reset spring upper hook plate 16, and a robotic arm swing feeding reset spring lower hook plate 23.

[0067] The left end of the upper hook plate 16 of the robotic arm swing feeding reset spring is fixed to the upper front end of the right slide plate 27 by the right slide plate screw 14. The lower hook plate 23 of the robotic arm swing feeding reset spring is fixed to the lower right front part of the frame plate 37 by the lower hook plate screw 21. The upper and lower ends of the robotic arm swing feeding reset spring 22 are hooked to the right end 47 of the upper hook plate 16 and the lower part of the lower hook plate 23, respectively.

[0068] The robotic arm swing feeding power assembly consists of a robotic arm swing feeding drive shaft 43, a robotic arm swing feeding drive shaft rear bearing seat 41, and a robotic arm swing feeding drive shaft crank arm 44.

[0069] The robotic arm swing feeding drive shaft 43, which passes through the rear end of the robotic arm swing feeding drive bearing seat 48, passes through the rear bearing seat 41 of the robotic arm swing feeding drive shaft, which is located in the middle right part of the rear of the frame plate 37, and then one end of the robotic arm swing feeding drive shaft crank arm 44 is fitted and fixed by the robotic arm swing feeding drive shaft crank arm screw 42.

[0070] The inner hole of the rear bearing seat 41 of the robotic arm swing feeding drive shaft is larger at both ends and smaller in the middle, and the rear bearings 53 of the robotic arm swing feeding drive shaft are respectively provided at both ends. The inner ring of the rear bearing 53 of the robotic arm swing feeding drive shaft at the front end is abutted by the rear step of the robotic arm swing feeding drive shaft 43, and the outer ring of the rear bearing 53 of the robotic arm swing feeding drive shaft at the rear end is positioned by a retaining ring (not marked in the figure).

[0071] The robotic arm device used in this embodiment of the fully automatic knitting machine is used in conjunction with the fully automatic knitting machine.

[0072] In use, the end of the woven material moves downward along the left wall of the feed trough 5 on the frame plate 37 (the right cavity of the feed trough 5 is controlled by other devices of the fully automatic braiding machine to prevent a large amount of woven material from falling in at the same time and causing congestion) to the material trough 54 opened in the middle of the upper side of the material receiving plate 2 between the upper right side of the left end "I" part of the moving clamping arm 3 and the upper part of the left end face of the stationary clamping arm 4, which is the gripper jaw. At this time, under the action of external force, the robotic gripping and releasing power shaft crank arm 18 rotates counterclockwise with the robotic gripping and releasing power shaft 39, and then swings counterclockwise together with the gripping and releasing swing inner rod 26 and the gripping and releasing swing surface rod 11 (see Figure 1 and Figure 5 Next, the clamping and releasing swing cam 33, which is held between the moving and stationary clamping arm sliding block bearing 10 and the stationary clamping arm sliding block bearing 31, swings downward and disengages from the clamping of the moving and stationary clamping arm sliding block bearings 10 and 31. At this time, under the action of the reset spring 34 of the clamping and releasing swing mechanism, the moving clamping arm sliding block 8 moves the moving clamping arm 3 to the right, while the stationary clamping arm sliding block 29 moves the stationary clamping arm 4 to the left, until the robotic arm clamp formed by the upper right side of the left end "I" of the moving clamping arm 3 and the upper part of the left end face of the stationary clamping arm 4 clamps the knitted material. Then, under the action of external force, the robotic arm swing feeding push shaft crank arm 44 rotates the robotic arm swing feeding push shaft 43 and the robotic arm swing feeding push rod 9 in a counterclockwise direction (see Figure 1 and Figure 5 As the upper end of the robotic arm's swing feeding push rod 9 abuts against the upper left step of the arc-shaped groove 51 in front of the slide bottom plate 7, the counterclockwise rotation of the robotic arm's swing feeding push rod 9 causes the slide bottom plate 7, along with the moving clamp arm 3 and the stationary clamp arm 4 and the woven material they clamp, to swing downwards and to the left to the discharge hole 1 of the frame plate 37. Then, under the action of external force, the robotic arm's clamping and releasing power shaft crank arm 18 rotates clockwise, causing the robotic arm's clamping and releasing power shaft 39 to rotate. This, in turn, causes the clamping and releasing swing inner rod 26, along with the clamping and releasing swing surface rod 11, to swing clockwise (see...). Figure 1 and Figure 5The clamping and releasing swing cam 33 swings upward, squeezing apart the moving and stationary clamping arm sliding block bearings 10 and 31, allowing them to clamp the clamping and releasing swing cam 33. Simultaneously, the moving clamping arm sliding block 8 moves the moving clamping arm 3 to the left, and the stationary clamping arm sliding block 29 moves the stationary clamping arm 4 to the right, thus releasing the gripper's grip on the knitting material. Next, the automatic knitting machine's pushing device pushes the loosened knitting material to the left from the receiving trough 54 to the discharge hole 1, where it is fed into the automatic knitting machine by the feeding rollers. Then, under external force, the manipulator's swing feeding push shaft crank arm 44 rotates clockwise along with the manipulator's swing feeding push shaft 43 and the manipulator's swing feeding push rod 9 (see...). Figure 1 and Figure 5 At this point, the upper end of the robotic arm swing feeding push rod 9 gives up its contact with the upper left step of the arc-shaped groove 51 in front of the slide bottom plate 7. Therefore, under the action of the robotic arm swing feeding reset spring 22, the slide bottom plate 7 also rotates clockwise, bringing the moving clamp arm 3 and the stationary clamp arm 4 back to their original positions. Thus, the clamping and swing feeding process of a piece of woven material is completed.

[0073] Example 2:

[0074] The robotic arm device used in the fully automatic knitting machine in this embodiment is an improvement on Embodiment 1. The difference between it and Embodiment 1 is that:

[0075] First, the robotic gripper release power assembly consists of a robotic gripper release power shaft 39, a robotic gripper release power bearing seat 38, a robotic gripper release power shaft crank arm 18, a robotic gripper release power shaft crank arm joint 19 (a fisheye joint, i.e., a self-lubricating rod end joint bearing), a robotic gripper release power cam connecting rod 24, and a robotic gripper release power cam mechanism (not shown in the figure).

[0076] The front end of the robotic arm gripping and releasing power shaft 39 is connected to the middle of the gripping and releasing swing inner rod 26. Its rear end extends out of the right side of the frame plate 37 and then through the robotic arm gripping and releasing power bearing seat 38 located behind the frame plate 37. One end of the robotic arm gripping and releasing power shaft crank arm 18 is then fitted onto it. The other end of the robotic arm gripping and releasing power shaft crank arm 18 is hinged to the robotic arm gripping and releasing power shaft crank arm joint 19 through the robotic arm gripping and releasing power shaft crank arm pin 17. The upper end of the robotic arm gripping and releasing power cam connecting rod 24 is connected to the lower end of the robotic arm gripping and releasing power shaft crank arm joint 19, and the lower end of the robotic arm gripping and releasing power cam connecting rod 24 is connected to the robotic arm gripping and releasing power cam mechanism.

[0077] Secondly, the power assembly for the swing feeding of the robotic arm consists of a swing feeding drive shaft 43, a rear bearing seat 41 for the swing feeding drive shaft, a crank arm 44 for the swing feeding drive shaft, a crank arm joint 46 for the swing feeding drive shaft (which is a fisheye joint, i.e., a self-lubricating rod end joint bearing), a power cam connecting rod 25 for the swing feeding drive, and a cam mechanism for the swing feeding drive (not shown in the figure).

[0078] The robotic arm swing feeding drive shaft 43, which passes through the rear end of the robotic arm swing feeding drive bearing seat 48, passes through the rear bearing seat 41 of the robotic arm swing feeding drive shaft located in the middle right part behind the frame plate 37, and then one end of the robotic arm swing feeding drive shaft crank arm 44 is fitted. The other end of the robotic arm swing feeding drive shaft crank arm 44 is hinged to the robotic arm swing feeding drive shaft crank arm joint 46 through the robotic arm swing feeding drive shaft crank arm pin 45. The upper end of the robotic arm swing feeding drive power cam connecting rod 25 is connected to the lower end of the robotic arm swing feeding drive shaft crank arm joint 46, and the lower end of the robotic arm swing feeding drive power cam connecting rod 25 is connected to the robotic arm swing feeding drive cam mechanism.

[0079] During its use, when the robotic arm gripping and releasing power cam mechanism moves the robotic arm gripping and releasing power cam connecting rod 24 upward, it drives the robotic arm gripping and releasing power shaft crank arm 18 and the robotic arm gripping and releasing power shaft 39 to rotate counterclockwise. This, in turn, causes the gripping and releasing swing inner rod 26 and the gripping and releasing swing surface rod 11 to swing counterclockwise together (see...). Figure 1 and Figure 5 Next, the clamping and releasing swing cam 33, which is held between the moving and stationary clamping arm sliding block bearing 10 and the stationary clamping arm sliding block bearing 31, swings downward and disengages from the clamping of the moving and stationary clamping arm sliding block bearings 10 and 31. At this time, under the action of the reset spring 34 of the clamping and releasing swing mechanism, the moving clamping arm sliding block 8 moves the moving clamping arm 3 to the right, while the stationary clamping arm sliding block 29 moves the stationary clamping arm 4 to the left, until the robotic arm clamp formed by the upper right side of the left end "I" part of the moving clamping arm 3 and the upper part of the left end face of the stationary clamping arm 4 clamps the knitted material. Then, the robotic arm swing feeding push cam mechanism moves the robotic arm swing feeding push power cam connecting rod 25 downward, causing the robotic arm swing feeding push shaft crank arm 44, along with the robotic arm swing feeding push shaft 43 and the robotic arm swing feeding push rod 9, to rotate counterclockwise (see Figure 1 and Figure 5As the upper end of the robotic arm's swing feeding push rod 9 abuts against the upper left step of the arc-shaped groove 51 in front of the slide bottom plate 7, the counterclockwise rotation of the robotic arm's swing feeding push rod 9 causes the slide bottom plate 7, along with the moving clamp arm 3 and the stationary clamp arm 4 and the woven material it clamps, to swing downwards and to the left to the discharge hole 1 of the frame plate 37. At this point, the robotic arm's gripping and releasing power cam mechanism moves the robotic arm's gripping and releasing power cam connecting rod 24 downwards, causing the robotic arm's gripping and releasing power shaft crank arm 18, along with the robotic arm's gripping and releasing power shaft 39, to rotate clockwise. This, in turn, causes the gripping and releasing swing inner rod 26, along with the gripping and releasing swing surface rod 11, to swing clockwise (see...). Figure 1 and Figure 5 The manipulator swings upward with the clamping release swing cam 33, squeezing apart the moving and stationary clamping arm sliding block bearings 10 and 31, allowing them to clamp the clamping release swing cam 33. Simultaneously, the moving clamping arm sliding block 8 moves to the left with the moving clamping arm 3, and the stationary clamping arm sliding block 29 moves to the right with the stationary clamping arm 4, thus releasing the gripper from the fabric. Next, the automatic knitting machine's pusher pushes the loosened fabric to the left from the receiving trough 54 to the discharge hole 1, where it is fed into the automatic knitting machine by the feed rollers. Then, the manipulator swing feeding push cam mechanism moves upward with the manipulator swing feeding push power cam connecting rod 25, causing the manipulator swing feeding push shaft crank arm 44 and the manipulator swing feeding push shaft 43, along with the manipulator swing feeding push rod 9, to rotate clockwise (see...). Figure 1 and Figure 5 At this point, the upper end of the robotic arm swing feeding push rod 9 gives up its contact with the upper left step of the arc-shaped groove 51 in front of the slide bottom plate 7. Therefore, under the action of the robotic arm swing feeding reset spring 22, the slide bottom plate 7 also rotates clockwise, bringing the moving clamp arm 3 and the stationary clamp arm 4 back to their original positions. Thus, the clamping and swing feeding process of a piece of woven material is completed.

[0080] Everything else is basically the same as in Example 1, and will not be repeated here.

[0081] The robotic arm device for the fully automatic weaving machine of the present invention is used in conjunction with the fully automatic weaving machine and can weave various types of mats, curtains, and decorative fabrics.

Claims

1. A robotic arm device for a fully automatic knitting machine, comprising a frame plate (37), characterized in that: It also includes a robotic arm assembly, a robotic arm gripping and releasing control assembly, a robotic arm gripping and releasing power assembly, a robotic arm swing feeding control assembly, and a robotic arm swing feeding power assembly; the robotic arm assembly is located in front of the frame plate (37), the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly are both located in front of the robotic arm assembly, the robotic arm gripping and releasing power assembly and the robotic arm swing feeding power assembly are both located behind the frame plate (37) and are respectively connected to the robotic arm gripping and releasing control assembly and the robotic arm swing feeding control assembly; The robotic arm assembly includes a material receiving plate (2), a movable clamping arm (3), a stationary clamping arm (4), a chute bottom plate (7), a left chute plate (36), and a right chute plate (27). The left chute plate (36) and the right chute plate (27) are respectively located on the left and right sides of the chute bottom plate (7), and their upper and lower parts are respectively provided with sliding holes in the left and right directions for inserting the stationary clamping arm (4) and the movable clamping arm (3). The movable clamping arm (3) is in the shape of a "∟" long rod, and the stationary clamping arm (4) is in the shape of a long rod. The material receiving plate (2) has a material receiving groove (54) in the middle of its upper side, and its upper right side is connected to the rear side of the left end of the stationary clamping arm (4). The upper right side of the "I" part of the left end of the movable clamping arm (3) and the upper part of the left end face of the stationary clamping arm (4) form the robotic arm clamping opening. The rear of the chute bottom plate (7) is connected to the robotic arm swing feeding control assembly. The robotic gripper gripping and releasing control assembly includes a static gripper sliding mechanism, a moving gripper sliding mechanism, a gripping and releasing swing mechanism, and a gripping and releasing swing mechanism reset mechanism. The static clamping arm sliding mechanism includes a static clamping arm sliding block (29), a static clamping arm sliding block bearing (31), a static clamping arm sliding block bearing pin (13), and a static clamping arm sliding block clamping screw (12). The upper and lower parts of the static clamping arm sliding block (29) are respectively provided with sliding holes in the left and right directions for mounting the static clamping arm (4) and the moving clamping arm (3). The static clamping arm sliding block clamping screw (12) is located on the upper part of the static clamping arm sliding block (29) and is used to connect the static clamping arm sliding block (29) and the static clamping arm (4) as one unit. The static clamping arm sliding block bearing pin (13) sets the static clamping arm sliding block bearing (31) in the middle of the front of the static clamping arm sliding block (29). The movable clamping arm sliding mechanism includes a movable clamping arm sliding block (8), a movable and stationary clamping arm sliding block bearing (10), a movable clamping arm sliding block bearing pin (49), and a movable clamping arm sliding block clamping screw (32). The upper and lower parts of the movable clamping arm sliding block (8) are respectively provided with sliding holes in the left and right directions for mounting the stationary clamping arm (4) and the movable clamping arm (3). The movable clamping arm sliding block clamping screw (32) is located at the lower part of the movable clamping arm sliding block (8) and is used to connect the movable clamping arm sliding block (8) and the movable clamping arm (3) as one unit. The movable clamping arm sliding block bearing pin (49) sets the movable and stationary clamping arm sliding block bearing (10) at the front center of the movable clamping arm sliding block (8). The clamping and releasing swing mechanism includes a clamping and releasing swing surface rod (11) and a clamping and releasing swing inner rod (26). The clamping and releasing swing surface rod (11) is shaped like the letter "C" and has a clamping and releasing swing cam (33) in its middle. The clamping and releasing swing surface rod (11) is located in front of the slide base plate (7) and the clamping and releasing swing cam (33) is located between the moving and stationary clamping arm sliding block bearing (10) and the stationary clamping arm sliding block bearing (31). The clamping and releasing swing inner rod (26) is located behind the slide base plate (7) and its upper and lower ends are connected to the upper and lower ends of the clamping and releasing swing surface rod (11) through the upper connecting screw (15) and the lower connecting screw (20) respectively. The rear of the clamping and releasing swing inner rod (26) is connected to the manipulator clamping and releasing power assembly. The clamping and releasing swing mechanism reset mechanism includes a clamping and releasing swing mechanism reset spring (34), a clamping and releasing swing mechanism reset spring left hanging screw (35), and a stationary clamping arm sliding block bearing pin (13). The clamping and releasing swing mechanism reset spring left hanging screw (35) is located at the front end of the moving clamping arm sliding block bearing pin (49). The two ends of the clamping and releasing swing mechanism reset spring (34) are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw (35) and the moving clamping arm sliding block bearing pin (49).

2. The robotic arm device for a fully automatic knitting machine according to claim 1, characterized in that: The clamping and releasing swing mechanism reset mechanism also includes an extension plate (30) and a clamping and releasing swing mechanism reset spring right hanging screw (28). The left end of the extension plate (30) is set at the front end of the static clamping arm sliding block bearing (31) by the static clamping arm sliding block bearing pin (13). The two ends of the clamping and releasing swing mechanism reset spring (34) are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw (35) and the clamping and releasing swing mechanism reset spring right hanging screw (28) set at the right end of the extension plate (30).

3. The robotic arm device for a fully automatic knitting machine according to claim 1, characterized in that: The robotic gripping and releasing power assembly includes a robotic gripping and releasing power shaft (39), a robotic gripping and releasing power bearing seat (38), and a robotic gripping and releasing power shaft crank arm (18). The front end of the robotic arm gripping and releasing power shaft (39) is connected to the middle of the gripping and releasing swing inner rod (26), and its rear end extends out of the right side of the frame plate (37), and then through the robotic arm gripping and releasing power bearing seat (38) set behind the frame plate (37), and then fits one end of the robotic arm gripping and releasing power shaft crank arm (18).

4. The robotic arm device for a fully automatic knitting machine according to claim 3, characterized in that: At both ends of the inner hole of the robotic arm gripping and releasing power bearing seat (38), robotic arm gripping and releasing power bearings (52) are respectively provided.

5. The robotic arm device for a fully automatic knitting machine according to claim 1, characterized in that: The robotic arm swing feeding control component includes a robotic arm swing feeding push mechanism and a robotic arm swing feeding reset mechanism. The robotic arm swing feeding mechanism includes a robotic arm swing feeding push rod (9), a robotic arm swing feeding push shaft (43), and a robotic arm swing feeding push bearing seat (48). An arc-shaped groove (51) is provided in the middle of the front of the slide bottom plate (7). The robotic arm swing feeding push bearing seat (48) is located behind the left part of the slide bottom plate (7). The lower end of the robotic arm swing feeding push rod (9) is connected to the front end of the robotic arm swing feeding push shaft (43). The upper end of the robotic arm swing feeding push rod (9) abuts against the upper left step of the arc-shaped groove (51). The rear part of the robotic arm swing feeding push shaft (43) passes through the slide bottom plate (7) and then through the robotic arm swing feeding push bearing seat (48). It then passes through the middle right part of the frame plate (37) and connects to the robotic arm swing feeding power assembly. The robotic arm swing feeding reset mechanism includes a robotic arm swing feeding reset spring (22), a robotic arm swing feeding reset spring upper hook plate (16), and a robotic arm swing feeding reset spring lower hook plate (23). The left end of the robotic arm swing feeding reset spring upper hook plate (16) is fixed to the upper front end of the right slide plate (27) by a right slide plate screw (14). The robotic arm swing feeding reset spring lower hook plate (23) is set in the lower right part of the front of the frame plate (37). The upper and lower ends of the robotic arm swing feeding reset spring (22) are hooked to the right end (47) of the robotic arm swing feeding reset spring upper hook plate (16) and the lower part of the robotic arm swing feeding reset spring lower hook plate (23), respectively.

6. The robotic arm device for a fully automatic knitting machine according to claim 5, characterized in that: At both ends of the inner hole of the robotic arm swing feeding push bearing seat (48), robotic arm swing feeding push bearings (50) are respectively provided.

7. The robotic arm device for a fully automatic knitting machine according to claim 5, characterized in that: The robotic arm swing feeding power assembly includes a robotic arm swing feeding push shaft (43), a robotic arm swing feeding push shaft rear bearing seat (41), and a robotic arm swing feeding push shaft crank arm (44). The robotic arm swing feeding drive shaft (43) that passes through the rear end of the robotic arm swing feeding drive bearing seat (48) passes through the rear bearing seat (41) of the robotic arm swing feeding drive shaft located in the middle right part behind the frame plate (37), and then one end of the robotic arm swing feeding drive shaft crank arm (44) is fitted.

8. The robotic arm device for a fully automatic knitting machine according to claim 7, characterized in that: At both ends of the inner hole of the rear bearing seat (41) of the robotic arm swing feeding push shaft, there are rear bearings (53) of the robotic arm swing feeding push shaft respectively.

9. The robotic arm device for a fully automatic knitting machine according to any one of claims 1-8, characterized in that: The cross-sections of the moving clamp (3) and the stationary clamp (4) are circular, rectangular, or triangular.

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