Automatic clamping mechanical arm for three-proofing cloth processing production line

Abstract

The invention relates to the technical field of mechanical arms, and particularly discloses an automatic clamping mechanical arm for a three-proofing cloth processing production line, which comprises an automatic mechanical clamping arm and a grabbing mechanism, and the grabbing mechanism is arranged on the front side of the automatic mechanical clamping arm; the outer wall of the grabbing mechanism is slidably sleeved with the telescopic frame, telescopic grooves are formed in the upper end and the lower end of the front side of the telescopic frame, moving grooves are formed in the left end and the right end of the front side of the telescopic frame, and first sliding grooves are formed in the left side and the right side of an inner cavity of each telescopic groove in the front-back direction; the front and rear ends of the first guide rod are respectively arranged on the front and rear sides of the inner cavity of the first chute. According to the device, efficient and stable grabbing and carrying of the three-proofing cloth with the irregular shape after cutting are achieved, falling and distortion of the three-proofing cloth in the carrying process are effectively prevented, it is guaranteed that the surface of the three-proofing cloth is smooth and free of wrinkles, and therefore the appearance quality of the three-proofing cloth is directly improved, and a good foundation is laid for subsequent procedures.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, in particular to an automatic clamping mechanical arm for a triple-proof fabric processing production line. Background Art

[0002] In modern industrial production, three-proof fabrics are widely used in the manufacturing process of various products due to their waterproof, fireproof, and oil-proof properties. However, during the production and processing process, three-proof fabrics are often faced with challenges in handling and processing due to their soft and easily deformable properties. Traditional manual handling and handling methods are not only inefficient, but also easily lead to problems such as wrinkles and deformation of the three-proof fabrics, thereby affecting the appearance quality and performance of the final product. Therefore, it is particularly important to develop a device that can automatically, efficiently and stably grasp, transport and process the three-proof fabric. In the prior art, although there are some handling and clamping devices for fabrics, most of these devices are complex in design and cumbersome in operation. When clamping irregularly shaped three-proof fabrics, problems such as fabric falling and twisting are prone to occur, and the flatness of the fabric cannot be guaranteed. In addition, many devices lack flexible adjustment mechanisms and are difficult to adapt to three-proof fabrics of different sizes and shapes, limiting their scope of application in actual production. Summary of the invention

[0003] The purpose of the present invention is to provide an automated clamping robot arm for a three-proof fabric processing production line to solve the problem of wrinkles occurring during the handling, grasping and clamping of the three-proof fabric in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated clamping robot arm for a three-proof fabric processing production line, comprising: an automated mechanical clamping arm and a grabbing mechanism, the grabbing mechanism is arranged on the front side of the automated mechanical clamping arm; a telescopic frame is slidably connected to the outer wall of the grabbing mechanism, telescopic grooves are provided at both upper and lower ends of the front side of the telescopic frame, and movable grooves are provided at both left and right ends of the front side of the telescopic frame, and first slide grooves are provided on both sides of the inner cavity of the telescopic groove along the front and rear directions; the front and rear ends of the first guide rod are respectively arranged on the front and rear sides of the inner cavity of the first slide groove; and a paving mechanism is arranged in the inner cavity of the movable groove.

[0005] Preferably, the gripping mechanism includes: a mounting seat, which is detachably arranged on the front side of the automated mechanical clamping arm, and positioning holes are provided at both left and right ends of the front side of the mounting seat; a pressure sensor is provided at the middle of the front side of the mounting seat; there are four connecting rods, and the rear ends of the four connecting rods are rotatably arranged on the outer wall of the mounting seat at equidistant intervals along the circumferential direction through pins; a second slider is rotatably arranged at the front end of the connecting rod through a pin; second slide grooves are provided at the four corners of the rear side of the support plate, and the four second sliders are respectively slidably adapted and plugged into the inner sides of the inner cavities of the four second slide grooves; the upper and lower ends of the second guide rod are respectively arranged on the upper and lower sides of the inner cavity of the second slide groove, and the second slider is slidably sleeved on the outer wall of the second guide rod; the first spring is sleeved on the inner side of the outer wall of the second guide rod, and one end of the first spring is clamped on the outer wall of the second slider, and the first The other end of a spring is clamped on the inner wall of the second slide groove; there are four telescopic rods, which are respectively arranged at the four corners of the rear side of the support plate, and the four telescopic rods can be slidably inserted into the four corners of the rear side of the inner cavity of the telescopic frame; the second spring is sleeved on the front side of the outer wall of the telescopic rod, the front end of the second spring is clamped on the rear side of the support plate, and the rear end of the second spring is clamped on the rear side of the inner cavity of the telescopic frame; there are four acupuncture suction cups, which are respectively arranged at the four corners of the rear side of the support plate, and the front side of the acupuncture suction cups extends to the front side of the support plate; there are two positioning rods, which are respectively arranged at the left and right ends of the rear side of the support plate, and the two positioning rods can be slidably adapted and inserted into the inner cavities of the two positioning holes; the extrusion seat is arranged in the middle of the rear side of the support plate, and the position of the extrusion seat corresponds to the position of the pressure sensor.

[0006] Preferably, in order to push the drooping three-proof cloth to between the first mounting bracket and the second mounting bracket, the grabbing mechanism also includes: a first rotating rod, the number of the first rotating rods is two, and the two first rotating rods are rotatably arranged at the left middle part of the supporting plate through bearings; the number of the pressure rods is two, and the two ends of the two pressure rods are rotatably arranged at the upper and lower ends of the left and right sides of the supporting plate through bearings; the number of the first sprocket wheels is four, and the four first sprocket wheels are respectively sleeved on the outer walls of the two first rotating rods and the left sides of the outer walls of the two pressure rods, and are locked by top screws; the number of the first chains is two, and the two ends of the two first chains are respectively sleeved on the outer walls of the four first sprocket wheels; There are two gears, and the two first gears are respectively sleeved on the outer walls of the two first rotating rods and locked by the top screw, and the two first gears are meshed with each other; the first motor is connected to the outer wall of the support plate by the bracket screw, and the left end of the first rotating rod located at the top is locked to the output end of the first motor by the coupling; there are four first electric telescopic rods, and the four first electric telescopic rods are respectively arranged in the inner cavities of the two pressure rods, and the first electric telescopic rods at two corresponding positions are relatively arranged, and the outer end of the first electric telescopic rod extends out of the inner cavity of the pressure rod; a rubber push ball, the rubber push ball is arranged at the outer end of the first electric telescopic rod, and the rubber push ball is located on the inner side of the acupuncture suction cup.

[0007] Preferably, in order to flatten the wrinkles of the three-proof cloth, the flattening mechanism includes: a second motor, the number of the second motors is four, and the four second motors are respectively screwed to the upper and lower ends of the left and right sides of the telescopic frame; the outer end of the second rotating rod is locked to the output end of the second motor through a coupling, the inner end of the second rotating rod extends into the inner cavity of the movable groove, and is rotatably arranged on the inner side of the inner cavity of the movable groove through a bearing, and the outer wall of the second rotating rod is provided with four limit grooves equidistantly along the circumferential direction; the sleeve is slidably sleeved on the outer wall of the second rotating rod; the limit block The number is sixteen, and each of the sixteen limit blocks forms a group of four. The four groups of limit blocks are respectively arranged on the inner walls of the four sleeves at equal distances along the circumferential direction, and the limit blocks can be slidably adapted and inserted into the inner cavity of the limit groove; the number of first mounting frames is two, and the upper and lower sides of the two first mounting frames are respectively rotatably sleeved on the outer walls of the four sleeves through bearings; the number of linkage cylinders is several, and the several linkage cylinders are respectively and equally arranged on the upper and lower ends on the left and right sides of the two first mounting frames; the number of first connecting rods is four, and the left and right ends of the four first connecting rods are respectively rotatably arranged on the upper and lower ends on the left and right sides of the inner cavity of the two first mounting frames through bearings; the number of second sprockets is sixteen, and the sixteen second sprockets are respectively sleeved on the left and right sides of the outer walls of the four sleeves and the four first connecting rods, and are locked by top screws, and the sixteen second sprockets are grouped in pairs, divided into eight groups; the number of second chains is eight, and the two ends of the eight second chains are respectively sleeved on the outer walls of the eight groups of second sprockets, and the eight second chains are grouped in pairs, divided into four groups; the number of first flat rollers is several, and several first flat The left and right ends of the paving roller are equidistantly arranged in the circumferential direction on the outer walls of the four groups of second chains through bearings so as to be rotatable; the second gear is sleeved on the outer side of the outer wall of the sleeve and locked by a top screw; there are two third motors, which are respectively screwed to the middle of the left and right sides of the telescopic frame; one end of the screw is locked to the output end of the third motor through a coupling, and the other end of the screw is rotatably extended into the inner cavity of the movable groove, and is rotatably arranged on the inner side of the inner cavity of the movable groove through a bearing, and the rear side of the first mounting frame is screwed to the outer wall of the screw.

[0008] Preferably, in order to support the three-proof cloth, the flat laying mechanism also includes: a first sliding block, the first sliding block can be slidably adapted and inserted in the rear side of the inner cavity of the first sliding groove, and the first sliding block can be slidably sleeved on the outer wall of the first guide rod; the number of limit rods is two, the two limit rods are respectively embedded in the inner cavities of the two telescopic grooves, and the left and right ends of the two limit rods are respectively arranged on the inner sides of the four first sliding blocks; the number of second electric telescopic rods is two, the two second electric telescopic rods are respectively arranged in the middle of the rear side of the inner cavity of the two telescopic grooves, and the front ends of the two second electric telescopic rods are respectively arranged in the middle of the outer walls of the two limit rods; the number of second mounting frames is two, the upper and lower ends of the two second mounting frames can be slidably embedded in the left and right sides of the inner cavity of the two telescopic grooves, and the upper and lower ends of the two second mounting frames can be slidably sleeved on the left and right sides of the outer walls of the two limit rods; the number of linkage rods is several, and the several linkage rods are respectively and equally arranged at the upper and lower ends on the left and right sides of the two second mounting frames, the position of the linkage rod corresponds to the position of the linkage cylinder, and the linkage rod can be slidably adapted Inserted in the inner cavity of the linkage cylinder; the number of second connecting rods is four, and the left and right ends of the four second connecting rods are rotatably arranged on the upper and lower ends of the left and right sides of the inner cavities of the two second mounting frames through bearings; the number of third connecting rods is four, and the left and right ends of the four third connecting rods are rotatably arranged on the upper and lower ends of the left and right sides of the inner cavities of the two second mounting frames through bearings; the number of third sprockets is sixteen, and the sixteen third sprockets are grouped in pairs, divided into eight groups, and the eight groups of third sprockets are respectively sleeved on the left and right sides of the outer walls of the four second connecting rods and the four third connecting rods, and locked by top screws; the number of third chains is eight, and the two ends of the eight third chains are respectively sleeved on the outer walls of the eight groups of third sprockets, and the eight third chains are grouped in pairs, divided into four groups; the number of second flat rollers is several, and the left and right ends of the several second flat rollers are rotatably arranged on the outer walls of the four groups of third chains through bearings at equal distances along the circumferential direction; the third gear is sleeved on the outer side of the outer wall of the second connecting rod and locked by a top screw, and the third gear is meshed with the second gear.

[0009] Preferably, the distance from the front side of the second mounting bracket to the front side of the support plate is smaller than the distance from the rear side of the telescopic bracket to the rear side of the telescopic rod.

[0010] Preferably, the front side of the outer wall of the first flattening roller is located in front of the front side of the first mounting frame, and the rear side of the outer wall of the second flattening roller is located behind the rear side of the second mounting frame.

[0011] Preferably, the second motor drives the second rotating rod to rotate, and the second rotating rod drives the second sprocket and the second gear to rotate through the sleeve, thereby prompting the second chain to drive the first flattening roller to move circumferentially outward. The rotation of the second gear cooperates with the third gear to cause the third sprocket to rotate, and the rotation of the third sprocket causes the third chain to drive the second flattening roller to move circumferentially outward.

[0012] The invention proposes an automatic clamping robot arm for a three-proof fabric processing production line, which has the following beneficial effects: 1. The present invention utilizes an automated mechanical clamp arm to drive the support plate and the telescopic frame to move, and the contact degree between the needle-punched suction cup and the three-proof cloth can be detected by the squeezing seat squeezing pressure sensor, so that the three-proof cloth can be firmly adsorbed on the front side of the support plate by the needle-punched suction cup.

[0013] 2. The present invention utilizes a first motor to drive the first rotating rod to rotate, and the rotation of the first rotating rod can utilize the cooperation between the first sprocket, the first chain and the first gear to cause the two pressure rods to rotate synchronously inward until the two pressure rods rotate to a suitable position, and then the first electric telescopic rod can be used to push the three-proof cloth that droops due to gravity into between the first mounting frame and the second mounting frame through the rubber push ball, so that the first mounting frame and the second mounting frame can be used to clamp the three-proof cloth to prevent it from wrinkling.

[0014] 3. The present invention utilizes a second motor to rotate the second rotating rod, thereby utilizing the cooperation between the limit groove and the limit block to drive the sleeve to rotate, the rotation of the sleeve can drive the second gear and the second sprocket to rotate, the rotation of the second sprocket can drive the first flattening roller to move circumferentially outward through the second chain, and at the same time, the rotation of the second gear can drive the second connecting rod to rotate through the third gear, and then drive the third sprocket to rotate, the rotation of the third sprocket can drive the second flattening roller to move circumferentially outward through the third chain, so that the first flattening roller and the second flattening roller that move synchronously outward can be used to flatten the wrinkles of the three-proof cloth clamped between the first mounting frame and the second mounting frame, thereby preventing the three-proof cloth from wrinkling.

[0015] 4. This device realizes the efficient and stable grasping and handling of the three-proof cloth with irregular shapes after cutting, effectively preventing the three-proof cloth from falling and twisting during the handling process, ensuring the smoothness and wrinkle-free surface of the three-proof cloth, thereby directly improving the appearance quality of the three-proof cloth, laying a good foundation for subsequent processes, and greatly improving the subsequent production efficiency and overall product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of a telescopic frame; Figure 3 It is a structural schematic diagram of the rear side of the telescopic frame; Figure 4 It is a structural schematic diagram of the telescopic slot; Figure 5 It is a structural diagram of the grasping mechanism; Figure 6 is a structural schematic diagram of a telescopic rod; Figure 7 This is an exploded view of the grabbing mechanism; Figure 8 It is a structural schematic diagram of the pressure sensor; Fig. 9 It is a structural schematic diagram of the tiling mechanism; Fig.10 is a structural schematic diagram of a first mounting frame; Fig.11 This is an exploded view of the tiling mechanism; Fig.12 It is a schematic diagram of the structure of the sleeve; Fig.13 for Figure 4 A magnified image of point A; Fig.14 for Figure 7 A magnified view of point B; Fig.15 for Figure 7 Enlarged view of point C; Fig.16 for Figure 8 The enlarged view of point D; Fig.17 for Fig.11 The enlarged view of point E; Fig.18 for Fig.11 The enlarged view of point F; Fig.19 for Fig.11 The enlarged view of G; Fig. 20 for Fig.11 Enlarged view of H; Fig.21 for Fig.11 A magnified view of point I; Figure 22 is a schematic diagram of the structure of the pressure rod.

[0017] In the figure: 1, automated mechanical clamping arm; 2, telescopic frame; 3, telescopic slot; 4, moving slot; 5, first slide slot; 6, first guide rod; 7, grabbing mechanism; 71, mounting seat; 72, positioning hole; 73, pressure sensor; 74, connecting rod; 75, support plate; 76, second slide slot; 77, second guide rod; 78, second slider; 79, first spring; 710, telescopic rod; 711, second spring; 712, positioning rod; 713, extrusion seat; 714, first rotating rod; 715, first sprocket; 716, pressure rod; 717, first chain; 718, first gear; 719, first motor; 720, first electric telescopic rod; 721, rubber push ball; 722 , acupuncture suction cup; 8, flattening mechanism; 81, second motor; 82, second rotating rod; 83, limiting groove; 84, sleeve; 85, limiting block; 86, first mounting bracket; 87, linkage cylinder; 88, first connecting rod; 89, second gear; 810, second sprocket; 811, second chain; 812, first flattening roller; 813, first slider; 814, limiting rod; 815, second electric telescopic rod; 816, second mounting bracket; 817, linkage rod; 818, second connecting rod; 819, third connecting rod; 820, third gear; 821, third sprocket; 822, third chain; 823, second flattening roller; 824, third motor; 825, screw. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 22 The present invention provides a technical solution for an automated clamping mechanical arm for a three-proof fabric processing production line, comprising: an automated mechanical clamping arm 1, a telescopic frame 2, a telescopic slot 3, a movable slot 4, a first slide slot 5, a first guide rod 6, a grabbing mechanism 7 and a flattening mechanism 8. The grabbing mechanism 7 is arranged at the front side of the automated mechanical clamping arm 1, and the three-proof fabric can be grabbed and fixed by the grabbing mechanism 7. The telescopic frame 2 can be slidably sleeved on the outer wall of the grabbing mechanism 7. Telescopic slots 3 are provided at both upper and lower ends of the front side of the telescopic frame 2, and movable slots 4 are provided at both left and right ends of the front side of the telescopic frame 2. First slide slots 5 are provided on both left and right sides of the inner cavity of the telescopic slot 3 along the front and rear directions. The front and rear ends of the first guide rod 6 are respectively arranged at the front and rear sides of the inner cavity of the first slide slot 5. The first guide rod 6 can prevent the first slider 813 from detaching from the inner cavity of the first slide slot 5. The flattening mechanism 8 is arranged in the inner cavity of the movable slot 4, and the flattening mechanism 8 is used to flatten the wrinkles of the three-proof fabric.

[0020] As a preferred solution, further, the grasping mechanism 7 includes: a mounting seat 71, a positioning hole 72, a pressure sensor 73, a connecting rod 74, a support plate 75, a second slide groove 76, a second guide rod 77, a second slider 78, a first spring 79, a telescopic rod 710, a second spring 711, a positioning rod 712, an extrusion seat 713, a first rotating rod 714, a first sprocket 715, a pressure rod 716, a first chain 717, a first gear 718, a first motor 719, a first electric telescopic rod 720, a rubber push ball 721 and a needle suction cup 722. The mounting seat 71 is detachably arranged on the front side of the automated mechanical clamping arm 1. Positioning holes 72 are provided on the left and right ends of the front side of the mounting seat 71. The mounting seat 71 is a prior art and will not be described in detail herein. The mounting seat 71 is used to be fixedly connected with the automated mechanical clamping arm 1, and the pressure sensor 73 is arranged in the middle of the front side of the mounting seat 71. The pressure sensor 73 is a prior art and will not be described in detail here. The pressure sensor 73 is used to squeeze it through the squeezing seat 713, and then detect the contact degree between the acupuncture suction cup 722 and the three-proof cloth. There are four connecting rods 74, and the rear ends of the four connecting rods 74 are rotatably arranged on the outer wall of the mounting seat 71 through the pin shaft at equal intervals along the circumferential direction. The second slider 78 is rotatably arranged on the front end of the connecting rod 74 through the pin shaft. The four corners of the rear side of the support plate 75 are provided with second slide grooves 76, and the four second sliders 78 are slidably adapted and inserted into the inner side of the inner cavity of the four second slide grooves 76. The upper and lower second guide rods 77 The two ends are respectively arranged at the upper and lower sides of the inner cavity of the second slide groove 76, the second slider 78 is slidably connected to the outer wall of the second guide rod 77, the first spring 79 is connected to the inner side of the outer wall of the second guide rod 77, one end of the first spring 79 is clamped on the outer wall of the second slider 78, and the other end of the first spring 79 is clamped on the inner wall of the second slide groove 76. The first spring 79 is a rotation spring, which undergoes elastic deformation after being squeezed or stretched by external force, and returns to its initial state after the external force is removed. The first spring 79 is used here to pull the second slider 78 to return to its initial position. The number of telescopic rods 710 is four, and the four telescopic rods 710 are respectively arranged at the four corners of the rear side of the support plate 75. The four telescopic rods 710 are respectively slidably inserted into the four corners of the rear side of the inner cavity of the telescopic frame 2, and the second spring 7 The second spring 711 is sleeved on the front side of the outer wall of the telescopic rod 710, the front end of the second spring 711 is clamped on the rear side of the support plate 75, and the rear end of the second spring 711 is clamped on the rear side of the inner cavity of the telescopic frame 2. The second spring 711 is a rotation spring, which is elastically deformed after being squeezed or stretched by external force, and returns to its initial state after the external force is removed. The second spring 711 is used here to restore the telescopic frame 2 to its initial position. The elastic force of the second spring 711 is less than the elastic force of the first spring 79, ensuring that when the support plate 75 is pushed to move by the automated mechanical clamping arm 1, the telescopic frame 2 will be squeezed to move backward first. There are four acupuncture suction cups 722, which are respectively arranged at the four corners of the rear side of the support plate 75, and the front side of the acupuncture suction cup 722 extends to the front side of the support plate 75.The needle-punched suction cup 722 is a prior art and will not be described in detail here. The needle-punched suction cup 722 is used to fix and absorb the three-proof cloth. There are two positioning rods 712, which are respectively arranged at the left and right ends of the rear side of the support plate 75. The two positioning rods 712 can be slidably adapted and plugged into the inner cavities of the two positioning holes 72. The extrusion seat 713 is arranged in the middle of the rear side of the support plate 75. The position of the extrusion seat 713 corresponds to the position of the pressure sensor 73. The extrusion seat 713 is used to squeeze the pressure sensor 73, so as to detect the contact degree between the needle-punched suction cup 722 and the three-proof cloth. There are two first rotating rods 714. 714 are rotatably arranged at the middle part of the left side of the support plate 75 through bearings, the number of pressure rods 716 is two, and the two ends of the two pressure rods 716 are rotatably arranged at the upper and lower ends of the left and right sides of the support plate 75 through bearings, the number of first sprocket wheels 715 is four, and the four first sprocket wheels 715 are respectively sleeved on the outer walls of the two first rotating rods 714 and the left sides of the outer walls of the two pressure rods 716, and are locked by top screws, the number of first chains 717 is two, and the two ends of the two first chains 717 are respectively sleeved on the outer walls of the four first sprocket wheels 715, the number of first gears 718 is two, and the two first gears 718 are respectively sleeved on the two first rotating rods 714 and the left sides of the outer walls of the two pressure rods 716. The outer wall of the rotating rod 714 is locked by a top screw, and the two first gears 718 are meshed with each other. The cooperation of the two first gears 718 can cause the two pressure rods 716 to rotate synchronously inward or outward. The first motor 719 is connected to the outer wall of the support plate 75 by a bracket screw. The left end of the first rotating rod 714 located above is locked at the output end of the first motor 719 by a coupling. The first motor 719 is a prior art. The first motor 719 is a servo motor. The first motor 719 is connected to a servo controller. No more details are given here. The first motor 719 is used here to drive the first rotating rod 714 to rotate. The first electric telescopic rod 720 The number is four, and the four first electric telescopic rods 720 are respectively arranged in the inner cavities of the two pressure rods 716, and the first electric telescopic rods 720 corresponding to the two positions are relatively arranged, and the outer ends of the first electric telescopic rods 720 extend out of the inner cavities of the pressure rods 716. The first electric telescopic rods 720 are prior art and will not be described in detail here. The first electric telescopic rods 720 are used here to push the three-proof cloth that sags due to gravity into between the first mounting frame 86 and the second mounting frame 816. The rubber push ball 721 is arranged at the outer end of the first electric telescopic rod 720, and the rubber push ball 721 is located on the inner side of the needle suction cup 722. The rubber push ball 721 can prevent damage to the three-proof cloth.

[0021] As a preferred embodiment, further, the paving mechanism 8 includes: a second motor 81, a second rotating rod 82, a limiting groove 83, a sleeve 84, a limiting block 85, a first mounting frame 86, a linkage cylinder 87, a first connecting rod 88, a second gear 89, a second sprocket 810, a second chain 811, a first paving roller 812, a first slider 813, a limiting rod 814, a second electric telescopic rod 815, a second mounting frame 816, a linkage rod 817, a second connecting rod 818, a third connecting rod 819, a third gear 820, a third sprocket 821, a third chain 822, a second paving roller 823, a third motor 824 and a screw 825. The number of second motors 81 is four, and the four second motors 81 are respectively screwed to the telescopic frame. 2, the left and right sides, upper and lower ends, the second motor 81 is the prior art, the second motor 81 is a servo motor, the second motor 81 is connected to a servo controller, no further details are given here, the second motor 81 is used here to drive the second sprocket 810 to rotate through the sleeve 84, the outer end of the second rotating rod 82 is locked to the output end of the second motor 81 through a coupling, the inner end of the second rotating rod 82 extends into the inner cavity of the movable groove 4, and is rotatably arranged on the inner side of the inner cavity of the movable groove 4 through a bearing, the outer wall of the second rotating rod 82 is provided with four limit grooves 83 equidistantly along the circumferential direction, the sleeve 84 is slidably sleeved on the outer wall of the second rotating rod 82, the number of limit blocks 85 is sixteen, and each of the sixteen limit blocks 85 is four in a group, and the four groups of limit blocks 85 are respectively The inner walls of the four sleeves 84 are equidistantly arranged along the circumferential direction, and the limit blocks 85 are slidably adapted and inserted into the inner cavity of the limit groove 83. The number of the first mounting frames 86 is two, and the upper and lower sides of the two first mounting frames 86 are rotatably sleeved on the outer walls of the four sleeves 84 through bearings. The number of the linkage cylinders 87 is several, and the several linkage cylinders 87 are equally arranged on the upper and lower ends of the left and right sides of the two first mounting frames 86. The number of the first connecting rods 88 is four, and the left and right ends of the four first connecting rods 88 are rotatably arranged on the upper and lower ends of the left and right sides of the inner cavity of the two first mounting frames 86 through bearings. The number of the second sprockets 810 is sixteen, and the sixteen second sprockets 810 are respectively sleeved on the four sleeves 84 and the four first connecting rods. The left and right sides of the outer wall of the rod 88 are locked by a top screw. The sixteen second sprockets 810 are grouped in pairs, divided into eight groups. The number of second chains 811 is eight. The two ends of the eight second chains 811 are respectively sleeved on the outer walls of the eight groups of second sprockets 810. The eight second chains 811 are grouped in pairs, divided into four groups. The number of first flattening rollers 812 is several. The left and right ends of several first flattening rollers 812 are rotatably arranged on the outer walls of the four groups of second chains 811 through bearings at equal intervals along the circumferential direction. The first flattening rollers 812 are used to clamp the three-proof cloth and flatten its wrinkles. The front side of the outer wall of the first flattening roller 812 is located in front of the front side of the first mounting frame 86 to ensure that the outer wall of the first flattening roller 812 can contact the three-proof cloth.The second gear 89 is sleeved on the outer side of the outer wall of the sleeve 84 and locked by a top screw. There are two third motors 824, and the two third motors 824 are respectively screwed to the middle of the left and right sides of the telescopic frame 2. The third motor 824 is a prior art. The third motor 824 is a servo motor. The third motor 824 is connected to a servo controller. No more details are given here. The third motor 824 is used to drive the screw 825 to rotate, thereby prompting the first mounting frame 86 to drive the second mounting frame 816 to move left and right. One end of the screw 825 is locked at the output end of the third motor 824 through a coupling, and the other end of the screw 825 can be rotatably extended into the inner cavity of the movable groove 4, and is rotatably arranged on the inner side of the inner cavity of the movable groove 4 through a bearing. The first mounting frame The rear side of 86 is screwed to the outer wall of the screw rod 825, the first slider 813 can be slidably adapted and inserted into the rear side of the inner cavity of the first slide groove 5, the first slider 813 can be slidably sleeved on the outer wall of the first guide rod 6, the number of the limit rods 814 is two, the two limit rods 814 are respectively embedded in the inner cavities of the two telescopic grooves 3, the left and right ends of the two limit rods 814 are respectively arranged on the inner sides of the four first sliders 813, the number of the second electric telescopic rods 815 is two, the two second electric telescopic rods 815 are respectively arranged in the middle of the rear side of the inner cavity of the two telescopic grooves 3, the front ends of the two second electric telescopic rods 815 are respectively arranged in the middle of the outer walls of the two limit rods 814, the second electric telescopic rod 815 is the prior art, and no further description is given here. 815 is used here to push the limiting rod 814 to drive the second mounting frame 816 to move. The number of the second mounting frames 816 is two. The upper and lower ends of the two second mounting frames 816 can be slidably embedded in the left and right sides of the inner cavity of the two telescopic grooves 3, and the upper and lower ends of the two second mounting frames 816 can be slidably sleeved on the left and right sides of the outer wall of the two limiting rods 814. The second mounting frame 816 is used to fix the second flat roller 823. The distance from the front side of the second mounting frame 816 to the front side of the support plate 75 is smaller than the distance from the rear side of the telescopic frame 2 to the rear side of the telescopic rod 710, ensuring that the front side of the second mounting frame 816 can be moved to the same horizontal plane as the front side of the support plate 75. The number of linkage rods 817 is several, and the several linkage rods 817 are respectively set in equal amounts. At the upper and lower ends of the left and right sides of the two second mounting frames 816, the position of the linkage rod 817 corresponds to the position of the linkage cylinder 87, and the linkage rod 817 can be slidably adapted and inserted into the inner cavity of the linkage cylinder 87. Through the cooperation between the linkage rod 817 and the linkage cylinder 87, the second mounting frame 816 can be prompted to move left and right synchronously with the first mounting frame 86. The number of second connecting rods 818 is four, and the left and right ends of the four second connecting rods 818 are rotatably arranged at the upper and lower ends of the left and right sides of the inner cavity of the two second mounting frames 816 through bearings. The number of third connecting rods 819 is four, and the left and right ends of the four third connecting rods 819 are rotatably arranged at the upper and lower ends of the left and right sides of the inner cavity of the two second mounting frames 816 through bearings.The number of third sprockets 821 is sixteen, and the sixteen third sprockets 821 form a group of two, which are divided into eight groups. The eight groups of third sprockets 821 are respectively sleeved on the left and right sides of the outer walls of the four second connecting rods 818 and the four third connecting rods 819, and are locked by top screws. The number of third chains 822 is eight, and the two ends of the eight third chains 822 are respectively sleeved on the outer walls of the eight groups of third sprockets 821, and the eight third chains 822 form a group of two, which are divided into four groups. The number of second flattening rollers 823 is several, and several second The left and right ends of the flattening roller 823 are rotatably arranged on the outer wall of the four sets of third chains 822 at equal distances along the circumferential direction through bearings. The second flattening roller 823 is used to support the three-proof cloth and flatten its folds. The rear side of the outer wall of the second flattening roller 823 is located behind the rear side of the second mounting frame 816 to ensure that the outer wall of the second flattening roller 823 can contact the three-proof cloth. The third gear 820 is sleeved on the outer side of the outer wall of the second connecting rod 818 and locked by a top screw. The third gear 820 is meshed with the second gear 89.

[0022] The working principle includes the following steps: The first step is to use the automatic mechanical clamping arm 1 to drive the telescopic frame 2 and the support plate 75 to move, and align the front side of the support plate 75 downward with the three-proof cloth that has been processed in the previous sequence. The automatic mechanical clamping arm 1 is used to drive the telescopic frame 2 and the support plate 75 to move downward while aligning the three-proof cloth. As the telescopic frame 2 and the support plate 75 move downward, the front side of the second mounting frame 816 first contacts the three-proof cloth, and the automatic mechanical clamping arm 1 is used to continue to drive the telescopic frame 2 and the support plate 75 to move downward. At this time, the squeezing force is used to push the telescopic frame 2 to move backward, push the support plate 75 to move forward, and stretch the second spring 711 to elastically deform until the front side of the support plate 75 is aligned with the three-proof cloth. The anti-cloth contacts and continues to drive the support plate 75 to move toward the three-proof cloth, that is, it can squeeze the support plate 75 to move backward, and prompt the positioning rod 712 to slide along the inner cavity of the positioning hole 72, and at the same time prompt the second slider 78 to move outward along the inner cavity of the second slide groove 76, and stretch the first spring 79 to elastically deform until the squeezing seat 713 contacts the pressure sensor 73, and the pressure value monitored by the pressure sensor 73 is used to judge the contact degree between the support plate 75 and the three-proof cloth, until the pressure sensor 73 monitors a suitable value, the support plate 75 stops moving, and the acupuncture suction cup 722 is started, and the three-proof cloth is adsorbed on the front side of the support plate 75 by the acupuncture suction cup 722; The second step is to use the automatic mechanical clamping arm 1 to drive the support plate 75 to move in the opposite direction, thereby releasing the squeezing of the support plate 75. Under the elastic force of the first spring 79, the support plate 75 can be pulled forward, and under the elastic force of the second spring 711, the telescopic frame 2 can be pulled forward until the support plate 75 and the telescopic frame 2 are restored to their initial positions, and the second electric telescopic rod 815 is started to push the limiting rod 814 to move forward, and then the limiting rod 814 is used to push the second mounting frame 816 to move forward, so that the second gear 89 and the third gear 820 are separated, until the second mounting frame 816 moves to a suitable position, and the first motor 719 is started, and the first rotating rod 714 connected thereto is driven to rotate by the first motor 719, thereby driving the first sprocket 715 and the third gear 820. A gear 718 rotates, and under the action of the two first gears 718, the first sprocket 715 and the first chain 717, the two pressure rods 716 can be caused to rotate synchronously inwards until the pressure rods 716 rotate to a suitable position, the first motor 719 is turned off, the first electric telescopic rod 720 is started, and the rubber push ball 721 is pushed by the first electric telescopic rod 720 to move, so that the three-proof cloth drooping due to gravity is pushed to between the first mounting frame 86 and the second mounting frame 816 by the rubber push ball 721, and the second electric telescopic rod 815 is started to drive the limit rod 814 to move backward, thereby driving the second mounting frame 816 to move backward until the second mounting frame 816 returns to the initial position, at which time the first flat roller 812 and the second flat roller 823 are both in contact with the three-proof cloth; Step 3, start the second motor 81, and use the second motor 81 to drive the second rotating rod 82 to rotate, so that the second rotating rod 82 drives the second sprocket 810 and the second gear 89 to rotate through the sleeve 84, thereby prompting the second chain 811 to drive the first flat roller 812 to move circumferentially outward, and the second gear 89 rotates, that is, cooperates with the third gear 820 to drive the third sprocket 821 to rotate, and the rotation of the third sprocket 821 prompts the third chain 822 to drive the second flat roller 823 to move circumferentially outward, thereby utilizing the first flat roller 812 that moves circumferentially outward and the second flat roller that moves circumferentially outward The cooperation between the rollers 823 can flatten the wrinkled three-proof cloth to prevent wrinkles. When the three-proof cloth needs to be put down, the needle suction cup 722 is closed to release the adsorption of the three-proof cloth, and the third motor 824 is started. The third motor 824 is used to drive the screw 825 to rotate, so that the rotational force generated by the rotation of the screw 825 is used to prompt the first mounting frame 86 to move outward, so that the cooperation between the linkage cylinder 87 and the linkage rod 817 is used to drive the second mounting frame 816 to move outward following the first mounting frame 86, until the three-proof cloth moves out of the inner cavity of the first mounting frame 86 and the second mounting frame 816, and the three-proof cloth can be put down flat.

[0023] In summary, the device realizes the efficient and stable grasping and handling of the three-proof cloth with irregular shapes after cutting, effectively prevents the three-proof cloth from falling and twisting during the handling process, ensures the smoothness and wrinkle-free surface of the three-proof cloth, thereby directly improving the appearance quality of the three-proof cloth, laying a good foundation for subsequent processes, and greatly improving subsequent production efficiency and overall product quality.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic clamping robot arm for a three-proof fabric processing production line, characterized in that: include: An automated mechanical clamping arm (1), a telescopic frame (2), a telescopic slot (3), a movable slot (4), a first slide slot (5), a first guide rod (6), a grasping mechanism (7) and a flattening mechanism (8); The gripping mechanism (7) is arranged on the front side of the automated mechanical clamping arm (1); the telescopic frame (2) is slidably sleeved on the outer wall of the gripping mechanism (7); telescopic grooves (3) are provided at the upper and lower ends of the front side of the telescopic frame (2); movable grooves (4) are provided at the left and right ends of the front side of the telescopic frame (2); first slide grooves (5) are provided on the left and right sides of the inner cavity of the telescopic groove (3) along the front-to-back direction; the front and rear ends of the first guide rod (6) are respectively arranged on the front and rear sides of the inner cavity of the first slide groove (5); and the paving mechanism (8) is arranged in the inner cavity of the movable groove (4).

2. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 1 is characterized in that: The grasping mechanism (7) comprises: a mounting seat (71), a positioning hole (72), a pressure sensor (73), a connecting rod (74), a supporting plate (75), a second sliding groove (76), a second guide rod (77), a second sliding block (78), a first spring (79), a telescopic rod (710), a second spring (711), a positioning rod (712), a pressing seat (713) and a needle puncture suction cup (722); The mounting seat (71) is detachably arranged on the front side of the automated mechanical clamping arm (1); positioning holes (72) are provided at both left and right ends of the front side of the mounting seat (71); the pressure sensor (73) is arranged at the middle of the front side of the mounting seat (71); the number of the connecting rods (74) is four; the rear ends of the four connecting rods (74) are rotatably arranged on the outer wall of the mounting seat (71) at equal intervals along the circumferential direction through pins; the second sliding block (78) is rotatably arranged on the front end of the connecting rod (74) through a pin; the four rear corners of the support plate (75) are each provided with a second The slide groove (76), the four second sliders (78) are respectively slidably adapted to be inserted into the inner side of the inner cavity of the four second slide grooves (76), the upper and lower ends of the second guide rod (77) are respectively arranged on the upper and lower sides of the inner cavity of the second slide groove (76), the second slider (78) is slidably sleeved on the outer wall of the second guide rod (77), the first spring (79) is sleeved on the inner side of the outer wall of the second guide rod (77), one end of the first spring (79) is clamped on the outer wall of the second slider (78), and the other end of the first spring (79) is clamped on the inner side of the second slide groove (76). The telescopic rods (710) are four in number, the four telescopic rods (710) are respectively arranged at the four corners of the rear side of the support plate (75), the four telescopic rods (710) are respectively slidably plugged into the four corners of the rear side of the inner cavity of the telescopic frame (2), the second spring (711) is sleeved on the front side of the outer wall of the telescopic rod (710), the front end of the second spring (711) is clamped on the rear side of the support plate (75), and the rear end of the second spring (711) is clamped on the rear side of the inner cavity of the telescopic frame (2), the number of the acupuncture suction cups (722) is four, and the four acupuncture suction cups (722) are respectively arranged at the four corners of the rear side of the inner cavity of the telescopic frame (2). The disc (722) is respectively arranged at the four corners of the rear side of the support plate (75); the front side of the acupuncture suction disc (722) extends to the front side of the support plate (75); the number of the positioning rods (712) is two; the two positioning rods (712) are respectively arranged at the left and right ends of the rear side of the support plate (75); the two positioning rods (712) are respectively slidably adapted to be plugged into the inner cavities of the two positioning holes (72); the extrusion seat (713) is arranged at the middle part of the rear side of the support plate (75); the position of the extrusion seat (713) corresponds to the position of the pressure sensor (73).

3. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 2 is characterized in that: The grabbing mechanism (7) further comprises: a first rotating rod (714), a first sprocket (715), a pressure rod (716), a first chain (717), a first gear (718), a first motor (719), a first electric telescopic rod (720) and a rubber push ball (721); The number of the first rotating rods (714) is two, and the two first rotating rods (714) are rotatably arranged at the middle part of the left side of the support plate (75) through bearings. The number of the pressure rods (716) is two, and the two ends of the two pressure rods (716) are rotatably arranged at the upper and lower ends of the left and right sides of the support plate (75) through bearings. The number of the first sprocket wheels (715) is four, and the four first sprocket wheels (715) are respectively sleeved on the outer walls of the two first rotating rods (714) and the left sides of the outer walls of the two pressure rods (716) and are locked by means of a top screw. The number of the first chains (717) is two, and the two ends of the two first chains (717) are respectively sleeved on the outer walls of the four first sprocket wheels (715). The number of the first gears (718) is two, and the two first gears (718) are respectively sleeved on the The first gears (718) are meshed with each other, the first motor (719) is connected to the outer wall of the support plate (75) through a bracket screw, the left end of the first rotating rod (714) located at the top is locked to the output end of the first motor (719) through a coupling, the number of the first electric telescopic rods (720) is four, the four first electric telescopic rods (720) are respectively arranged in the inner cavities of the two pressure rods (716), and the first electric telescopic rods (720) at two corresponding positions are arranged oppositely, the outer end of the first electric telescopic rod (720) extends out of the inner cavity of the pressure rod (716), the rubber push ball (721) is arranged at the outer end of the first electric telescopic rod (720), and the rubber push ball (721) is located on the inner side of the acupuncture suction cup (722).

4. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 3 is characterized in that: The paving mechanism (8) comprises: a second motor (81), a second rotating rod (82), a limiting groove (83), a sleeve (84), a limiting block (85), a first mounting frame (86), a linkage cylinder (87), a first connecting rod (88), a second gear (89), a second sprocket (810), a second chain (811), a first paving roller (812), a third motor (824) and a screw rod (825); The number of the second motors (81) is four, and the four second motors (81) are respectively screwed to the left and right sides and the upper and lower ends of the telescopic frame (2). The outer end of the second rotating rod (82) is locked to the output end of the second motor (81) through a coupling. The inner end of the second rotating rod (82) extends into the inner cavity of the movable groove (4) and is rotatably arranged on the inner side of the inner cavity of the movable groove (4) through a bearing. The outer wall of the second rotating rod (82) is provided with four limit grooves (83) equidistantly along the circumferential direction. The sleeve (84) is slidably sleeved on the outer wall of the second rotating rod (82). The number of the limit blocks (85) is sixteen, and the sixteen limit blocks (85) are grouped in four. The four groups of limit blocks (85) are respectively arranged on the inner walls of the four sleeves (84) at equal intervals along the circumferential direction, and the limit blocks (85) can be slidably adapted to be inserted into the inner cavity of the limit groove (83). The number of the first mounting frames (86) is two, and the upper and lower sides of the two first mounting frames (86) are rotatably sleeved on the outer walls of the four sleeves (84) through bearings; the number of the linkage cylinders (87) is a plurality, and the plurality of linkage cylinders (87) are respectively and equidistantly arranged on the upper and lower ends of the left and right sides of the two first mounting frames (86); the number of the first connecting rods (88) is four, and the left and right ends of the four first connecting rods (88) are respectively rotatably arranged on the two first mounting frames (86) through bearings. The inner cavity of a mounting frame (86) has sixteen second sprockets (810) at both upper and lower ends on both sides of the left and right sides. The sixteen second sprockets (810) are respectively sleeved on the outer walls of the four sleeves (84) and the four first connecting rods (88) on both sides and are locked by means of top screws. The sixteen second sprockets (810) are grouped in pairs and divided into eight groups. The number of second chains (811) is eight. The two ends of the eight second chains (811) are respectively sleeved on the outer walls of the eight groups of second sprockets (810). The eight second chains (811) are grouped in pairs and divided into four groups. The number of first flattening rollers (812) is a plurality of first flattening rollers (812). The left and right sides of the plurality of first flattening rollers (812) are The ends are rotatably arranged on the outer walls of the four groups of second chains (811) at equal intervals along the circumferential direction through bearings, the second gear (89) is sleeved on the outer side of the outer wall of the sleeve (84) and locked by a top screw, the number of the third motors (824) is two, and the two third motors (824) are screwed to the middle of the left and right sides of the telescopic frame (2), one end of the screw rod (825) is locked to the output end of the third motor (824) through a coupling, the other end of the screw rod (825) is rotatably extended into the inner cavity of the movable groove (4), and is rotatably arranged on the inner side of the inner cavity of the movable groove (4) through a bearing, and the rear side of the first mounting frame (86) is screwed to the outer wall of the screw rod (825).

5. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 4 is characterized in that: The paving mechanism (8) further comprises: a first sliding block (813), a limiting rod (814), a second electric telescopic rod (815), a second mounting frame (816), a linkage rod (817), a second connecting rod (818), a third connecting rod (819), a third gear (820), a third sprocket (821), a third chain (822) and a second paving roller (823); The first slider (813) is slidably adapted to be inserted into the rear side of the inner cavity of the first slide groove (5), and the first slider (813) is slidably sleeved on the outer wall of the first guide rod (6). The number of the limit rods (814) is two, and the two limit rods (814) are respectively embedded in the inner cavities of the two telescopic grooves (3). The left and right ends of the two limit rods (814) are respectively arranged on the inner sides of the four first sliders (813). The number of the second electric telescopic rods (815) is two, and the two second electric telescopic rods (815) are respectively arranged in the middle of the rear side of the inner cavity of the two telescopic grooves (3). The front ends of the two second electric telescopic rods (815) are respectively arranged on the two limit rods ( The second mounting frames (816) are provided at the middle of the outer wall of the two telescopic slots (814), the number of the second mounting frames (816) is two, the upper and lower ends of the two second mounting frames (816) are respectively slidably embedded in the left and right sides of the inner cavity of the two telescopic slots (3), the upper and lower ends of the two second mounting frames (816) are respectively slidably sleeved on the left and right sides of the outer wall of the two limit rods (814), the number of the linkage rods (817) is a plurality, and the plurality of linkage rods (817) are respectively and equally arranged at the upper and lower ends of the left and right sides of the two second mounting frames (816), the position of the linkage rod (817) corresponds to the position of the linkage cylinder (87), and the linkage rod (817) is slidably adapted to be inserted into the inner cavity of the linkage cylinder (87). The number of the second connecting rods (818) is four, and the left and right ends of the four second connecting rods (818) are rotatably arranged at the upper and lower ends of the left and right sides of the inner cavity of the two second mounting frames (816) through bearings, the number of the third connecting rods (819) is four, and the left and right ends of the four third connecting rods (819) are rotatably arranged at the upper and lower ends of the left and right sides of the inner cavity of the two second mounting frames (816) through bearings, the number of the third sprockets (821) is sixteen, and the sixteen third sprockets (821) are grouped into eight groups, and the eight groups of third sprockets (821) are respectively sleeved on the four second connecting rods (818) and the four third connecting rods The third chains (822) are arranged on the left and right sides of the outer wall of the eight groups of third sprockets (819) and are locked by a top screw. The number of the third chains (822) is eight. The two ends of the eight third chains (822) are respectively sleeved on the outer walls of the eight groups of third sprockets (821). The eight third chains (822) are grouped in groups of two and are divided into four groups. The number of the second flat rollers (823) is a plurality of. The left and right ends of the plurality of second flat rollers (823) are respectively rotatably arranged on the outer walls of the four groups of third chains (822) through bearings at equal intervals along the circumferential direction. The third gear (820) is sleeved on the outer side of the outer wall of the second connecting rod (818) and is locked by a top screw. The third gear (820) is meshed with the second gear (89).

6. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 5 is characterized in that: The distance from the front side of the second mounting frame (816) to the front side of the support plate (75) is smaller than the distance from the rear side of the telescopic frame (2) to the rear side of the telescopic rod (710).

7. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 6 is characterized in that: The front side of the outer wall of the first flattening roller (812) is located in front of the front side of the first mounting frame (86), and the rear side of the outer wall of the second flattening roller (823) is located behind the rear side of the second mounting frame (816).

8. The automatic clamping robot arm for a triple-proof fabric processing production line according to claim 7 is characterized in that: The second motor (81) drives the second rotating rod (82) to rotate, so that the second rotating rod (82) drives the second sprocket (810) and the second gear (89) to rotate through the sleeve (84), thereby prompting the second chain (811) to drive the first flattening roller (812) to move outward in a circumferential direction. The rotation of the second gear (89) cooperates with the third gear (820) to cause the third sprocket (821) to rotate. The rotation of the third sprocket (821) causes the third chain (822) to drive the second flattening roller (823) to move outward in a circumferential direction.

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