An automatic clamping mechanical arm for a three-proofing cloth processing production line

Abstract

The application relates to the technical field of mechanical arms, and specifically discloses an automatic clamping mechanical arm for a three-proof cloth processing production line, which comprises an automatic mechanical clamping arm and a grabbing mechanism, the grabbing mechanism is arranged on the front side of the automatic mechanical clamping arm, a telescopic frame is slidably sleeved on the outer wall of the grabbing mechanism, telescopic grooves are arranged on the upper and lower ends of the front side of the telescopic frame, moving grooves are arranged on the left and right ends of the front side of the telescopic frame, first sliding grooves are arranged on the left and right sides of the inner cavities of the telescopic grooves in the front-rear direction, and the front and rear ends of a first guide rod are arranged on the left and right sides of the inner cavities of the first sliding grooves. The device realizes efficient and stable grabbing and carrying of the irregularly-shaped three-proof cloth after cutting, effectively prevents the three-proof cloth from falling and twisting in the carrying process, ensures the flatness and wrinkle-free of the surface of the three-proof cloth, and directly improves the appearance quality of the three-proof cloth, thereby laying a good foundation for subsequent processes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to an automatic clamping mechanical arm for a three-proof cloth processing production line. BACKGROUND

[0002] In modern industrial production, three-proof cloth is widely used in the manufacturing process of various products due to its waterproof, fireproof, and oil-proof properties. However, during production and processing, three-proof cloth often faces challenges in handling and processing due to its soft and easily deformable characteristics. Traditional manual handling and processing methods are not only inefficient, but also prone to causing wrinkles, deformation, and other issues in the three-proof cloth, 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, handle, and process three-proof cloth. In the prior art, although there are some handling and clamping devices for cloth, these devices are mostly complex in design and cumbersome to operate, and when clamping irregularly shaped three-proof cloth, they are prone to issues such as cloth sagging and twisting, which cannot guarantee the flatness of the cloth. In addition, many devices lack flexible adjustment mechanisms and are difficult to adapt to three-proof cloth of different sizes and shapes, limiting their application range in actual production. SUMMARY

[0003] The purpose of the present application is to provide an automatic clamping mechanical arm for a three-proof cloth processing production line to solve the problem of wrinkles in the process of handling and grasping three-proof cloth in the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solution: an automatic clamping mechanical arm for a three-proof cloth processing production line, comprising: an automatic mechanical clamping arm and a grasping mechanism, the grasping mechanism being arranged on the front side of the automatic mechanical clamping arm; a telescopic frame being slidably connected to the outer wall of the grasping mechanism, the front side of the telescopic frame being provided with telescopic grooves at both upper and lower ends, and the front side of the telescopic frame being provided with moving grooves at both left and right ends, the inner cavities of the telescopic grooves being provided with first sliding grooves along the front and rear directions at both left and right sides; first guide rods being arranged at both front and rear ends of the inner cavities of the first sliding grooves; and a flat laying mechanism being arranged in the inner cavities of the moving grooves.

[0005] Preferably, the grabbing mechanism comprises: a mounting seat which is detachably arranged on the front side of the automated mechanical arm, and the front side of the mounting seat is provided with positioning holes at both ends; a pressure sensor is arranged on the middle part of the front side of the mounting seat; four connecting rods are arranged on the outer wall of the mounting seat at the rear end through the pin shaft; a second sliding block is rotatably arranged on the front end of the connecting rod through the pin shaft; a support plate is provided with second sliding grooves at the four corners of the rear side, and the four second sliding blocks are slidably inserted into the inner side of the four second sliding grooves; the upper and lower ends of the second guide rod are arranged on the inner cavity of the second sliding groove, and the second sliding block is slidably sleeved on the outer wall of the second guide rod; a first spring is sleeved on the inner side of the outer wall of the second guide rod, one end of the first spring is clamped on the outer wall of the second sliding block, and the other end of the first spring is clamped on the inner wall of the second sliding groove; four telescopic rods are arranged at the four corners of the rear side of the support plate, and the four telescopic rods are slidably inserted into the inner cavity of the telescopic frame; a second spring is sleeved on 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 inner cavity of the telescopic frame; four needle suction cups are arranged at the four corners of the rear side of the support plate, and the front side of the needle suction cup extends to the front side of the support plate; two positioning rods are arranged at the left and right ends of the rear side of the support plate, and the two positioning rods are slidably inserted into the inner cavity of the two positioning holes; and a pressing seat is arranged on the middle part of the rear side of the support plate, and the position of the pressing seat corresponds to the position of the pressure sensor.

[0006] Preferably, in order to push the sagging waterproof cloth between the first mounting frame and the second mounting frame, the grabbing mechanism further comprises: two first rotating rods which are rotatably arranged on the middle part of the left side of the support plate through bearings; two pressing rods which are rotatably arranged on the upper and lower ends of the left and right sides of the support plate through bearings; four first sprockets which are sleeved on the outer walls of the two first rotating rods and the two pressing rods on the left side and locked through the top wire; two first chains which are sleeved on the outer walls of the four first sprockets at both ends; two first gears which are sleeved on the outer walls of the two first rotating rods and locked through the top wire, and the two first gears are engaged; a first motor which is connected to the outer wall of the support plate through a support screw, and the left end of the upper first rotating rod is locked on the output end of the first motor through a shaft coupling; four first electric telescopic rods which are arranged in the inner cavities of the two pressing rods, and the two first electric telescopic rods arranged at corresponding positions are oppositely arranged, and the outer ends of the first electric telescopic rods extend out of the inner cavities of the pressing rods; a rubber push ball which is arranged on the outer end of the first electric telescopic rod and located on the inner side of the needle suction cup.

[0007] Preferably, in order to flatten the wrinkles of the three-proof cloth, the flattening mechanism comprises: four second motors, which are respectively screw-connected to the upper and lower ends of the left and right sides of the telescopic frame; the outer end of a second rotating rod is locked to the output end of the second motor through a shaft coupling, the inner end of the second rotating rod extends into the inner cavity of the moving groove and is rotatably arranged on the inner side of the inner cavity of the moving groove through a bearing, and four limiting grooves are equidistantly formed on the outer wall of the second rotating rod in the circumferential direction; a sleeve is slidably sleeved on the outer wall of the second rotating rod; there are sixteen limiting blocks, and every four limiting blocks form a group, and the four groups of limiting blocks are equidistantly arranged on the inner wall of the four sleeves in the circumferential direction, and the limiting blocks are slidably and adaptively inserted into the inner cavity of the limiting groove; there are two first mounting frames, and the upper and lower sides of the two first mounting frames are rotatably sleeved on the outer wall of the four sleeves through bearings; there are several linkage cylinders, which are equidistantly arranged on the upper and lower ends of the left and right sides of the two first mounting frames; there are four first connecting rods, and the left and right ends of the four first connecting rods are rotatably arranged on the inner cavity of the two first mounting frames through bearings; there are sixteen second sprockets, which are sleeved on the outer wall of the left and right sides of the four sleeves and the four first connecting rods and locked through a jackscrew, and the sixteen second sprockets form eight groups in pairs; there are eight second chains, and the two ends of the eight second chains are sleeved on the outer wall of the eight groups of second sprockets, and the eight second chains form four groups in pairs; there are several first flattening rollers, and the left and right ends of the several first flattening rollers are rotatably arranged on the outer wall of the four groups of second chains through bearings in the circumferential direction; a second gear is sleeved on the outer side of the outer wall of the sleeve and locked through a jackscrew; there are two third motors, which are respectively screw-connected to the middle parts of the left and right sides of the telescopic frame; one end of a screw rod is locked to the output end of the third motor through a shaft coupling, the other end of the screw rod rotatably extends into the inner cavity of the moving groove and is rotatably arranged on the inner side of the inner cavity of the moving groove through a bearing, and the rear side of the first mounting frame is screwed on the outer wall of the screw rod.

[0008] Preferably, in order to support the three-proof cloth, the laying mechanism further comprises: a first sliding block slidably and fittingly inserted into the rear side of the inner cavity of the first sliding groove, and slidably sleeved on the outer wall of the first guide rod; two limiting rods respectively embedded in the inner cavities of the two telescopic grooves, and the left and right ends of the two limiting rods respectively arranged on the inner sides of the four first sliding blocks; two second electric telescopic rods respectively arranged on the inner cavity rear sides of the two telescopic grooves, and the front ends of the two second electric telescopic rods respectively arranged on the middle portions of the outer walls of the two limiting rods; two second mounting frames slidably and respectively embedded on the left and right sides of the inner cavities of the two telescopic grooves, and slidably and respectively sleeved on the left and right sides of the outer walls of the two limiting rods; a plurality of linkage rods, the plurality of linkage rods being equally arranged on the upper and lower ends of the left and right sides of the two second mounting frames, the positions of the linkage rods corresponding to the positions of the linkage cylinders, and the linkage rods slidably and fittingly inserted into the inner cavities of the linkage cylinders; four second connecting rods, the left and right ends of the four second connecting rods respectively rotatably arranged on the inner cavities of the left and right sides of the upper and lower ends of the two second mounting frames through bearings; four third connecting rods, the left and right ends of the four third connecting rods respectively rotatably arranged on the inner cavities of the left and right sides of the upper and lower ends of the two second mounting frames through bearings; sixteen third chain wheels, every two of the sixteen third chain wheels forming a group, the sixteen third chain wheels being divided into eight groups, and the eight groups of third chain wheels respectively sleeved on the outer walls of the left and right sides of the four second connecting rods and the four third connecting rods and locked by the jackscrews; eight third chains, the two ends of the eight third chains respectively sleeved on the outer walls of the eight groups of third chain wheels, and every two of the eight third chains forming a group, the eight groups of third chains being divided into four groups; and a plurality of second laying rollers, the left and right ends of the plurality of second laying rollers rotatably arranged on the outer walls of the four groups of third chains through bearings along the circumferences.

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

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

[0011] Preferably, the second rotating rod is driven by the second motor to rotate, so that the second rotating rod drives the second chain wheel and the second gear to rotate through the sleeve, so as to drive the second chain to move outward along the circumference, and the rotation of the second gear drives the third gear to rotate, and the rotation of the third chain wheel drives the third chain to move outward along the circumference.

[0012] The beneficial effects of the automatic clamping mechanical arm for the three-proof cloth processing production line are as follows:

[0013] 1、The automatic mechanical clamping arm drives the support plate and the telescopic frame to move, the contact degree of the needle suction cup and the three-proof cloth can be detected through the extrusion of the extrusion seat and the pressure sensor, so that the three-proof cloth can be firmly adsorbed on the front side of the support plate by the needle suction cup.

[0014] 2、The first motor drives the first rotating rod to rotate, and then the rotation of the first rotating rod can promote the synchronous rotation of the two pressing rods to the inside through the cooperation between the first sprocket, the first chain and the first gear, until the two pressing rods are rotated to the appropriate position, and then the first electric telescopic rod can push the three-proof cloth due to gravity downward into the first mounting frame and the second mounting frame through the rubber ball, so as to clamp the three-proof cloth by the first mounting frame and the second mounting frame to prevent it from being wrinkled.

[0015] 3、The second motor can rotate through the second rotating rod, so that the sleeve can be driven to rotate through the cooperation between the limiting groove and the limiting block, the sleeve rotation can drive the second gear and the second sprocket to rotate, the second sprocket rotation can drive the first paving roller to move outward along the circumference through the second chain, at the same time, the second gear rotation can drive the second connecting rod to rotate through the third gear, and then drive the third sprocket to rotate, the third sprocket rotation can drive the second paving roller to move outward along the circumference through the third chain, so that the first paving roller and the second paving roller moving outward can be used to flatten the wrinkles of the three-proof cloth clamped between the first mounting frame and the second mounting frame, so as to prevent the three-proof cloth from being wrinkled.

[0016] 4、The device realizes efficient and stable grabbing and carrying of the irregularly shaped three-proof cloth after cutting, effectively prevents the three-proof cloth from falling and twisting during carrying, ensures the flatness of the surface of the three-proof cloth without wrinkles, thereby directly improves the appearance quality of the three-proof cloth, lays a good foundation for the subsequent process, greatly improves the subsequent production efficiency and overall product quality. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the present application;

[0018] Figure 2 is a structural schematic view of the telescopic frame;

[0019] Figure 3 is a structural schematic view of the rear side of the telescopic frame;

[0020] Figure 4 is a structural schematic view of the telescopic groove;

[0021] Figure 5This is a schematic diagram of the gripping mechanism;

[0022] Figure 6 This is a schematic diagram of the telescopic rod structure;

[0023] Figure 7 To capture the exploded view of the mechanism;

[0024] Figure 8 This is a schematic diagram of the pressure sensor structure;

[0025] Figure 9 This is a schematic diagram of the tiling mechanism;

[0026] Figure 10 This is a schematic diagram of the structure of the first mounting bracket;

[0027] Figure 11 An exploded view of the tiling mechanism;

[0028] Figure 12 This is a schematic diagram of the sleeve structure;

[0029] Figure 13 for Figure 4 Enlarged view of point A;

[0030] Figure 14 for Figure 7 Enlarged view of point B;

[0031] Figure 15 for Figure 7 Enlarged view of point C;

[0032] Figure 16 for Figure 8 Enlarged view of point D;

[0033] Figure 17 for Figure 11 Enlarged view of point E;

[0034] Figure 18 for Figure 11 Enlarged view at point F;

[0035] Figure 19 for Figure 11 Enlarged view of point G;

[0036] Figure 20 for Figure 11 Enlarged view of point H;

[0037] Figure 21 for Figure 11 Enlarged view of point I;

[0038] Figure 22 is a schematic diagram of the compression bar.

[0039] In the figure: 1, automatic mechanical clamping arm; 2, telescopic frame; 3, telescopic groove; 4, moving groove; 5, first sliding groove; 6, first guide rod; 7, grabbing mechanism; 71, mounting seat; 72, positioning hole; 73, pressure sensor; 74, connecting rod; 75, support plate; 76, second sliding groove; 77, second guide rod; 78, second sliding block; 79, first spring; 710, telescopic rod; 711, second spring; 712, positioning rod; 713, extrusion seat; 714, first rotary rod; 715, first sprocket; 716, pressing rod; 717, first chain; 718, first gear; 719, first motor; 720, first electric telescopic rod; 721, rubber ball pushing ball; 722, needle suction cup; 8, flattening mechanism; 81, second motor; 82, second rotary rod; 83, limiting groove; 84, sleeve; 85, limiting block; 86, first mounting frame; 87, linkage cylinder; 88, first connecting rod; 89, second gear; 810, second sprocket; 811, second chain; 812, first flattening roller; 813, first sliding block; 814, limiting rod; 815, second electric telescopic rod; 816, second mounting frame; 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 rod. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] Please refer to Figures 1-22 The present application provides an automatic clamping mechanical arm technical scheme for a three-proof cloth processing production line, comprising: an automatic mechanical clamping arm 1, a telescopic frame 2, a telescopic groove 3, a moving groove 4, a first sliding groove 5, a first guide rod 6, a grabbing mechanism 7, and a flattening mechanism 8. The grabbing mechanism 7 is arranged on the front side of the automatic mechanical clamping arm 1, and can grab and fix the three-proof cloth. The telescopic frame 2 is slidably sleeved on the outer wall of the grabbing mechanism 7. The front side of the telescopic frame 2 is provided with telescopic grooves 3 at the upper and lower ends. The front side of the telescopic frame 2 is provided with moving grooves 4 at the left and right ends. The first sliding grooves 5 are arranged in the inner cavities of the telescopic grooves 3 at the left and right sides in the front-to-back direction. The first guide rods 6 are arranged at the front and rear ends of the first sliding grooves 5. The first guide rods 6 can prevent the first sliding blocks 813 from being separated from the inner cavities of the first sliding grooves 5. The flattening mechanism 8 is arranged in the inner cavity of the moving groove 4, and is used for wrinkle flattening of the three-proof cloth.

[0042] As a preferred further, the grabbing mechanism 7 comprises: a mounting seat 71, a positioning hole 72, a pressure sensor 73, a connecting rod 74, a support plate 75, a second sliding groove 76, a second guide rod 77, a second sliding block 78, a first spring 79, an extension rod 710, a second spring 711, a positioning rod 712, a pressing seat 713, a first rotary rod 714, a first chain wheel 715, a pressing rod 716, a first chain 717, a first gear 718, a first motor 719, a first electric telescopic rod 720, a rubber ball pusher 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. The front side of the mounting seat 71 is provided with a positioning hole 72 at both ends. The mounting seat 71 is a prior art, which will not be described here. The mounting seat 71 is used for fixed connection with the automated mechanical clamping arm 1. The pressure sensor 73 is arranged on the front side of the mounting seat 71. The pressure sensor 73 is a prior art, which will not be described here. The pressure sensor 73 is used for pressing through the pressing seat 713, and detecting the contact degree of the needle suction cup 722 and the three-proof cloth. The number of the connecting rod 74 is four. The rear ends of the four connecting rods 74 are rotatably arranged on the outer wall of the mounting seat 71 through the shaft pins. The front end of the second sliding block 78 is rotatably arranged on the connecting rod 74 through the shaft pin. The rear side of the support plate 75 is provided with a second sliding groove 76 at the four corners. The four second sliding blocks 78 are slidably and adaptively inserted into the inner side of the four second sliding grooves 76. The upper and lower ends of the second guide rod 77 are arranged on the inner side of the upper and lower sides of the second sliding groove 76. The second sliding block 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 sliding block 78. The other end of the first spring 79 is clamped on the inner wall of the second sliding groove 76. The first spring 79 is a rotary spring, which is elastically deformed after being pressed or stretched by external force, and returns to the initial state after the external force is removed. The first spring 79 is used for pulling the second sliding block 78 to return to the initial position. The number of the extension rod 710 is four. The four extension rods 710 are arranged on the rear side of the four corners of the support plate 75. The four extension rods 710 are slidably inserted into the rear side of the inner cavity of the telescopic frame 2. The second spring 711 is sleeved on the outer wall of the extension rod 710. The front end of the second spring 711 is clamped on the rear side of the support plate 75. 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 rotary spring, which is elastically deformed after being pressed or stretched by external force, and returns to the initial state after the external force is removed. The second spring 711 is used for returning the telescopic frame 2 to the initial position. The elastic force of the second spring 711 is smaller than that of the first spring 79, so that the telescopic frame 2 is first pressed to move backward when the support plate 75 is moved by the automated mechanical clamping arm 1. The number of the needle suction cup 722 is four. The four needle suction cups 722 are arranged on the rear side of the four corners of the support plate 75. The front side of the needle suction cup 722 extends to the front side of the support plate 75.The needle punching suction disc 722 is a prior art, which will not be described here. The needle punching suction disc 722 is used to fix the waterproof cloth here. 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 and slidably inserted 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. The extrusion seat 713 is used to extrude the pressure sensor 73, so as to detect the contact degree of the needle punching suction disc 722 and the waterproof cloth. The number of the first rotating rods 714 is two. The two first rotating rods 714 are respectively and 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. The two ends of the two pressure rods 716 are respectively and 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 chain wheels 715 is four. The four first chain wheels 715 are respectively sleeved on the outer walls of the two first rotating rods 714 and the outer walls of the left sides of the two pressure rods 716 and are locked through the jackscrews. The number of the first chains 717 is two. The two ends of the two first chains 717 are respectively sleeved on the outer walls of the four first chain wheels 715. The number of the first gears 718 is two. The two first gears 718 are respectively sleeved on the outer walls of the two first rotating rods 714 and are locked through the jackscrews. The two first gears 718 are engaged with each other. The cooperation of the two first gears 718 can make the two pressure rods 716 rotate synchronously inward or outward. The first motor 719 is connected to the outer wall of the support plate 75 through a support screw. The left end of the upper first rotating rod 714 is locked to the output end of the first motor 719 through a coupling. The first motor 719 is a prior art. The first motor 719 is a servo motor. The first motor 719 is connected with a servo controller, which will not be described here. The first motor 719 is used to drive the first rotating rod 714 to rotate here. 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. The two first electric telescopic rods 720 at the corresponding positions are oppositely arranged. 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 a prior art, which will not be described here. The first electric telescopic rods 720 are used to push the waterproof cloth which is sagged due to gravity into the space between the first mounting frame 86 and the second mounting frame 816. The rubber pushing ball 721 is arranged at the outer end of the first electric telescopic rod 720. The rubber pushing ball 721 is located at the inner side of the needle punching suction disc 722. The rubber pushing ball 721 can prevent the waterproof cloth from being damaged.

[0043] As a preferred solution, further, the tiling 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 tiling roller 812, 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, a second tiling roller 823, a third motor 824 and a screw 825, the number of the second motor 81 is four, the four second motors 81 are respectively screw connected to the upper and lower ends of the left and right sides of the telescopic frame 2, the second motor 81 is a prior art, the second motor 81 is a servo motor, the second motor 81 is connected with a servo controller, which will not be described 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 on the output end of the second motor 81 through a shaft coupling, the inner end of the second rotating rod 82 extends into the inner cavity of the moving groove 4 and is rotatably arranged on the inner side of the inner cavity of the moving groove 4 through a bearing, four limiting grooves 83 are equidistantly formed on the outer wall of the second rotating rod 82 in the circumferential direction, the sleeve 84 is slidably sleeved on the outer wall of the second rotating rod 82, the number of the limiting block 85 is sixteen, every four limiting blocks 85 form a group, four groups of limiting blocks 85 are equidistantly arranged on the inner wall of the four sleeves 84 in the circumferential direction, the limiting block 85 is slidably fitted in the inner cavity of the limiting groove 83, the number of the first mounting frame 86 is two, the upper and lower sides of the two first mounting frames 86 are rotatably sleeved on the outer wall of the four sleeves 84 through bearings, the number of the linkage cylinder 87 is several, the several linkage cylinders 87 are 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 rod 88 is four, the left and right ends of the four first connecting rods 88 are rotatably arranged on the inner cavity of the two first mounting frames 86 through bearings, the number of the second sprocket 810 is sixteen, the sixteen second sprockets 810 are sleeved on the outer wall of the left and right sides of the four sleeves 84 and the four first connecting rods 88 and locked through a jack screw, the sixteen second sprockets 810 are two by two into a group, divided into eight groups, the number of the second chain 811 is eight, the two ends of the eight second chains 811 are sleeved on the outer wall of the eight groups of second sprockets 810, the eight second chains 811 are two by two into a group, divided into four groups, the number of the first tiling roller 812 is several, the left and right ends of the several first tiling rollers 812 are rotatably arranged on the outer wall of the four groups of second chains 811 through bearings in the circumferential direction, the first tiling roller 812 is used to clamp and wrinkle the waterproof cloth, the outer wall of the first tiling roller 812 is located in front of the front side of the first mounting frame 86, so that the outer wall of the first tiling roller 812 can contact the waterproof cloth,The second gear 89 is sleeved outside the outer wall of the sleeve 84 and locked by a jackscrew. The third motor 824 is two in number and is screw-connected to the middle part of the left and right sides of the telescopic frame 2. The third motor 824 is a prior art and is a servo motor. The third motor 824 is connected with a servo controller, which will not be described here in more details. The third motor 824 is used here to drive the screw rod 825 to rotate, thereby promoting the first mounting frame 86 to drive the second mounting frame 816 to move left and right. One end of the screw rod 825 is locked at the output end of the third motor 824 through a shaft coupling. The other end of the screw rod 825 extends into the inner cavity of the moving slot 4 and is rotatably arranged at the inner side of the inner cavity of the moving slot 4 through a bearing. The rear side of the first mounting frame 86 is screw-connected to the outer wall of the screw rod 825. The first sliding block 813 is slidably and fittingly inserted into the inner cavity of the rear side of the first sliding slot 5 and is slidably sleeved to the outer wall of the first guide rod 6. The limiting rods 814 are two in number and are respectively embedded in the inner cavities of the two telescopic slots 3. The left and right ends of the two limiting rods 814 are respectively arranged at the inner sides of the four first sliding blocks 813. The second electric telescopic rods 815 are two in number and are respectively arranged at the inner cavity rear middle part of the two telescopic slots 3. The front ends of the two second electric telescopic rods 815 are respectively arranged at the middle part of the outer wall of the two limiting rods 814. The second electric telescopic rod 815 is a prior art, which will not be described here in more details. The second electric telescopic rod 815 is used here to promote the limiting rod 814 to drive the second mounting frame 816 to move. The second mounting frames 816 are two in number and the upper and lower ends of the two second mounting frames 816 are respectively slidably embedded in the inner cavities of the left and right sides of the two telescopic slots 3. The upper and lower ends of the two second mounting frames 816 are respectively slidably sleeved to the outer wall of the left and right sides 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 supporting plate 75 is less than the distance from the rear side of the telescopic frame 2 to the rear side of the telescopic rod 710, so as to ensure that the front side of the second mounting frame 816 can move to the same horizontal plane as the front side of the supporting plate 75. The linkage rods 817 are several in number and 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 positions of the linkage rods 817 correspond to the positions of the linkage cylinders 87, and the linkage rods 817 are slidably and fittingly inserted into the inner cavities of the linkage cylinders 87. The cooperation between the linkage rods 817 and the linkage cylinders 87 can promote the second mounting frame 816 to move left and right synchronously with the first mounting frame 86. The second connecting rods 818 are four in number and the left and right ends of the four second connecting rods 818 are respectively and rotatably arranged at the inner cavities of the left and right sides of the upper and lower ends of the two second mounting frames 816 through bearings. The third connecting rods 819 are four in number and the left and right ends of the four third connecting rods 819 are respectively and rotatably arranged at the inner cavities of the left and right sides of the upper and lower ends 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 divided into eight groups, each two of which are a group, and 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 locked by the jacks, the number of the 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 are divided into four groups, each two of which are a group, and the number of the second flat rollers 823 is several, and the left and right ends of the several second flat rollers 823 are respectively arranged on the outer walls of the four groups of third chains 822 in a circumferential equidistant manner and rotatably arranged by bearings, the second flat rollers 823 are used for supporting and wrinkle flattening the waterproof cloth, the outer wall rear side of the second flat roller 823 is located behind the rear side of the second mounting frame 816, so that the outer wall of the second flat roller 823 can contact the waterproof cloth, and the third gear 820 is sleeved on the outer side of the outer wall of the second connecting rod 818 and locked by the jack.

[0044] Working principle, specifically comprising the following steps:

[0045] Step one, when in use, the telescopic frame 2 and the support plate 75 are moved by the automatic mechanical clamping arm 1, the front side of the support plate 75 is aligned downward to the waterproof cloth after the previous processing, the telescopic frame 2 and the support plate 75 are moved downward by the automatic mechanical clamping arm 1, the front side of the second mounting frame 816 first contacts the waterproof cloth, the telescopic frame 2 and the support plate 75 are continuously moved downward by the automatic mechanical clamping arm 1, at this time, the telescopic frame 2 is pushed to move to the rear side by the extrusion force, the support plate 75 is pushed to move forward, and the second spring 711 is elastically deformed, until the front side of the support plate 75 contacts the waterproof cloth, the support plate 75 is continuously moved to the waterproof cloth, that is, the support plate 75 is extruded to move to the rear side, and the positioning rod 712 is slid along the inner cavity of the positioning hole 72, at the same time, the second sliding block 78 is moved outward along the inner cavity of the second sliding groove 76, and the first spring 79 is elastically deformed, until the extrusion seat 713 contacts the pressure sensor 73, the contact degree of the support plate 75 and the waterproof cloth is judged by the pressure value monitored by the pressure sensor 73, until the pressure sensor 73 monitors the appropriate value, the support plate 75 stops moving, and the needle suction cup 722 is started, the waterproof cloth is adsorbed on the front side of the support plate 75 by the needle suction cup 722;

[0046] Step two, the support plate 75 is moved in the opposite direction by the automatic mechanical clamping arm 1, thereby releasing the extrusion of the support plate 75, and 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 the initial position, the second electric telescopic rod 815 is started to push the limiting rod 814 to move forward, and then the limiting rod 814 pushes 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 the appropriate position, the first motor 719 is started, and the first motor 719 drives the first rotating rod 714 connected thereto to rotate, thereby driving the first sprocket 715 and the first gear 718 to rotate, and under the action of the two first gears 718, the first sprocket 715 and the first chain 717, the two pressing rods 716 can be rotated inward synchronously, until the pressing rod 716 rotates to the appropriate position, the first motor 719 is turned off, the first electric telescopic rod 720 is started, and the first electric telescopic rod 720 pushes the rubber push ball 721 to move, so that the rubber push ball 721 pushes the three-proof cloth which is drooping due to gravity to the space between the first mounting frame 86 and the second mounting frame 816, the second electric telescopic rod 815 is started to drive the limiting rod 814 to move to the rear side, thereby driving the second mounting frame 816 to move to the rear side, until the second mounting frame 816 returns to the initial position, at this time, the first laying roller 812 and the second laying roller 823 are in contact with the three-proof cloth;

[0047] Step three, the second motor 81 is started, the second motor 81 drives the second rotating rod 82 to rotate, thereby the second rotating rod 82 drives the second sprocket 810 and the second gear 89 to rotate through the sleeve 84, thereby the second chain 811 drives the first laying roller 812 to move outward in a circumferential direction, the second gear 89 rotates to cooperate with the third gear 820 to drive the third sprocket 821 to rotate, the third sprocket 821 rotates to drive the third chain 822 to drive the second laying roller 823 to move outward in a circumferential direction, thereby the cooperation between the first laying roller 812 moving outward in a circumferential direction and the second laying roller 823 moving outward in a circumferential direction can flatten the wrinkled three-proof cloth, prevent wrinkles, when it is needed to put down the three-proof cloth, the needle suction cup 722 is turned off, the adsorption of the three-proof cloth is released, the third motor 824 is started, the third motor 824 drives the screw 825 to rotate, thereby the rotation force generated by the rotation of the screw 825 drives the first mounting frame 86 to move outward, thereby the cooperation between the linkage cylinder 87 and the linkage rod 817 drives the second mounting frame 816 to move outward with 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, the three-proof cloth can be put down flat.

[0048] In summary, the device realizes efficient and stable grabbing and carrying of the irregularly-shaped cut-out three-proof cloth, effectively prevents the three-proof cloth from falling and twisting during the carrying process, ensures the flatness and wrinkle-free of the surface of the three-proof cloth, thereby directly improves the appearance quality of the three-proof cloth, lays a good foundation for the subsequent process, and greatly improves the subsequent production efficiency and overall product quality.

[0049] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be made without departing from the spirit and scope of the present application, which is defined by the following claims and their equivalents.

Claims

1. An automated gripping robotic arm for a three-proof fabric processing production line, characterized in that, include: Automated mechanical gripper (1), telescopic frame (2), telescopic groove (3), moving groove (4), first sliding groove (5), first guide rod (6), gripping mechanism (7), and flattening mechanism (8); The gripping mechanism (7) is located 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). The upper and lower ends of the front side of the telescopic frame (2) are provided with telescopic grooves (3). The left and right ends of the front side of the telescopic frame (2) are provided with moving grooves (4). The inner cavity of the telescopic groove (3) is provided with first sliding grooves (5) along the front and rear directions on both sides. The front and rear ends of the first guide rod (6) are respectively located on the front and rear sides of the inner cavity of the first sliding groove (5). The flattening mechanism (8) is located in the inner cavity of the moving groove (4). The gripping mechanism (7) includes: a mounting base (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), a squeezing seat (713), and a needle suction cup (722). The mounting base (71) is detachably mounted on the front side of the automated mechanical gripper (1). Positioning holes (72) are provided at both the left and right ends of the front side of the mounting base (71). The pressure sensor (73) is located in the middle of the front side of the mounting base (71). There are four connecting rods (74). The rear ends of the four connecting rods (74) are rotatably mounted on the outer wall of the mounting base (71) at equal intervals along the circumference via pins. The second slider (78) is rotatably mounted on the front end of the connecting rod (74) via pins. The support plate (75) has second... The slide groove (76) has four second sliders (78) that are slidably and compatiblely inserted into the inner cavity of the four second slide grooves (76). The upper and lower ends of the second guide rod (77) are respectively disposed on the upper and lower sides of the inner cavity of the second slide groove (76). The second sliders (78) are 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 engaged with the outer wall of the second slider (78), and the other end of the first spring (79) is engaged with the inner side of the second slide groove (76). The wall has four telescopic rods (710), which are respectively located at the four rear corners of the support plate (75). The four telescopic rods (710) are slidably inserted into the four rear corners 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 engaged with the rear side of the support plate (75), and the rear end of the second spring (711) is engaged with the rear side of the inner cavity of the telescopic frame (2). The number of needle suction cups (722) is four. The discs (722) are respectively set at the four rear corners of the support plate (75). The front side of the needle suction cup (722) extends to the front side of the support plate (75). There are two positioning rods (712). The two positioning rods (712) are respectively set 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 inserted into the inner cavity of the two positioning holes (72). The extrusion seat (713) is set 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).

2. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 1, characterized in that, The gripping mechanism (7) further includes: 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). There are two first rotating rods (714), both of which are rotatably mounted on the left side of the support plate (75) via bearings. There are two pressure rods (716), with their ends rotatably mounted on the upper and lower ends of the left and right sides of the support plate (75) via bearings. There are four first sprockets (715), which are respectively sleeved on the outer walls of the two first rotating rods (714) and the left side of the outer walls of the two pressure rods (716) and locked by set screws. There are two first chains (717), with their ends sleeved on the outer walls of the four first sprockets (715). There are two first gears (718), which are respectively sleeved on the outer walls of the four first sprockets (715). The outer walls of the two first rotating rods (714) are locked by set screws. The two first gears (718) mesh with each other. The first motor (719) is connected to the outer wall of the support plate (75) by bracket screws. The left end of the first rotating rod (714) located above is locked to the output end of the first motor (719) by a coupling. There are four first electric telescopic rods (720). The four first electric telescopic rods (720) are respectively set in the inner cavity of the two pressure rods (716), and the two corresponding first electric telescopic rods (720) are set opposite each other. 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 set at the outer end of the first electric telescopic rod (720). The rubber push ball (721) is located inside the needle suction cup (722).

3. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 2, characterized in that, The tiling 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 bracket (86), a linkage cylinder (87), a first connecting rod (88), a second gear (89), a second sprocket (810), a second chain (811), a first tiling roller (812), a third motor (824), and a screw (825); There are four second motors (81), which are screwed to the upper and lower ends of the left and right sides 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) by a coupling. The inner end of the second rotating rod (82) extends into the inner cavity of the moving groove (4) and is rotatably set inside the inner cavity of the moving groove (4) by a bearing. The outer wall of the second rotating rod (82) is provided with four limiting grooves (83) at equal intervals along the circumference. The sleeve (84) is slidably sleeved on the outer wall of the second rotating rod (82). There are sixteen limiting blocks (85), which are arranged in groups of four. The four sets of limiting blocks (85) are equidistantly arranged on the inner walls of the four sleeves (84) along the circumferential direction. The limiting blocks (85) are slidably fitted into the inner cavity of the limiting groove (83). There are two first mounting brackets (86), and the upper and lower sides of the two first mounting brackets (86) are rotatably sleeved on the outer walls of the four sleeves (84) through bearings. There are several linkage cylinders (87), and several linkage cylinders (87) are equally arranged on the upper and lower ends of the left and right sides of the two first mounting brackets (86). There are four first connecting rods (88), and the left and right ends of the four first connecting rods (88) are rotatably arranged on the upper and lower ends of the two first mounting brackets (84) through bearings. The inner cavity of the mounting bracket (86) has sixteen second sprockets (810) on its left and right sides and upper and lower ends. The sixteen second sprockets (810) are respectively fitted onto the outer walls of four sleeves (84) and four first connecting rods (88) on their left and right sides and locked by set screws. The sixteen second sprockets (810) are arranged in pairs, forming eight groups. The number of second chains (811) is eight. The two ends of the eight second chains (811) are respectively fitted onto the outer walls of the eight groups of second sprockets (810). The eight second chains (811) are arranged in pairs, forming four groups. The number of first flattening rollers (812) is several. The two ends of the several first flattening rollers (812) are located on their left and right sides. The second gear (89) is rotatably mounted on the outer wall of the four sets of second chains (811) at equal intervals along the circumference via bearings. The second gear (89) is sleeved on the outer side of the outer wall of the sleeve (84) and locked by a set screw. There are two third motors (824). 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 (825) is locked to the output end of the third motor (824) by a coupling. The other end of the screw (825) extends rotatably into the inner cavity of the moving groove (4) and is rotatably mounted on the inner side of the inner cavity of the moving groove (4) via bearings. The rear side of the first mounting bracket (86) is screwed to the outer wall of the screw (825).

4. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 3, characterized in that, The tiling mechanism (8) further includes: a first slider (813), a limiting rod (814), a second electric telescopic rod (815), a second mounting bracket (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 tiling roller (823). The first slider (813) is slidably fitted 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). There are two limiting rods (814), which are respectively embedded in the inner cavities of the two telescopic grooves (3). The left and right ends of the two limiting rods (814) are respectively set on the inner side of the four first sliders (813). There are two second electric telescopic rods (815), which are respectively set 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 set on the two limiting rods (813). In the middle of the outer wall of the second mounting bracket (814), there are two second mounting brackets (816). The upper and lower ends of the two second mounting brackets (816) are slidably embedded in the left and right sides of the inner cavity of the two telescopic grooves (3). The upper and lower ends of the two second mounting brackets (816) are slidably sleeved on the left and right sides of the outer wall of the two limiting rods (814). There are several linkage rods (817). Several linkage rods (817) are equally arranged on the upper and lower ends of the left and right sides of the two second mounting brackets (816). The position of the linkage rods (817) corresponds to the position of the linkage cylinder (87), and the linkage rods (817) are slidably adapted to be inserted into the inner cavity of the linkage cylinder (87). The cavity contains four second connecting rods (818), with their left and right ends rotatably mounted on the upper and lower ends of the left and right sides of the inner cavity of two second mounting brackets (816) via bearings. There are also four third connecting rods (819), with their left and right ends rotatably mounted on the upper and lower ends of the left and right sides of the inner cavity of two second mounting brackets (816) via bearings. Sixteen third sprockets (821) are arranged in eight groups of two, with each group of eight sprockets (821) respectively fitted onto the four second connecting rods (818) and the four third connecting rods. The outer walls of (819) are locked on both sides by set screws. There are eight third chains (822). The two ends of the eight third chains (822) are respectively sleeved on the outer walls of eight sets of third sprockets (821). The eight third chains (822) are divided into four groups of two. There are several second flat rollers (823). The two ends of several second flat rollers (823) are respectively rotatably set on the outer walls of four sets of third chains (822) by bearings at equal intervals along the circumference. The third gear (820) is sleeved on the outer side of the outer wall of the second connecting rod (818) and locked by set screws. The third gear (820) meshes with the second gear (89).

5. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 4, characterized in that, The distance from the front side of the second mounting bracket (816) to the front side of the support plate (75) is less than the distance from the rear side of the telescopic bracket (2) to the rear side of the telescopic rod (710).

6. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 5, characterized in that, The front side of the outer wall of the first tiling 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 tiling roller (823) is located behind the rear side of the second mounting frame (816).

7. The automated gripping robotic arm for a three-proof fabric processing production line according to claim 6, characterized in that, The second motor (81) drives the second rotating rod (82) to rotate, and the second rotating rod (82) drives the second sprocket (810) and the second gear (89) to rotate through the sleeve (84), thereby causing the second chain (811) to drive the first flat 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 flat roller (823) to move outward in a circumferential direction.

Images