Leather grabbing tool and automatic leather feeding and discharging device

Abstract

The invention provides a leather grabbing tool and an automatic leather feeding and discharging device, relates to the technical field of leather carrying devices, and solves the technical problem that a rigid manipulator cannot be adopted for grabbing and feeding in the prior art. The device comprises a conveying belt, a driving roller, a first driven roller, a second driven roller, a frame body, a driver and a support flange, the driving roller, the first driven roller and the second driven roller are all rotationally connected with the frame body and are distributed in a triangular shape, and the driver is connected with the support flange. The conveying belt surrounds the periphery of the driving roller, the periphery of the first driven roller and the periphery of the second driven roller, the driver is installed at one end of the frame body, an output shaft of the driver is connected with the driving roller, the driver can drive the driving roller to rotate, and the driving roller drives the first driven roller to rotate. The support flange is fixedly mounted at one end of the frame body, and the support flange is connected with a robot.

Description

Technical Field

[0001] The present invention relates to the technical field of leather handling devices, and in particular to a leather grasping tool and an automatic leather loading and unloading device. Background Art

[0002] Leather is a commonly used material in today's society and is often used in shoemaking, clothing making, and some daily necessities. During the cutting and processing of leather, since leather itself is a flexible material, it is impossible to use a rigid manipulator for grasping and loading. Therefore, manual loading is often used, but the efficiency of manual loading is low. Summary of the Invention

[0003] The purpose of the present invention is to provide a leather grasping tool and an automatic leather loading and unloading device to solve the technical problem in the prior art that a rigid manipulator cannot be used for grasping and loading. The many technical effects that can be produced by the preferred technical solutions provided by the present invention are described in detail below.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A leather grasping tool provided by the present invention includes a conveyor belt, a driving roller, a first driven roller, a second driven roller, a frame body, a driver, and a support flange. Among them, the driving roller, the first driven roller, and the second driven roller are all rotatably connected to the frame body, and the driving roller, the first driven roller, and the second driven roller are distributed in a triangular shape. The conveyor belt surrounds the peripheries of the driving roller, the first driven roller, and the second driven roller. The driver is installed at one end of the frame body, and the output shaft of the driver is connected to the driving roller. The driver can drive the driving roller to rotate. The support flange is fixedly installed at one end of the frame body, and the support flange is connected to a robot.

[0006] Optionally, the frame body includes a first outer connecting plate, a second outer connecting plate, a support rod, a first connecting strip, a second connecting strip, and a third connecting strip. The first outer connecting plate and the second outer connecting plate are connected by the support rod. The numbers of the second connecting strip and the third connecting strip are both two. The three end corners of the first outer connecting plate are respectively connected to the second connecting strip, the third connecting strip, and the driver. The middle area of the first outer connecting plate is connected to the support flange. The three end corners of the second outer connecting plate are respectively connected to the first connecting strip, the second connecting strip, and the third connecting strip. The other end of the driving roller is rotatably connected to the first connecting strip. The end of the first driven roller is rotatably connected to the second connecting strip. The end of the second driven roller is rotatably connected to the third connecting strip.

[0007] Optionally, both the first outer connecting plate and the second outer connecting plate are triangular structures.

[0008] Optionally, the number of the support rods is three, and the three support rods are distributed in a triangular shape.

[0009] Optionally, first strip-shaped openings are provided on both the first outer connecting plate and the second outer connecting plate, a first connecting hole is provided on the third connecting strip, and the first strip-shaped opening is connected to the first connecting hole.

[0010] Optionally, the frame body further includes a first inner connecting plate, a second inner connecting plate, a fourth connecting strip, and a roller assembly. The first inner connecting plate and the second inner connecting plate are located between the first outer connecting plate and the second outer connecting plate. The support rods pass through the first inner connecting plate and the second inner connecting plate. The number of the roller assemblies is two. The first inner connecting plate and the second inner connecting plate are connected by the roller assemblies. A fourth connecting strip is connected to each end corner of the first inner connecting plate and the second inner connecting plate. The driving roller is in rolling contact with one of the roller assemblies, and the first driven roller is in rolling contact with the other roller assembly.

[0011] Optionally, the second driven roller includes a first segmented roller and a second segmented roller. The first segmented roller is located between the first outer connecting plate and the first inner connecting plate, and both ends of the first segmented roller are rotatably connected to the third connecting strip and the fourth connecting strip respectively. The second segmented roller is located between the second outer connecting plate and the second inner connecting plate, and both ends of the second segmented roller are rotatably connected to the third connecting strip and the fourth connecting strip respectively. The number of the conveyor belts is two. One conveyor belt is wound around the peripheries of the driving roller, the first driven roller, and the first segmented roller, and the other conveyor belt is wound around the peripheries of the driving roller, the first driven roller, and the second segmented roller.

[0012] Optionally, the roller assembly includes a connecting shaft and rollers. Both ends of the connecting shaft are connected to the end corners of the first inner connecting plate and the second inner connecting plate respectively. The rollers are rotatably connected to the connecting shaft and are located between the first inner connecting plate and the second inner connecting plate. The number of the connecting shafts and the rollers is two each, and both rollers are in rolling contact with the driving roller or the first driven roller.

[0013] Optionally, second strip-shaped openings are provided on both the first inner connecting plate and the second inner connecting plate, a second connecting hole is provided on the fourth connecting strip, and the second strip-shaped opening is connected to the second connecting hole.

[0014] An automatic leather loading and unloading device provided by the present invention includes a leather transport rack, a leather sheet separating mechanism, a flattening mechanism, a processing structure, and a leather gripping tool. The leather transport rack, the leather sheet separating mechanism, the leather gripping tool, the flattening mechanism, and the processing structure are arranged in sequence.

[0015] A leather gripping tool provided by the present invention replaces a rigid mechanical arm and is installed on a robot. The robot is used to move the leather gripping tool. When the leather contacts the conveyor belt, the driver is started, causing the driving roller to rotate, thereby driving the conveyor belt to rotate, and then driving the leather to move until the lengths of the leather on both sides of the leather gripping tool are equal or not much different. Then the driver stops working. At this time, the leather will rest on the leather gripping tool and will not fall. Then, the robot moves the leather gripping tool to realize the transfer of the leather, solving the technical problem in the prior art that a rigid mechanical arm cannot be used for gripping and loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic structural diagram of the leather gripping tool provided by the embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of the leather gripping tool provided by the embodiment of the present invention without the conveyor belt;

[0019] Figure 3 is Figure 2 a partial view of;

[0020] Figure 4 is a schematic structural diagram of the automatic leather loading and unloading device provided by the embodiment of the present invention.

[0021] In the figure, 1, conveyor belt;

[0022] 2, driving roller;

[0023] 3, first driven roller;

[0024] 4, second driven roller; 41, first segmented roller; 42, second segmented roller;

[0025] 5. Frame; 51. First outer connecting plate; 511. First strip-shaped opening; 52. Second outer connecting plate; 53. Support rod; 54. First connecting strip; 55. Second connecting strip; 56. Third connecting strip; 57. First inner connecting plate; 571. Second strip-shaped opening; 58. Second inner connecting plate; 59. Fourth connecting strip;

[0026] 6. Driver;

[0027] 7. Support flange;

[0028] 8. Roller assembly; 81. Connecting shaft; 82. Roller;

[0029] 9. Robot;

[0030] 10. Leather transport rack;

[0031] 20. Leather separating mechanism;

[0032] 30. Leather grasping tool;

[0033] 40. Flattening mechanism;

[0034] 50. Processing structure. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope protected by the present invention.

[0036] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0037] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The present invention provides a leather gripping tool, which includes a conveyor belt 1, a driving roller 2, a first driven roller 3, a second driven roller 4, a frame 5, a driver 6, and a support flange 7. Among them, the driving roller 2, the first driven roller 3, and the second driven roller 4 are all rotatably connected to the frame 5, and the driving roller 2, the first driven roller 3, and the second driven roller 4 are distributed in a triangular shape. The second driven roller 4 is located at the apex position of the triangle. The conveyor belt 1 surrounds the periphery of the driving roller 2, the first driven roller 3, and the second driven roller 4. The driver 6 is installed at one end of the frame 5, and the output shaft of the driver 6 is connected to the driving roller 2. The driver 6 can drive the driving roller 2 to rotate. The support flange 7 is fixedly installed at one end of the frame 5, and the support flange 7 is connected to the robot 9. When the leather gripping tool 30 is working, the second driven roller 4 is located at the uppermost position. The leather gripping tool provided by the present invention replaces the rigid manipulator and is installed on the robot. The robot is used to move the leather gripping tool 30. When the leather contacts the conveyor belt 1, the driver 6 is started, so that the driving roller 2 rotates, thereby driving the conveyor belt 1 to rotate, and then driving the leather to move until the lengths of the leather on both sides of the leather gripping tool 30 are equal or not much different. Then the driver 6 is stopped from working. At this time, the leather will be placed on the leather gripping tool 30 and will not fall off. Then, the robot moves the leather gripping tool 30 to realize the transfer of the leather, solving the technical problem in the prior art that a rigid manipulator cannot be used for gripping and feeding.

[0039] As an optional implementation method, the leather gripping tool adopts a lightweight design to reduce the load of the robot. The connecting plates are all made of aluminum alloy. The frame 5 includes a first outer connecting plate 51, a second outer connecting plate 52, a support rod 53, a first connecting bar 54, a second connecting bar 55 and a third connecting bar 56. The first outer connecting plate 51 and the second outer connecting plate 52 are connected by the support rod 53. The numbers of the second connecting bar 55 and the third connecting bar 56 are both two. Three end corners of the first outer connecting plate 51 are respectively connected to the second connecting bar 55, the third connecting bar 56 and the driver 6. The middle area of the first outer connecting plate 51 is connected to the support flange 7. Three end corners of the second outer connecting plate 52 are respectively connected to the first connecting bar 54, the second connecting bar 55 and the third connecting bar 56. The other end of the driving roller 2 is rotatably connected to the first connecting bar 54. The end of the first driven roller 3 is rotatably connected to the second connecting bar 55. The end of the second driven roller 4 is rotatably connected to the third connecting bar 56.

[0040] As an optional implementation method, both the first outer connecting plate 51 and the second outer connecting plate 52 are triangular structures. The number of the support rods 53 is three. The three support rods 53 are distributed in a triangle. The three support rods 53 are located within the triangle formed by the driving roller 2, the first driven roller 3 and the second driven roller 4. The triangular distribution can enhance the stability of the entire structure of the leather gripping tool.

[0041] As an optional implementation method, first strip-shaped openings 511 are provided on both the first outer connecting plate 51 and the second outer connecting plate 52. The first strip-shaped openings 511 are located at the top corners. A first connecting hole is provided on the third connecting bar 56. The first strip-shaped opening 511 is connected to the first connecting hole. The first connecting hole can be connected to different positions on the first strip-shaped opening 511, so as to change the extension amount of the third connecting bar 56, and further change the distance between the second driven roller 4 and the first driven roller 3, and further change the tension state of the conveyor belt 1, and at the same time facilitate the disassembly of the conveyor belt 1.

[0042] As an alternative implementation, the frame 5 further includes a first inner connecting plate 57, a second inner connecting plate 58, a fourth connecting bar 59, and a roller assembly 8. The first inner connecting plate 57 and the second inner connecting plate 58 are located between the first outer connecting plate 51 and the second outer connecting plate 52. The support rod 53 passes through the first inner connecting plate 57 and the second inner connecting plate 58. The number of roller assemblies 8 is two. The first inner connecting plate 57 and the second inner connecting plate 58 are connected by the roller assemblies 8. A fourth connecting bar 59 is connected to each of the end corners of the first inner connecting plate 57 and the second inner connecting plate 58. The driving roller 2 is in rolling contact with one roller assembly 8, and the first driven roller 3 is in rolling contact with the other roller assembly 8. The roller assemblies 8 are located in the middle regions of the driving roller 2 or the first driven roller 3. The roller assemblies 8 are provided to support the middle regions of both the driving roller 2 and the first driven roller 3, so as to prevent the driving roller 2 and the first driven roller 3 from sliding friction with the first inner connecting plate 57 or the second inner connecting plate 58 due to mid - part deformation when the conveyor belt 1 is tensioned.

[0043] As an alternative implementation, the second driven roller 4 includes a first segmented roller 41 and a second segmented roller 42. The first segmented roller 41 is located between the first outer connecting plate 51 and the first inner connecting plate 57, and the two ends of the first segmented roller 41 are respectively rotatably connected to the third connecting bar 56 and the fourth connecting bar 59. The second segmented roller 42 is located between the second outer connecting plate 52 and the second inner connecting plate 58, and the two ends of the second segmented roller 42 are respectively rotatably connected to the third connecting bar 56 and the fourth connecting bar 59. The number of conveyor belts 1 is two. One conveyor belt 1 is wound around the peripheries of the driving roller 2, the first driven roller 3, and the first segmented roller 41, and the other conveyor belt 1 is wound around the peripheries of the driving roller 2, the first driven roller 3, and the second segmented roller 42. The two conveyor belts 1 are connected to the same driving roller 2, enabling synchronous operation.

[0044] As an alternative implementation, the roller assembly 8 includes a connecting shaft 81 and rollers 82. The two ends of the connecting shaft 81 are respectively connected to the end corners of the first inner connecting plate 57 and the second inner connecting plate 58. The rollers 82 are rotatably connected to the connecting shaft 81 and are located between the first inner connecting plate 57 and the second inner connecting plate 58. The number of both the connecting shaft 81 and the rollers 82 is two. The two rollers 82 are both in rolling contact with the driving roller 2 or the first driven roller 3. The two rollers 82 can clamp a part of the driving roller 2 or the first driven roller 3, thereby preventing the driving roller 2 or the first driven roller 3 from shifting when rotating.

[0045] As an optional implementation manner, both the first inner connecting plate 57 and the second inner connecting plate 58 are triangular structures. Second strip-shaped openings 571 are provided on both the first inner connecting plate 57 and the second inner connecting plate 58. The second strip-shaped openings 571 are located at the vertex angles. Second connecting holes are provided on the fourth connecting strip 59. The second strip-shaped openings 571 are connected to the second connecting holes. The second connecting holes can be connected to different positions on the second strip-shaped openings 571, so that the extending amount of the fourth connecting strip 59 can be changed. Furthermore, the distance between the first segment roller 41 and the first driven roller 3 or between the second segment roller 42 and the first driven roller 3 can be changed. Further, the tension state of the conveyor belt 1 can be changed, and at the same time, it is convenient for the disassembly of the conveyor belt 1.

[0046] The driving roller 2 adopts a knurling design. The driver 6 can be an adjustable-speed reduction motor. The driving roller 2 is coaxially connected to the adjustable-speed reduction motor, which improves the transmission efficiency of the drive. The support flange 7 is made of carbon steel with relatively high strength, and rib plates are provided to improve the support rigidity.

[0047] The present invention provides a leather automatic loading and unloading device, which includes a leather transport rack 10, a leather separating mechanism 20, a flattening mechanism 40, a processing structure 50, and a leather gripping tool 30. The leather transport rack 10, the leather separating mechanism 20, the leather gripping tool 30, the flattening mechanism 40, and the processing structure 50 are arranged and distributed in sequence. The working process of the leather automatic loading and unloading device is as follows: First, there are multiple pieces of leather stacked on the leather transport rack 10. Then, the leather separating mechanism 20 will suck up the topmost leather on the leather transport rack 10 at a certain angle. After that, the robot moves the leather gripping tool 30 under the leather separating mechanism 20. Then, the leather separating mechanism 20 releases the leather, so that the leather will fall on the conveyor belt 1 on the leather gripping tool 30 under the action of gravity;

[0048] After that, the robot drives the leather gripping tool 30 to pick up the leather. At the same time, the driver 6 is started to drive the conveyor belt 1 to drive the leather to move until the lengths of the leather on both sides of the leather gripping tool 30 are equal or not much different, and then the driver 6 stops working;

[0049] Finally, the robot moves the leather gripping tool 30 to the flattening mechanism 40. The leather will be flattened on the flattening mechanism 40 under the operation of the leather gripping tool 30 and the flattening mechanism 40, and finally sent into the processing structure 50 for processing and cutting.

[0050] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A leather grabbing tool, characterized in that: It comprises a conveying belt (1), a driving roller (2), a first driven roller (3), a second driven roller (4), a frame (5), a driver (6) and a support flange (7), wherein: The active roller (2), the first driven roller (3) and the second driven roller (4) are all rotatably connected to the frame (5), and the active roller (2), the first driven roller (3) and the second driven roller (4) are distributed in a triangular shape. The conveying belt (1) surrounds the periphery of the active roller (2), the first driven roller (3) and the second driven roller (4). The driver (6) is installed at one end of the frame (5) and the output shaft of the driver (6) is connected to the active roller (2). The driver (6) can drive the active roller (2) to rotate. The support flange (7) is fixedly installed at one end of the frame (5), and the support flange (7) is connected to the robot (9).

2. The leather grabbing tool according to claim 1, characterized in that: The frame (5) comprises a first outer connecting plate (51), a second outer connecting plate (52), a support rod (53), a first connecting bar (54), a second connecting bar (55) and a third connecting bar (56); the first outer connecting plate (51) and the second outer connecting plate (52) are connected via the support rod (53); the number of the second connecting bar (55) and the number of the third connecting bar (56) are both two; three end corners of the first outer connecting plate (51) are respectively connected to the second connecting bar (55), the third connecting bar (56) and the drive bar (56); The first outer connecting plate (51) is connected to the driver (6), the middle area of ​​the first outer connecting plate (51) is connected to the support flange (7), the three end corners of the second outer connecting plate (52) are respectively connected to the first connecting strip (54), the second connecting strip (55) and the third connecting strip (56), the other end of the active roller (2) is rotatably connected to the first connecting strip (54), the end of the first driven roller (3) is rotatably connected to the second connecting strip (55), and the end of the second driven roller (4) is rotatably connected to the third connecting strip (56).

3. The leather grabbing tool according to claim 2, characterized in that: The first outer connecting plate (51) and the second outer connecting plate (52) are both triangular structures.

4. The leather grabbing tool according to claim 2, characterized in that: The number of the support rods (53) is three, and the three support rods (53) are distributed in a triangle.

5. The leather grabbing tool according to claim 2, characterized in that: The first outer connecting plate (51) and the second outer connecting plate (52) are both provided with a first strip-shaped opening (511), the third connecting strip (56) is provided with a first connecting hole, and the first strip-shaped opening (511) is connected to the first connecting hole.

6. The leather grabbing tool according to claim 2, characterized in that: The frame (5) also includes a first inner connecting plate (57), a second inner connecting plate (58), a fourth connecting strip (59) and a roller assembly (8); the first inner connecting plate (57) and the second inner connecting plate (58) are located between the first outer connecting plate (51) and the second outer connecting plate (52); the support rod (53) passes through the first inner connecting plate (57) and the second inner connecting plate (58); there are two roller assemblies (8); the first inner connecting plate (57) and the second inner connecting plate (58) are connected to each other through the roller assembly (8); the end corners of the first inner connecting plate (57) and the second inner connecting plate (58) are each connected to a fourth connecting strip (59); the active roller (2) is in rolling contact with one roller assembly (8); and the first driven roller (3) is in rolling contact with another roller assembly (8).

7. The leather grabbing tool according to claim 6, characterized in that: The second driven roller (4) comprises a first segmented roller (41) and a second segmented roller (42); the first segmented roller (41) is located between the first outer connecting plate (51) and the first inner connecting plate (57), and the two ends of the first segmented roller (41) are rotatably connected to the third connecting strip (56) and the fourth connecting strip (59), respectively; the second segmented roller (42) is located between the second outer connecting plate (52) and the second inner connecting plate (58), and the two ends of the second segmented roller (42) are rotatably connected to the third connecting strip (56) and the fourth connecting strip (59), respectively; the number of the conveying belts (1) is two, one of the conveying belts (1) surrounds the periphery of the active roller (2), the first driven roller (3) and the first segmented roller (41), and the other of the conveying belts (1) surrounds the periphery of the active roller (2), the first driven roller (3) and the second segmented roller (42).

8. The leather grabbing tool according to claim 6, characterized in that: The roller assembly (8) comprises a connecting shaft (81) and a roller (82), the two ends of the connecting shaft (81) are respectively connected to the end angles of the first inner connecting plate (57) and the second inner connecting plate (58), the roller (82) is rotatably connected to the connecting shaft (81) and the roller (82) is located between the first inner connecting plate (57) and the second inner connecting plate (58), the connecting shaft (81) and the roller (82) are both in two numbers, and the two rollers (82) are both in rolling contact with the active roller (2) or the first driven roller (3).

9. The leather grabbing tool according to claim 6, characterized in that: The first inner connecting plate (57) and the second inner connecting plate (58) are both provided with a second strip-shaped opening (571), the fourth connecting strip (59) is provided with a second connecting hole, and the second strip-shaped opening (571) is connected to the second connecting hole.

10. An automatic leather loading and unloading device, characterized in that: The invention comprises a leather transport frame (10), a leather spreading mechanism (20), a flattening mechanism (40), a processing structure (50) and a leather grabbing tool (30) as described in any one of claims 1 to 9, wherein the leather transport frame (10), the leather spreading mechanism (20), the leather grabbing tool (30), the flattening mechanism (40) and the processing structure (50) are arranged and distributed in sequence.

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