Grabbing device suitable for different yardage roll diameters

Abstract

The invention discloses a grabbing device suitable for different yardage roll diameters, and belongs to the field of textile machinery automation, the grabbing device comprises a cloth discharging device, a mechanical clamping jaw assembly and a switchable clamping and lifting assembly, the diameter of a yardage roll is recognized through a camera module, and a clamping or lifting mode is automatically selected; the problem that a mechanical arm interferes with equipment when large-diameter cloth rolls are grabbed is effectively solved, and the large-diameter cloth roll grabbing device has the advantages that the grabbing requirements of the cloth rolls with different diameters are met, interference between the mechanical arm and the circular knitting machine upper frame is avoided, and it is guaranteed that the cloth rolls are taken out smoothly.

Description

Technical Field

[0001] The present invention relates to the field of textile machinery automation, and particularly to a grasping device applicable to different diameters of cloth rolls. Background Art

[0002] The automation of textile machinery is an important field in the intelligent transformation of the manufacturing industry under the background of Industry 4.0. Among them, circular knitting machines (single-sided / double-sided circular knitting machines), as one of the core equipment in the textile industry, are widely used in the production of high-quality knitted fabrics. After the traditional circular knitting machine finishes processing the cloth roll, manual operations such as replacing the empty bobbin core, grasping the cloth roll, cutting the cloth, and installing the new bobbin core are required. With the rising labor costs and the growing demand for intelligent manufacturing, the industry urgently needs to achieve unmanned operation of the entire cloth roll processing process through automation technology.

[0003] Currently, some enterprises have tried to introduce automatic guided vehicles (AGVs) or autonomous mobile robots (AMRs) to assist the operation of circular knitting machines. For example, using rail-mounted AGVs for material transportation, or controlling the robotic arm to perform grasping actions through a preset program.

[0004] However, circular knitting machines produce cloth rolls with different diameters. Due to the limitation of the internal space, the space for extracting smaller-diameter cloth rolls is often just sufficient. However, for larger-diameter cloth rolls, after being wound into a roll, the height of the bobbin core is relatively high. If the smaller-diameter jaws are still used for grasping, the robotic arm will be interfered by the upper frame of the circular knitting machine, resulting in the inability to remove the cloth roll from the guide groove. Summary of the Invention

[0005] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a grasping device applicable to different diameters of cloth rolls.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A grasping device applicable to different diameters of cloth rolls provided by the present invention includes a cloth-lowering device. On the platform of the cloth-lowering device, there are a left robotic arm and a right robotic arm, and mechanical jaw assemblies are installed on both the left robotic arm and the right robotic arm;

[0008] The mechanical jaw assembly includes: a camera module and a jaw mechanism. The camera module is used to identify and calculate the diameter of the cloth roll;

[0009] The jaw mechanism includes a clamping assembly and a lifting assembly. According to different diameters of cloth rolls, the clamping assembly or the lifting assembly is selected to lower the cloth roll. The clamping assembly lowers the cloth roll by clamping, and the lifting assembly lowers the cloth roll by lifting.

[0010] The preferred technical solution of the present invention is that the clamping assembly includes a clamping jaw mounting plate, which is installed on the mechanical arm, and an electric push rod is fixedly installed on the clamping jaw mounting plate, and a movable finger is installed on the output end of the electric push rod. A fixed finger fixed on the clamping jaw mounting plate is provided on one side of the movable finger, and the rod core is clamped by the movable finger and the fixed finger. A lifting assembly for lifting the rod core is also fixedly connected to the fixed finger, and the lifting position of the lifting assembly is higher than the clamping position of the movable finger and the fixed finger.

[0011] The preferred technical solution of the present invention is that the lifting assembly includes a hook mounting plate, the hook mounting plate is mounted on the fixed finger, and the hook mounting plate is equipped with a hook.

[0012] A preferred technical solution of the present invention is that the clamping claw mechanism further includes a rubbing mechanism, and the rubbing mechanism is used for rotating the cloth roll to release the cloth.

[0013] The preferred technical solution of the present invention is that the rubbing mechanism includes a rubbing motor and a positive rubbing wheel;

[0014] The main rubbing wheel and two auxiliary wheels are arranged in the shape of a finished product, with the main rubbing wheel located at the top and the clamped rod core located at the center of the character "品".

[0015] The preferred technical solution of the present invention is that the rubbing mechanism also includes an auxiliary rubbing wheel rotatably mounted on the support hook mounting plate, and the auxiliary rubbing wheel is transmission-connected with the main rubbing wheel.

[0016] The preferred technical solution of the present invention is that the rubbing mechanism also includes an adjusting mechanism, the adjusting mechanism includes an adjusting fixed block, the adjusting fixed block is fixedly mounted on the clamp mounting plate, the lower end of the adjusting fixed block is connected to the adjusting spring, the lower end of the adjusting spring is connected to the adjusting movable plate, and the rubbing motor and the positive rubbing wheel are fixedly mounted on the adjusting movable plate.

[0017] The preferred technical solution of the present invention is that an arc-shaped groove is provided on the support hook mounting plate, a sliding block is slidably provided in the arc-shaped groove, and the auxiliary rubbing wheel is rotatably mounted on the sliding block.

[0018] A preferred technical solution of the present invention is that an upward arc-shaped hook is provided at the end of the support hook.

[0019] The beneficial effects of the present invention are:

[0020] The present invention provides a gripping device suitable for different cloth roll diameters. 1. The camera module is used to identify the gripping point height and calculate the cloth roll diameter, and different gripping modes are selected according to the diameter range to meet the requirements of cloth rolls with various diameters.

[0021] 2. Through the rubbing mechanism, the cloth roll can be grabbed and rotated at the same time to release the cloth, so that the cloth roll can be taken out of the large circular knitting machine to prevent the cloth roll from being pulled during the movement process, causing damage to the cloth, or the cloth roll falling.

[0022] 3. The main rubbing wheel and the auxiliary rubbing wheel are connected by transmission, which can meet the requirements of rubbing in different ways. The main rubbing wheel is equipped with an adjustment mechanism to buffer the pressure of the clamping claws on the PVC pipe to prevent the PVC pipe from being broken due to excessive pressure; the support hook contacts the auxiliary rubbing wheel through the gravity of the cloth roll, so the interaction between them will be small and it is not easy to break the PVC pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a cloth lowering device;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the mechanical gripper assembly;

[0025] Figure 3 is a front view structural diagram of a mechanical gripper assembly;

[0026] Figure 4 1. It is a schematic diagram of the structure of the support hook mounting plate;

[0027] In the figure:

[0028] 1. Left robotic arm; 2. Right robotic arm; 3. Mechanical gripper assembly; 4. Camera module; 5. Clamping assembly; 6. Gripper mounting plate; 7. Electric push rod; 8. Movable finger; 9. Fixed finger; 10. Lifting assembly; 11. Rubbing mechanism; 12. Auxiliary wheel; 13. Rubbing motor; 14. Positive rubbing wheel; 15. Support hook mounting plate; 16. Support hook; 17. Auxiliary rubbing wheel; 18. Adjustment mechanism; 19. Adjustment fixed block; 20. Adjustment spring; 21. Adjustment movable plate; 22. Arc groove; 23. Sliding block; 24. Arc hook; 25. Rod core. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0030] In the prior art, the field of textile machinery automation has long faced a technical bottleneck in the gripping of large circular knitting machine cloth rolls. Traditional operations rely on manual replacement of rod cores and gripping of cloth rolls, which is inefficient and has potential safety hazards. When introducing automated equipment, the spatial interference problem between the robotic arm and the equipment frame is prominent, especially when the diameter of the cloth roll changes, the fixed gripping mechanism is difficult to adapt to different size requirements. When existing track-type AGVs or preset program robotic arms grab large-diameter cloth rolls, the gripping path is blocked due to the increased height of the rod core, and the cloth roll extraction operation in the guide groove cannot be completed.

[0031] To solve the above problems, during the R & D process, key attention was paid to the adaptive improvement of the grasping mechanism. By analyzing the spatial occupancy characteristics of cloth rolls with different diameters, it was found that conventional clamping methods could be used for small-diameter cloth rolls, while for large-diameter cloth rolls, the grasping path needed to be changed to avoid mechanical interference. Thus, the technical concept of establishing a dual-mode grasping mechanism was generated, and the cloth roll size was judged in real time through a vision recognition system, and the best grasping strategy was dynamically selected.

[0032] Therefore, the present application proposes a technical solution including a lower cloth device. On the platform of this device, a left robotic arm 1 and a right robotic arm 2 are arranged, and mechanical gripper assemblies 3 are installed on both robotic arms. The mechanical gripper assembly 3 integrates a camera module 4 and a gripper mechanism. The camera module 4 is used to identify the diameter of the cloth roll, and the gripper mechanism includes a clamping assembly 5 and a lifting assembly 10, and the clamping or lifting method is selected according to the diameter of the cloth roll for the operation of lowering the cloth roll.

[0033] Among them, the mechanical gripper assembly 3 refers to a composite device integrating visual detection and an execution mechanism, which can be specifically realized by an industrial camera and a servo drive module, and the outer diameter size of the cloth roll is calculated through an image processing algorithm. The clamping assembly 5 refers to a mechanical structure that fixes the cloth roll through a clamping action, and specifically, an electric push rod 7 can be used to drive the movable finger 8 and the fixed finger 9 to form a clamping force. The lifting assembly 10 refers to a supporting structure that transfers the cloth roll by lifting, and specifically, a combined design of an L-shaped hook 16 and a mounting plate can be used, and an arc structure for preventing falling off is arranged at the end of the hook 16.

[0034] Specifically, the left robotic arm 1 and the right robotic arm 2 form a symmetrical layout on both sides of the platform to expand the operation coverage range. The camera module 4 performs three-dimensional scanning on the cloth roll. When a small-diameter cloth roll is detected, the movable finger 8 and the fixed finger 9 of the clamping assembly 5 are closed to clamp the core 25; when a large-diameter cloth roll is detected, the hook 16 of the lifting assembly 10 extends into the bottom of the core 25 to perform lifting. The two grasping modes are automatically switched according to the risk of spatial interference. When performing the clamping operation, the robotic arm adopts a vertical descending path, and when performing the lifting operation, it adopts an inclined lifting path to avoid the equipment frame.

[0035] Compared with the prior art, the traditional solution uses a single grasping mode, resulting in the failure to extract large-diameter cloth rolls. This solution realizes adaptive grasping through vision recognition and dual-mode switching. The existing robotic arms cannot avoid the equipment frame due to the fixed path. This solution adjusts the movement trajectory of the robotic arm by changing the grasping method, effectively avoiding spatial interference.

[0036] Through the above technical solution, the present application has successfully solved the mechanical interference problem in the grasping of cloth rolls of circular knitting machines and realized the stable extraction of cloth rolls with different diameters. The clamping mode ensures the precise positioning of small-diameter cloth rolls, and the lifting mode expands the grasping space by changing the position of the force application point. The two modes work together to improve the adaptability and operation reliability of the equipment.

[0037] The present application further proposes a clamping assembly 5 including a jaw mounting plate 6. The jaw mounting plate 6 is mounted on the robotic arm. An electric push rod 7 is fixedly mounted on the jaw mounting plate 6. The output end of the electric push rod 7 is mounted with a movable finger 8. A fixed finger 9 fixed to the jaw mounting plate 6 is provided on one side of the movable finger 8. A lifting assembly 10 is fixedly connected to the fixed finger 9. The lifting position of the lifting assembly 10 is higher than the clamping position.

[0038] Among them, the jaw mounting plate 6 refers to a rigid support structure for carrying the clamping assembly 5. Specifically, it can be processed from aluminum alloy or steel plate and is connected to the robotic arm by bolts, providing a stable operation reference for the clamping action. The electric push rod 7 refers to a linear drive device. Specifically, it can adopt a ball screw structure driven by a servo motor, and the opening and closing amplitude of the movable finger 8 is controlled by the displacement of the output end to achieve precise adjustment of the clamping force. The movable finger 8 and the fixed finger 9 form a clamping surface. Specifically, a V-shaped or arc-shaped clamping surface design can be adopted to disperse the clamping pressure by increasing the contact area and avoid generating indentations on the surface of the rod core 25. The lifting assembly 10 refers to a lifting mechanism with a load-bearing function. Specifically, an L-shaped lifting hook 16 structure can be adopted. The lifting position is set 20 - 50 millimeters above the clamping position, enabling the rod core 25 to be lifted out of the clamping area in advance during the vertical lifting of the robotic arm and reducing the lifting height of the robotic arm.

[0039] Specifically, when grasping a small-diameter cloth roll, the electric push rod 7 drives the movable finger 8 and the fixed finger 9 to close, and after fixing the rod core 25 by the clamping force, it is vertically lifted. When dealing with a large-diameter cloth roll, the robotic arm controls the lifting assembly 10 to rise below the rod core 25, and the lifting hook 16 is used to bear the weight of the cloth roll. At this time, the robotic arm only needs to perform a small vertical movement to move the cloth roll out of the working area. The vertical distance between the lifting assembly 10 and the clamping assembly 5 is set higher than the lowest interference point of the upper frame of the circular knitting machine, so that the movement trajectory of the robotic arm in the lifting mode avoids the equipment frame. The switching between the two modes of clamping and lifting is achieved through the path planning of the robotic arm without the need to additionally increase a drive unit.

[0040] Compared with the prior art, the traditional clamping device only relies on a single clamping surface to grasp the cloth roll. When dealing with a large-diameter cloth roll, it is necessary to significantly increase the height of the robotic arm, resulting in spatial interference with the circular knitting machine frame. In the existing improvement solutions, a telescopic structure is added at the end of the jaw to adapt to different diameters, but the telescopic mechanism will increase the complexity and failure rate of the device.

[0041] Through the above technical solution, on the basis of maintaining the original clamping function, the present application uses the fixed finger 9 to integrate the lifting component 10 to form a dual-mode operating mechanism, enabling the robotic arm to complete the operation without excessive lifting when grasping a large-diameter fabric roll, effectively avoiding the risk of collision between the movement trajectory of the robotic arm and the frame of the circular knitting machine. At the same time, the fixed installation method of the lifting component 10 avoids the addition of movable parts and maintains the structural reliability of the device. For fabric rolls with a diameter range of 150 - 400 mm, full-size coverage grasping can be completed by a single robotic arm, significantly reducing the equipment transformation cost.

[0042] The present application further proposes that the lifting component 10 includes a hook mounting plate 15, which is mounted on the fixed finger 9, and a hook 16 is mounted on the hook mounting plate 15.

[0043] Among them, the hook mounting plate 15 refers to a rigid support structure for carrying the lifting components. Specifically, it can be formed by stamping a metal plate and then fixed to the fixed finger 9 by bolts, and its installation position can be adjusted according to the size of the core 25. The hook 16 refers to a metal component with an arc-shaped supporting surface. Specifically, it can be formed by bending a steel plate into a groove structure, and its end can extend upward to form a limiting protrusion.

[0044] Specifically, the hook mounting plate 15 is directly integrated on the surface of the fixed finger 9 of the clamping component 5, forming a rigid connection through the supporting action of the fixed finger 9. When the robotic arm moves to the fabric roll grasping position, the arc-shaped supporting surface of the hook 16 can abut against the bottom circular edge of the core 25, and the fabric roll can be separated from the guiding groove through the vertical lifting action of the robotic arm. Since the hook mounting plate 15 does not need to additionally occupy the movement trajectory space of the robotic arm, spatial interference between the end of the robotic arm and the upper frame of the circular knitting machine is avoided when grasping a large-diameter fabric roll.

[0045] Compared with the prior art, traditional solutions usually adopt an independent bracket structure or an adjustable support rod. Such structures require an additional installation base and occupy the movement space of the robotic arm. In this solution, by reusing the fixed finger 9 of the clamping component 5 as the installation basis, while maintaining the compact layout of the original jaws, the lifting function directly inherits the spatial positioning accuracy of the clamping component 5, significantly improving the grasping compatibility for fabric rolls of different diameters.

[0046] Through the above technical solution, the present application realizes the optimization of the movement trajectory of the robotic arm during the grasping of large-diameter fabric rolls, eliminates the risk of structural interference of the equipment by integrating the lifting mechanism with the fixed finger 9, and at the same time uses the limiting structure at the end of the hook 16 to prevent the fabric roll from slipping, ensuring the stability and reliability of the grasping process.

[0047] The present application further proposes a technical solution of adding a rubbing mechanism 11 to the jaw mechanism. The rubbing mechanism 11 is used to drive the fabric roll to rotate to realize the fabric releasing operation.

[0048] Among them, the rubbing mechanism 11 refers to a mechanical component that can apply a rotational driving force to the surface of the cloth roll. Specifically, it can be achieved by driving a friction wheel with a motor, and a frictional torque is generated through the power output device in contact with the surface of the cloth roll. Among them, the positive rubbing wheel 14 and the auxiliary wheel 12 form a triangular layout, so that the cloth roll can obtain a rotational driving force while being positioned at multiple points.

[0049] Specifically, when the robotic arm grabs the cloth roll, the positive rubbing wheel 14 and the auxiliary wheel 12 of the rubbing mechanism 11 form a three-point support structure, and the cloth roll is stably constrained at the center position of the triangular layout. At this time, the rubbing motor 13 is started to drive the positive rubbing wheel 14 to rotate, and the cloth roll is driven to rotate around its own axis through the frictional action. The contact pressure between the positive rubbing wheel 14 and the cloth roll can be automatically adjusted by a spring mechanism to maintain an effective driving force. The centrifugal force generated when the cloth roll rotates and the restraint of the arc-shaped hook 24 form a dynamic balance, which not only ensures smooth cloth release but also prevents the cloth roll from slipping off.

[0050] Compared with the prior art, the traditional cloth roll grasping device only has a fixed clamping function and it is difficult to realize the self-rotation operation of the cloth roll in a narrow space. However, in this solution, by integrating an active driving device in the jaw mechanism, the cloth roll can be controllably rotated in the grasping state, effectively overcoming the difficulty of releasing large-diameter cloth rolls due to space limitations. In the prior art, the separation of the cloth roll relies on an external traction device, while in this solution, the integrated driving mechanism realizes the integrated operation of grasping and cloth releasing.

[0051] Through the above technical solution, the present application realizes the active rotation control after the cloth roll is grasped, and solves the problem of cloth release of cloth rolls with different diameters in a limited space. Through the synergistic effect of three-point positioning and friction drive, it not only ensures the stability of the cloth roll rotation but also avoids the sensitivity of the traditional clamping device to the diameter of the cloth roll. The arc-shaped hook 24 structure forms a physical limit while allowing the cloth roll to rotate, effectively preventing the accidental detachment of the cloth roll under the action of centrifugal force.

[0052] The present application further proposes that the rubbing mechanism 11 includes a rubbing motor 13 and a positive rubbing wheel 14. The positive rubbing wheel 14 and the two auxiliary wheels 12 are arranged in a triangular layout, with the positive rubbing wheel 14 located above, and the clamped rod core 25 located at the center of the triangle.

[0053] Among them, the rubbing motor 13 refers to the power source that drives the positive rubbing wheel 14 to rotate. Specifically, it can be implemented by a servo motor or a stepper motor. Its output shaft is connected to the positive rubbing wheel 14 through a coupling, and the cloth roll and cloth release speed is adjusted by controlling the rotation speed. The positive rubbing wheel 14 refers to an active friction wheel that is in direct contact with the surface of the rod core 25. Specifically, it can be implemented by a metal wheel body with a rubber layer on the surface, and the driving force is increased by increasing the friction coefficient. The auxiliary wheel 12 refers to a passive wheel that cooperates with the positive rubbing wheel 14 to form a three-point support structure. Specifically, it can be implemented by a freely rotating nylon roller, and its wheel surface is in contact with the rod core 25 but does not apply an active driving force. The herringbone arrangement means that the positive rubbing wheel 14 is located at the top vertex position, and the two auxiliary wheels 12 are located on the left and right sides of the bottom respectively. The geometric support surface formed by the three is distributed in a triangular shape. This arrangement method ensures that the axis of the rod core 25 is always at the geometric center of the plane formed by the three points.

[0054] Specifically, when the rod core 25 is fixed by the clamping mechanism, the rubbing motor 13 drives the positive rubbing wheel 14 to rotate clockwise or counterclockwise, and the friction between its surface and the outer wall of the rod core 25 drives the cloth roll to rotate. The two auxiliary wheels 12 respectively abut the outer wall of the rod core 25 from the lower sides to form a stable support structure with three-point contact. Since the positive rubbing wheel 14 is located directly above the rod core 25, the gravity of the rod core 25 generates positive pressure on the contact surface with the positive rubbing wheel 14, thereby enhancing the friction driving force. The auxiliary wheel 12 reduces the sliding friction with the rod core 25 by rotating freely to avoid hindering the rotation of the rod core 25.

[0055] Compared with the prior art, the traditional solution adopts a structure of a single-side driving wheel and a fixed support plate, which can easily cause the axis to deviate due to uneven force when the cloth roll rotates. However, this solution forms a symmetrical support structure through a three-point herringbone layout. While the driving wheel actively applies force, the auxiliary wheel 12 is used to limit the lateral displacement of the rod core 25. Compared with the two-point clamping structure, the three-point support forms a plane constraint, eliminating the degree of freedom of the rod core 25 in the rotation plane, and effectively preventing slippage caused by inertia or vibration.

[0056] Through the above technical solution, the present application forms a stable three-point contact support during the cloth roll unwinding process, ensuring that the axis position of the rod core 25 is always in a controlled state. The passive rotation characteristics of the auxiliary wheel 12 reduce the resistance to the rotation of the rod core 25, and cooperate with the active drive of the positive rubbing wheel 14 to achieve a smooth and uniform release of the cloth roll.

[0057] The present application further proposes to rotatably install a secondary rubbing wheel 17 on the hook mounting plate 15 , and the secondary rubbing wheel 17 is transmission-connected to the main rubbing wheel 14 .

[0058] Specifically, when the robot arm selects the lifting assembly 10 to grab a large-diameter cloth roll, the main rubbing wheel 14 and the auxiliary rubbing wheel 17 rotate synchronously, and the auxiliary rubbing wheel 17 rubs the rod core 25 on the hook 16 to rotate the rod core 25, thereby rotating the cloth roll to release the cloth.

[0059] The present application further proposes that the rubbing mechanism 11 further includes an adjusting mechanism 18. The adjusting mechanism 18 includes an adjusting fixed block 19 which is fixedly installed on the jaw mounting plate 6. The lower end of the adjusting fixed block 19 is connected to an adjusting spring 20, and the lower end of the adjusting spring 20 is connected to an adjusting movable plate 21. The rubbing motor 13 and the positive rubbing wheel 14 are fixedly installed on the adjusting movable plate 21.

[0060] Among them, the adjusting fixed block 19 refers to the basic support structure for fixing the adjusting mechanism 18, which can be specifically realized by bolt - connecting a metal block to the jaw mounting plate 6. Its function is to provide rigid support for the spring and the movable plate. The adjusting spring 20 refers to a mechanical element with elastic deformation ability, which can be specifically realized by a helical spring or a disc spring. The impact force when the positive rubbing wheel 14 contacts the rod core 25 is absorbed by the change in the compression amount of the spring. The adjusting movable plate 21 refers to a moving part that bears the rubbing motor 13 and the positive rubbing wheel 14, which can be specifically realized by hinging an aluminum alloy plate to the spring. Its function is to convert the elastic deformation of the spring into the vertical displacement of the positive rubbing wheel 14, thereby dynamically adjusting the contact pressure.

[0061] Specifically, when the positive rubbing wheel 14 contacts the surface of the rod core 25, changes in the diameter or position of the rod core 25 will cause fluctuations in the contact pressure. When the pressure increases, the adjusting spring 20 is compressed, driving the adjusting movable plate 21 and the positive rubbing wheel 14 to move upward, thereby reducing the extrusion force on the rod core 25. When the pressure decreases, the spring restores its deformation and pushes the movable plate downward to maintain the effective contact between the positive rubbing wheel 14 and the rod core 25. During this process, the rubbing motor 13 is always fixedly connected to the adjusting movable plate 21 to ensure the stability of power transmission. Through the elastic deformation characteristics of the spring, the pressure of the positive rubbing wheel 14 on the rod core 25 is controlled within a safe range, avoiding the rupture of the PVC pipe caused by rigid extrusion.

[0062] Compared with the prior art, the positive rubbing wheel 14 of the traditional rubbing mechanism 11 is usually fixedly installed and cannot automatically adjust the pressure according to the change in the diameter of the rod core 25, which is likely to cause the PVC pipe to be crushed. By introducing the spring adjusting mechanism 18 in this solution, the positive rubbing wheel 14 has the freedom of displacement in the vertical direction and can dynamically adapt to the contact pressure requirements of cloth rolls with different diameters, solving the technical defect that a rigid structure cannot reduce the pressure peak.

[0063] Through the above - mentioned technical solution, the present application realizes the adaptive control of the pressure of the positive rubbing wheel 14 on the rod core 25. On the premise of ensuring the normal rotation of the cloth roll, it effectively avoids the damage of the PVC pipe caused by excessive pressure, and is especially suitable for the automatic grasping scenario of cloth rolls with different diameters.

[0064] The present application further proposes to machine an arc-shaped slideway with a specific curvature on the surface of the hook mounting plate 15. A freely movable sliding component is assembled in the slideway, and the auxiliary rubbing wheel 17 is installed on the sliding component through a bearing structure. When the main rubbing wheel performs vertical position adjustment, the auxiliary rubbing wheel 17 can perform synchronous displacement along the slideway track.

[0065] Among them, the arc-shaped slideway refers to a curved track with a predetermined radius, which can be specifically milled on the surface of a metal plate by a numerical control machine tool. Its radian parameter forms a geometric correspondence with the adjustment stroke of the main rubbing wheel. The sliding component refers to a moving block with a guiding boss, which can be specifically made of polytetrafluoroethylene composite material to achieve position switching with a low friction coefficient in the slideway. This structure can keep the relative angle between the rotation axis of the auxiliary rubbing wheel 17 and the center line of the cloth roll stable during movement, avoiding sudden changes in contact pressure.

[0066] Specifically, when the main rubbing wheel 14 adjusts the pressure up and down, the mounting seat of the auxiliary rubbing wheel 17 generates displacement compensation along the arc-shaped slideway. The curvature radius of the slideway is accurately calculated so that the auxiliary rubbing wheel 17 always forms a tangential contact with the main rubbing wheel 14 during movement. The sliding component drives the auxiliary rubbing wheel 17 to change its spatial position during displacement, but through the constraint of the arc-shaped track, the effective contact area is maintained. This dynamic adjustment mechanism can automatically adapt to the position change of the main rubbing wheel 14.

[0067] The present application further proposes that the end of the hook 16 is provided with an upward arc-shaped hook 24. When the rod core 25 is located in the groove, the auxiliary rubbing wheel 17 rubs it. Under the reaction force of the auxiliary rubbing wheel 17, the cloth roll will move outwards, but after rotating to the arc-shaped hook 24 part, it will move back under the action of the gravity of the cloth roll. Therefore, the rod core 25 can be restricted by the arc-shaped hook 24 to prevent the rod core 25 from sliding out of the groove due to the action of force.

[0068] Among them, the arc-shaped hook 24 refers to a hook-shaped structure with an upwardly curved end, which can be specifically formed by stamping a metal plate and welding it to the end of the hook 16. Its bending radian matches the movement track of the rod core 25. The groove refers to a recessed area formed on the surface of the hook 16, which can be specifically formed by machining or casting processes to accommodate the rod core 25 and guide its movement track. The bending angle and height of the arc-shaped hook 24 are configured to form a mechanical block when the rod core 25 moves outwards, and at the same time generate a return guiding effect under the action of gravity.

[0069] Specifically, when the auxiliary rubbing wheel 17 applies a rubbing force, the rod core 25 moves outward under the reaction force. At this time, the curved surface edge of the arc-shaped hook 24 forms a physical blocking boundary. When the rod core 25 is displaced to the end of the arc-shaped hook 24, the gravity component is decomposed into a component force sliding inward along the tangent direction of the curved surface, prompting the rod core 25 to return along the curved surface of the arc-shaped hook 24. This two-way constraint mechanism allows the rod core 25 to generate necessary displacements during the cloth unwinding operation, while maintaining positioning stability through the synergistic effect of geometric limiting and mechanical balance.

[0070] Compared with the prior art, traditional solutions mostly use fixed baffles or rigid limiters to prevent the rod core 25 from slipping, but they cannot meet the displacement requirements in dynamic operations. Through the curved surface structure design of the arc-shaped hook 24, this solution not only retains the freedom of movement required for cloth unwinding but also achieves adaptive constraint through the synergistic effect of gravity and mechanical limiting, solving the contradiction between dynamic operation and positioning stability.

[0071] Through the above technical solution, the present application effectively inhibits the slipping phenomenon of the cloth roll caused by the rubbing reaction force during the cloth unwinding process, ensures that the rod core 25 always remains within the working area of the groove of the supporting hook 16, and at the same time avoids equipment interference or damage to the rod core 25 caused by rigid limiting, significantly improving the success rate and stability of the automatic cloth roll unwinding operation.

[0072] Through the above technical solution, the present application can effectively prevent the cloth roll from separating from the lifting assembly 10 due to the reaction force during high-speed rotation, ensuring the continuous stability of the cloth unwinding process. The passive reset mechanism of the arc-shaped hook 24 significantly reduces the equipment maintenance frequency and avoids shutdown failures caused by the slipping of the rod core 25, especially suitable for scenarios where cloth rolls of different diameters are alternately produced.

[0073] Working principle: The camera module 4 is used to identify and calculate the position of the rod core 25 and the diameter of the cloth roll. Different cloth unwinding methods are selected according to different diameters. When the diameter of the cloth roll is small, the movable finger 8 and the fixed finger 9 cooperate to clamp and pick up. During the extraction and movement of the cloth roll, the positive rubbing wheel 14 and the auxiliary wheel 12 cooperate to rotate the cloth roll for cloth unwinding, maintaining the tension of the cloth roll and facilitating movement. When the diameter of the cloth roll is large, due to the large diameter of the cloth roll and the space limitation inside the circular knitting machine, if the upward extraction stroke by the movable finger 8 and the fixed finger 9 is limited, the groove mechanism is selected for extraction. The position of the supporting hook 16 is relatively high, hooking the rod core 25 from below, increasing the upward stroke of the rod core 25, so that the rod core 25 can be moved out of the guiding groove, and the cloth roll is rotated for cloth unwinding by the auxiliary rubbing wheel 17. The present invention is described through preferred embodiments. Those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited by the specific embodiments disclosed herein, and other embodiments falling within the scope of the claims of the present application belong to the protection scope of the present invention.

Claims

1. A grabbing device suitable for different cloth roll diameters, characterized in that: It comprises a cloth placing device, on the platform of which a left mechanical arm (1) and a right mechanical arm (2) are arranged, and a mechanical gripper assembly (3) is installed on both the left mechanical arm (1) and the right mechanical arm (2); The mechanical gripper assembly (3) comprises: a camera module (4) and a gripper mechanism, wherein the camera module (4) is used to identify and calculate the diameter of the cloth roll; The clamping claw mechanism comprises a clamping assembly (5) and a lifting assembly (10). The clamping assembly (5) or the lifting assembly (10) is selected to lower the cloth roll according to different cloth roll diameters. The clamping assembly (5) lowers the cloth roll by clamping, and the lifting assembly (10) lowers the cloth roll by lifting.

2. The grabbing device suitable for different cloth roll diameters according to claim 1, characterized in that: The clamping assembly (5) comprises a clamping jaw mounting plate (6), the clamping jaw mounting plate (6) is mounted on the mechanical arm, an electric push rod (7) is fixedly mounted on the clamping jaw mounting plate (6), a movable finger (8) is mounted on the output end of the electric push rod (7), a fixed finger (9) fixed on the clamping jaw mounting plate (6) is provided on one side of the movable finger (8), the rod core is clamped by the movable finger (8) and the fixed finger (9), and a lifting assembly (10) capable of lifting the rod core is also fixedly connected to the fixed finger (9), and the lifting position of the lifting assembly (10) is higher than the clamping position of the movable finger (8) and the fixed finger (9).

3. The grabbing device suitable for different cloth roll diameters according to claim 2, characterized in that: The lifting assembly (10) comprises a hook mounting plate (15), the hook mounting plate (15) is mounted on the fixed finger (9), and a hook (16) is mounted on the hook mounting plate (15).

4. The grabbing device suitable for different cloth roll diameters according to claim 1 or 3, characterized in that: The clamping claw mechanism also includes a rubbing mechanism (11), and the rubbing mechanism (11) is used to rotate the cloth roll to release the cloth.

5. The grabbing device suitable for different cloth roll diameters according to claim 4, characterized in that: The rubbing mechanism (11) comprises a rubbing motor (13) and a positive rubbing wheel (14); The main rubbing wheel (14) and the two auxiliary wheels (12) are arranged in the shape of a product, with the main rubbing wheel (14) located at the top and the clamped rod core located at the center of the product.

6. The grabbing device suitable for different cloth roll diameters according to claim 5, characterized in that: The rubbing mechanism (11) further comprises an auxiliary rubbing wheel (17) rotatably mounted on the hook mounting plate (15), and the auxiliary rubbing wheel (17) is transmission-connected to the main rubbing wheel (14).

7. The grabbing device suitable for different cloth roll diameters according to claim 6, characterized in that: The rubbing mechanism (11) also includes an adjusting mechanism (18), the adjusting mechanism (18) includes an adjusting fixed block (19), the adjusting fixed block (19) is fixedly mounted on the clamping jaw mounting plate (6), the lower end of the adjusting fixed block (19) is connected to an adjusting spring (20), the lower end of the adjusting spring (20) is connected to an adjusting movable plate (21), and the rubbing motor (13) and the positive rubbing wheel (14) are fixedly mounted on the adjusting movable plate (21).

8. The grabbing device suitable for different cloth roll diameters according to claim 7, characterized in that: The hook mounting plate (15) is provided with an arc groove (22), a sliding block (23) is slidably arranged in the arc groove (22), and the auxiliary rubbing wheel (17) is rotatably mounted on the sliding block (23).

9. The grabbing device suitable for different cloth roll diameters according to claim 8, characterized in that: The end of the support hook (16) is provided with an upward arc-shaped hook (24).

Images