Fabric grabbing device and fabric grabbing system

Abstract

The invention discloses a fabric grabbing device, and relates to the technical field of silk processing, a fixed seat is used for providing fixed support, a clamping part is mounted on a mounting seat of a movable part, when a driving device drives the fixed seat to descend to approach a fabric, the clamping part is extruded, a movable rod translates relative to the fixed seat, and elastic force is accumulated at an elastic part, so that the fabric is grabbed. When the elastic force reaches a certain degree, the driver of the clamping part drives the clamping jaws to be closed, the two flexible clamping heads get close to each other to clamp the fabric, and the flexible clamping heads are made of soft materials and are staggered in the direction perpendicular to the relative movement direction of the clamping jaws, so that wrinkles and indentations on the surface of silk are avoided, deformation is prevented, and the quality of the silk fabric is prevented from being affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of silk processing, and further relates to a fabric grabbing device and a fabric grabbing system. BACKGROUND

[0002] The influence of silk products on people mainly lies in comfort (the friction irritation coefficient of the human body is the lowest among various fibers, only 7.4%), moisture absorption and release, sound and dust absorption, heat resistance, ultraviolet resistance and health care, etc. The quality of finished products can be evaluated from color, hand feeling, uniformity, etc. High-quality silk handkerchiefs have uniform color, smooth hand feeling, uniform color, smooth hand feeling, and no obvious defects.

[0003] In the silk processing industry, the grabbing and carrying of silk in the automatic production process is a key link. At present, the existing technology mainly adopts the following ways:

[0004] 1. Traditional mechanical clamping jaw: directly clamping silk through rigid structure, but the soft and smooth silk is easy to slide, and the pressure of the clamping jaw can cause wrinkles, indentations or even damage to the surface of the silk, affecting the quality of the product.

[0005] 2. Vacuum suction device: using negative pressure to adsorb the surface of silk, but for light and thin, breathable silk fabric, the adsorption effect is not good, and air leakage can cause the problem of unstable adsorption, and the silk may be deformed during adsorption.

[0006] 3. Electrostatic adsorption device: adsorbing silk through electrostatic action, but the control of static electricity is difficult, and it is easily affected by environmental humidity and other factors, and static electricity can adsorb dust and other impurities, polluting the silk.

[0007] Traditional mechanical clamping jaws and vacuum suction devices can easily cause physical damage to silk, affecting product quality. Different types of silk (such as thin silk and satin) have different textures, and existing devices are difficult to meet the grabbing needs of various silk materials. Due to the softness and smoothness of silk, the existing devices are prone to silk slipping or displacement during grabbing and carrying, resulting in low production efficiency. SUMMARY

[0008] The core of the present application is to provide a fabric grabbing device for clamping silk fabric, which realizes physical clamping through a flexible chuck, avoids wrinkles, indentations on the surface of the silk, prevents deformation, and ensures quality. The specific scheme is as follows:

[0009] A fabric grabbing device, comprising:

[0010] A fixed seat for fixing and supporting, which is installed on a driving device;

[0011] The movable part comprises a moving rod, an elastic part and a mounting base, the mounting base is fixed to the moving rod, the moving rod is slidingly assembled to the fixed base, and the elastic part is used to generate elastic force between the fixed base and the movable part.

[0012] The clamping part is mounted to the mounting base and comprises a driver and two clamping jaws, the driver is used to drive the clamping jaws to open and close, and the ends of the two clamping jaws are provided with flexible clamping heads which are staggered with each other in the direction perpendicular to the relative movement direction of the clamping jaws.

[0013] Optionally, a sensor is arranged on the fixed base, a touch block is arranged on the moving rod, when the touch block triggers the sensor, the driver drives the clamping jaws to close and clamp.

[0014] Optionally, the clamping jaws are hinged to the mounting base, the fixed part of the driver is fixed to the mounting base, and the driving pin shaft of the movable part of the driver is mounted in the driving hole of the clamping jaw.

[0015] Optionally, the driver is a gas cylinder, and the driver is connected to a gas pipe.

[0016] Optionally, the flexible clamping heads and the clamping jaws are respectively fixed to two ends of a connecting rod, the connecting rod is fixed to the clamping jaws by screws, and the flexible clamping heads are nested in the connecting rod.

[0017] Optionally, the staggered distance of the two flexible clamping heads is 0.4-0.6 times the thickness of the fabric.

[0018] Optionally, the mounting base comprises an upper cover plate, a front cover plate, a rear cover plate, a left cover plate and a right cover plate.

[0019] The inner surfaces of the front cover plate and the rear cover plate are respectively provided with thinning parts.

[0020] Optionally, the elastic part is a spring spirally wound around the outer periphery of the moving rod, and the moving rod is slidingly inserted into the sliding sleeve fixedly installed on the fixed base.

[0021] A guide rod is fixedly installed on the mounting base, and the guide rod is parallel to the moving rod.

[0022] Optionally, the fixed base is in the shape of a rectangular cylinder, and locking bolts are arranged on at least one side wall.

[0023] The application also provides a fabric grabbing system comprising the fabric grabbing device of any one of the above and a mechanical arm, an extension arm is arranged on the mechanical arm, and the fixed base is fixedly installed on the extension arm.

[0024] The application provides a fabric grabbing device, which is fixedly supported by a fixed base, and a clamping part is installed on a mounting base of a movable part. When the fixed base is driven to descend and approach the fabric by a driving device, the clamping part is extruded, a moving rod is translated relative to the fixed base, and an elastic force is accumulated in an elastic part. When the elastic force reaches a certain degree, a driver of the clamping part drives the clamping jaw to close, so that two flexible chucks approach each other to clamp the fabric. Since the flexible chucks are soft and are staggered relative to each other in a direction perpendicular to the relative motion direction of the clamping jaw, the silk surface is prevented from being wrinkled, indented and deformed, and the quality of the silk fabric is prevented from being affected. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0026] Figure 1 It is a front view of the fabric grabbing device of the present application.

[0027] Figure 2 It is a side view of the fabric grabbing device of the present application.

[0028] Figure 3 It is a schematic view of the cooperation between the mounting base and the clamping part.

[0029] Figure 4 It is a schematic view of the fabric grabbing system of the present application.

[0030] The drawings include:

[0031] The fixed base 10; the sensor 110; the sliding sleeve 120; the connecting plate 121; the locking bolt 130;

[0032] The movable part 20; the moving rod 210; the touch block 211; the elastic part 220; the mounting base 230; the upper cover plate 231; the front cover plate 232; the rear cover plate 233; the left cover plate 234; the right cover plate 235; the guide rod 240;

[0033] The clamping part 30; the driver 310; the air pipe 311; the driving pin shaft 312; the clamping jaw 320; the flexible chuck 321; the connecting rod 322; the driving hole 323; the hinged shaft 324; the screw 325;

[0034] The mechanical arm 40; the extension arm 410. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution of the present invention, the fabric grabbing device and the fabric grabbing system of the present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0036] Combine Figure 1 、 Figure 2 As shown, the fabric grabbing device of the present invention includes a fixed base 10, a movable portion 20, and a clamping portion 30. The fixed base 10 is used for fixed support and serves as the basic structure of the entire fabric grabbing device, on which other components are mounted. The fixed base 10 is mounted on a drive device, which can be a robotic arm 40 described later, and is used to drive the fixed base 10 to move, thereby achieving the grabbing and transfer of silk fabrics. The fixed base 10 is moved by the robotic arm 40, causing the various components of the entire fabric grabbing device to move accordingly.

[0037] The movable part 20 includes a moving rod 210, an elastic part 220, and a mounting seat 230. The moving rod 210 is slidably assembled on the fixed seat 10. The moving rod 210 can move linearly relative to the fixed seat 10. The moving rod 210 can move along a straight line relative to the fixed seat 10. Figure 1 、 Figure 2 The moving direction of the moving rod 210 is not limited to vertical up and down movement, and can also be tilted according to the direction of the table surface where the fabric is placed.

[0038] The mounting base 230 is fixedly mounted on the moving rod 210. Figure 1 、 Figure 2 The mounting base 230 is fixed to the bottom end of the moving rod 210 , and the moving rod 210 and the mounting base 230 can move synchronously relative to the fixed base 10 , thereby driving the clamping portion 30 installed on the mounting base 230 to move.

[0039] The elastic portion 220 is used to generate an elastic force between the fixed seat 10 and the movable portion 20. When the movable portion 20 and the fixed seat 10 are in their initial positions, the elastic portion 220 accumulates a certain amount of elastic force. When the clamping portion 30 contacts the table surface on which the fabric is placed and continues to approach, the movable portion 20 cannot move further. The fixed seat 10 continues to approach the table surface, and the movable rod 210 translates relative to the fixed seat 10, thereby compressing the elastic portion 220. The elastic portion 220 is compressed and further accumulates elastic force. The elastic portion 220 provides an elastic buffer to prevent the clamping portion 30 from making hard contact with the table surface, and a certain elastic contact force is formed before the clamping portion 30 clamps the fabric, ensuring effective clamping of the fabric. When the fixed seat 10 moves away from the table surface, the elastic portion 220 releases the elastic force until the relative position of the movable portion 20 and the fixed seat 10 returns to the initial position. The movable portion 20 then moves synchronously with the fixed seat 10, driving the clamped fabric to relocate.

[0040] The clamping part 30 is installed on the mounting seat 230, and the clamping part 30 comprises a driver 310 and two clamping jaws 320, the driver 310 drives the clamping jaws 320 to open and close in cooperation, and the two clamping jaws 320 clamp the fabric when being closed and release the fabric when being opened.

[0041] In combination Figure 1 , Figure 2 As shown in the figure, the ends of the two clamping jaws 320 are respectively provided with flexible chucks 321, when the two clamping jaws 320 are closed, the flexible chucks 321 installed on the clamping jaws 320 are close to each other, and the fabric is clamped by the flexible chucks 321.

[0042] The flexible chucks 321 are made of soft materials with certain elasticity, such as silica gel, rubber, etc. The flexible chucks 321 can adopt solid or hollow structure, and can be elastically deformed when contacting the fabric, so as to avoid excessive extrusion force on the fabric.

[0043] The flexible chucks 321 are misaligned with each other in the direction perpendicular to the relative movement direction of the two clamping jaws 320, the two clamping jaws 320 can be assembled on the mounting seat 230 in a hinged manner, or can be assembled on the mounting seat 230 in a translational manner. When the clamping jaws 320 are assembled on the mounting seat 230 in a translational manner, the movement direction of the clamping jaws 230 has an angle with the table surface on which the fabric is placed.

[0044] In combination Figure 1 , Figure 2 As shown in the figure, in this embodiment, the two clamping jaws 320 are hinged on the mounting seat 230, the flexible chucks 321 are misaligned with each other in the rotation axis direction of the clamping jaws 320, the rotation axis direction of the two clamping jaws 320 is parallel to the Y axis, the flexible chucks 321 have a misalignment gap d in the Y axis direction, the two flexible chucks 321 do not overlap in the Y axis direction, and the minimum distance between them is d. The fabric is clamped by misalignment, and the flexible chucks 321 can be elastically deformed, further reducing the extrusion force on the fabric, avoiding wrinkles and indentations on the surface of silk fabric, preventing deformation, and ensuring quality.

[0045] On the basis of the above scheme, the sensor 110 is arranged on the fixing seat 10, and the sensor 110 is kept stationary relative to the fixing seat 110. The touch block 211 is arranged on the moving rod 210, and the sensor 110 is used for detecting whether it is blocked by the touch block 211. When the touch block 211 is moved upward by the moving rod 210 and enters the detection range of the sensor 110, the touch block 211 triggers the sensor 110, the sensor 110 sends a closing signal, and the driver 310 drives the clamping jaws 320 to close and clamp.

[0046] The sensor 110 detects the sensing block 211. When the moving rod 210 moves a certain distance relative to the fixed base 10, the sensing block 211 triggers the sensor 110, and the driver 310 drives the clamping jaws 320 to close and clamp the fabric; when the robotic arm 40 drives the fabric to be transferred to the placement station, the driver 310 drives the clamping jaws 320 to open and release the fabric, completing the clamping and transfer of the fabric.

[0047] The sensor 110 detects the sensing block 211. When the flexible clamp 321 contacts the fabric and forms a certain contact force, the driver 310 drives the clamp 320 to close and clamp the fabric, ensuring that the contact force with the fabric is consistent each time the clamp is clamped and the timing of closing and clamping is consistent.

[0048] By adjusting the elastic coefficient of the elastic portion 220 or the moving distance of the sensing block 211 triggering the sensor 110 , the contact pressure between the flexible clamping head 321 and the fabric during clamping can be changed.

[0049] In a specific embodiment, the two clamping jaws 320 are respectively hinged to the mounting base 230 , and the two clamping jaws 320 are axially symmetrically distributed. Each clamping jaw 320 rotates relative to the mounting base 230 via a hinge shaft 324 .

[0050] The fixed portion of the driver 310 is fixed to the mounting base 230, while the movable portion of the driver 310 is capable of telescopic movement. A drive pin 312, located on the movable portion of the driver 310, is mounted within a drive hole 323 in the clamping jaw 320. The drive hole 323 and the flexible clamping head 321 are located at different ends of the clamping jaw 320. When the movable portion of the driver 310 moves, it drives the two clamping jaws 320 to rotate. The two clamping jaws 320 move symmetrically, allowing the two flexible clamping heads 321 to move closer or further away from each other.

[0051] like Figure 1 As shown, the entire fabric grabbing device is driven downward by the fixed base 10, and the flexible clamp 321 contacts the fabric. The fixed base 10 continues to move downward, and the movable rod 210 translates relative to the fixed base 10, increasing the elastic force of the elastic portion 220 and the contact pressure between the flexible clamp 321 and the fabric. When the sensing block 211 moves upward to trigger the sensor 110, the movable portion of the actuator 310 moves upward, driving the lower ends of the two clamping jaws 320 closer together, and the two flexible clamps 321 move closer together to clamp the fabric.

[0052] Specifically, the actuator 310 in the present invention is a pneumatic cylinder. The cylinder barrel is the fixed portion, fixed to the mounting base 230; the cylinder rod is the movable portion, capable of telescopic movement relative to the barrel. The actuator 310 is connected to an air pipe 311, and the cylinder is connected to two air pipes 311. When the cylinder rod is extended, air enters one of the two air pipes 311 and exits the other. When the cylinder rod is retracted, the airflow directions of the two air pipes 311 are reversed.

[0053] Combine Figure 1 、 Figure 3 As shown, the flexible clamp 321 and the clamping jaw 320 are respectively fixed to the two ends of the connecting rod 322 , and one end of the connecting rod 322 is inserted into the clamping jaw 320 , and the other end is inserted into the flexible clamp 321 .

[0054] The connecting rod 322 is fixed to the clamping jaw 320 by screws 325. After the connecting rod 322 is inserted into the clamping jaw 320, the screws 325 are screwed in to press the connecting rod 322 from the side to achieve fixation. When adjusting the position of the connecting rod 322, the screws 325 are loosened in advance.

[0055] The flexible clamp 321 is nested in the connecting rod 322. The flexible clamp 321 has a capsule-shaped structure. One end of the flexible clamp 321 for clamping the fabric is spherical, and the other end is provided with a slot for inserting the connecting rod 322. The flexible clamp 321 and the connecting rod 322 form an interference fit.

[0056] Specifically, the offset distance between the two flexible clamps 321 is 0.4 to 0.6 times the thickness of the fabric. Figure 2 As shown, the offset distance d between the two flexible clamps 321 is 0.4 to 0.6 times the thickness of the fabric to be clamped. The distance between the two flexible clamps 321 can be changed according to the thickness of the fabric to be clamped, and 0.5 times is generally selected. This offset distance ensures that the fabric can be clamped while avoiding excessive pressure on the fabric.

[0057] Mounting base 230 includes an upper cover 231, a front cover 232, a rear cover 233, a left cover 234, and a right cover 235. The four edges of upper cover 231 are perpendicularly secured to the front, rear, left, and right covers 232, 233, 234, and 235, forming a rectangular cavity. The inner surfaces of front and rear covers 232, 233 are each provided with a thinned portion to allow for clearance of driver 310.

[0058] The clamping portion 30 is installed in the inner cavity of the mounting seat 230 , and the mounting seat 230 forms a shielding protection for the clamping portion 30 . The bottom of the clamping jaw 320 is exposed outside the mounting seat 230 , so that the flexible clamping head 321 performs a clamping action.

[0059] Combine Figure 1 As shown, the elastic portion 220 is a spring spirally wound around the outer circumference of the movable rod 210; the movable rod 210 is slidably inserted into the sliding sleeve 120 fixedly mounted on the fixed base 10, and the movable rod 120 can translate relative to the sliding sleeve 120. The sliding sleeve 120 is mounted on a connecting plate 121 provided on the fixed base 10, and the connecting plate 121 is a plate-like structure with a right-angle bend.

[0060] The guide rod 240 is fixedly mounted on the mounting seat 230 . The guide rod 240 is parallel to the moving rod 210 . The guide rod 240 is slidably inserted into the connecting plate 121 . The dual guidance of the guide rod 240 and the moving rod 210 ensures smooth movement.

[0061] Combine Figure 1 As shown, the fixing seat 10 of the present invention is in the shape of a rectangular cylinder, with a locking bolt 130 provided on at least one side wall. The fixing seat 10 is sleeved on the extension arm 410, and the locking bolt 130 is tightened to press against the outer surface of the extension arm 410 to form a fixed assembly.

[0062] The present invention also provides a fabric grabbing system, combined with Figure 4 As shown, the system includes the above-mentioned fabric grabbing device, and also includes a robotic arm 40, an extension arm 410 is provided on the robotic arm 40, and the fixed seat 10 is fixedly installed on the extension arm 410. The movement of the robotic arm 40 drives the entire fabric grabbing device to move, thereby clamping the fabric and transferring it.

[0063] The present invention can be widely applied to automated production lines in silk weaving, printing and dyeing, and garment processing, significantly improving the degree of automation and product quality in silk processing, while reducing labor costs and defective product rates. The device has a compact structure and is easily integrated into existing production systems, demonstrating promising market prospects.

[0064] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fabric grabbing device, characterized in that: include: A fixed seat (10) is used for fixed support and is mounted on the driving device; The movable part (20) comprises a movable rod (210), an elastic part (220), and a mounting seat (230), wherein the mounting seat (230) is fixed to the movable rod (210), and the movable rod (210) is slidably assembled on the fixed seat (10); the elastic part (220) is used to generate elastic force between the fixed seat (10) and the movable part (20); The clamping portion (30) is mounted on the mounting seat (230) and comprises a driver (310) and two clamping jaws (320). The driver (310) is used to drive the clamping jaws (320) to cooperate in opening and closing. Flexible clamping heads (321) are provided at the ends of the two clamping jaws (320). The flexible clamping heads (321) are mutually offset in a direction perpendicular to the relative movement of the clamping jaws (320).

2. The fabric grabbing device according to claim 1, characterized in that: A sensor (110) is provided on the fixing seat (10), and a sensing block (211) is provided on the moving rod (210). When the sensing block (211) triggers the sensor (110), the driver (310) drives the clamping claw (320) to close and clamp.

3. The fabric grabbing device according to claim 2, characterized in that: The clamping jaw (320) is hinged to the mounting seat (230), and the fixed portion of the driver (310) is fixed to the mounting seat (230); the driving pin (312) of the movable portion of the driver (310) is installed in the driving hole (323) of the clamping jaw (320).

4. The fabric grabbing device according to claim 3, characterized in that: The driver (310) is a cylinder, and the driver (310) is connected to an air pipe (311).

5. The fabric grabbing device according to claim 1, characterized in that: The flexible clamp (321) and the clamping jaw (320) are respectively fixed to two ends of a connecting rod (322); the connecting rod (322) is fixed to the clamping jaw (320) by screws; and the flexible clamp (321) is nested in the connecting rod (322).

6. The fabric grabbing device according to any one of claims 1 to 5, characterized in that: The offset distance between the two flexible clamps (321) is 0.4 to 0.6 times the thickness of the fabric.

7. The fabric grabbing device according to claim 1, characterized in that: The mounting seat (230) comprises an upper cover plate (231), a front cover plate (232), a rear cover plate (233), a left cover plate (234), and a right cover plate (235); The inner surfaces of the front cover plate (232) and the rear cover plate (233) are respectively provided with thinning portions.

8. The fabric grabbing device according to claim 1, characterized in that: The elastic portion (220) is a spring spirally wound around the outer circumference of the moving rod (210); the moving rod (210) is slidably inserted into a sliding sleeve (120) fixedly mounted on the fixing seat (10); A guide rod (240) is fixedly mounted on the mounting seat (230), and the guide rod (240) is parallel to the moving rod (210).

9. The fabric grabbing device according to claim 1, characterized in that: The fixing seat (10) is in the shape of a rectangular cylinder, and a locking bolt (130) is provided on at least one side wall.

10. A fabric grabbing system, characterized in that: The fabric grabbing device comprises the fabric grabbing device according to any one of claims 1 to 9, and further comprises a mechanical arm (40), wherein an extension arm (410) is provided on the mechanical arm (40), and the fixing seat (10) is fixedly mounted on the extension arm (410).

Images