Mechanical hand and diamond burning device

Abstract

The application discloses a mechanical hand and a diamond pressing device. In the mechanical hand, a clamping jaw design is adopted on both sides of a rotating axis and can be synchronously rotated, and a first driving mechanism is used for vertical reciprocating motion and a second driving mechanism is used for horizontal reciprocating motion, so that a multi-degree-of-freedom mechanical hand system is constructed. The system can not only stably grab and release the diamond, but also can realize accurate placement of the diamond at any angle through rotation and compound motion, and effectively solves the problems of difficult orientation control and low positioning accuracy in automatic processing of special-shaped diamonds.

Description

Technical Field

[0001] This invention generally relates to the field of computer embroidery technology, and more particularly to a robotic arm and a hot-rhine device. Background Technology

[0002] In the field of computerized embroidery technology, using various decorative accessories to embellish embroidery is an important means of enhancing product added value and artistic expression. Among them, rhinestones, due to their vibrant colors and excellent reflective effect, are widely used in the floral decoration of clothing, footwear, and home textiles. With the increasing market demand for personalized and complex embroidery, irregularly shaped rhinestones, due to their unique geometric shapes and rich visual effects, are gradually becoming the preferred material for high-end embroidery design. Currently, the industry typically uses manual or semi-automated methods to fix rhinestones to the fabric surface. The basic process includes manual material selection, positioning, and heating to melt the adhesive on the rhinestone backing for bonding. For regular round or regular-shaped rhinestones, existing automated equipment can achieve orderly arrangement through feeding mechanisms such as vibratory feeders, and complete the picking, placing, and heating operations with simple mechanical structures.

[0003] However, when dealing with irregularly shaped hot-fix rhinestones, existing technologies still face long-term challenges in achieving efficient and precise automated processing. When handling complex designs, the placement angle and positional accuracy of the rhinestones are extremely critical, and existing equipment often struggles to meet the multi-dimensional precision positioning requirements while ensuring high efficiency. Summary of the Invention

[0004] In a first aspect, the present invention provides a robotic arm, comprising:

[0005] The clamping mechanism includes at least one pair of jaws, which can move closer or further apart from each other, and are located on opposite sides of a rotation axis. The two jaws can rotate synchronously relative to the rotation axis. The first driving mechanism causes the gripper to reciprocate in the vertical direction; The second drive mechanism causes the gripper to reciprocate in the horizontal direction.

[0006] As an alternative implementation, the clamping mechanism further includes a clamping drive shaft and clamping auxiliary components, wherein the clamping drive shaft is arranged vertically and reciprocates in the vertical direction. The clamping drive shaft, through the clamping auxiliary component, causes the two grippers to move closer or further apart.

[0007] In one possible implementation, the clamping aid includes a first connecting portion and a second connecting portion. The first connecting portion is rotatably connected to the clamping drive shaft so that the second connecting portion swings relative to the first connecting portion. The second connecting portion is drively connected to the grippers so that the two grippers move closer to or further away from each other.

[0008] As one possible implementation, the gripper includes a third connecting portion, which is kinetically connected to the second connecting portion. One of the third connecting portion and the second connecting portion is a receiving chamber, and the other is disposed within the receiving chamber.

[0009] As an alternative implementation, the clamping mechanism further includes a guide member that guides and engages with the gripper to enable the gripper to move linearly in the horizontal direction.

[0010] As an alternative implementation, a clamping drive mechanism is also included, which comprises a second motor and a linkage assembly, the linkage assembly including at least one rod. The linkage assembly includes a first mating part and a second mating part. The output shaft of the second motor is driven to engage with the first mating part, and the clamping drive shaft is driven to engage with the second mating part, so that the clamping drive shaft moves in the vertical direction.

[0011] As one possible implementation, the second mating part moves in the vertical direction to have a first switching position and a second switching position. The second motor output terminal is provided with an intermittent transmission part, which is in contact with the first mating part but not connected. The intermittent transmission part intermittently presses against the first mating part to move the second mating part to the first switching position.

[0012] As one possible implementation, a sliding sleeve is fitted onto the clamping drive shaft, the sliding sleeve being movable along the clamping drive shaft. The clamping drive shaft has a stop portion along its circumference, and an elastic element is press-fitted between the stop portion and the sliding sleeve. The second mating portion contacts the surface of the sliding sleeve facing away from the elastic element. The elastic element allows the second mating part to switch from the first switching position to the second switching position.

[0013] In one possible implementation, the sliding sleeve includes a first part and a second part, the first part being in contact with the elastic element, the second part being in contact with the second mating part, and the first part being capable of rotating relative to the second part.

[0014] As an alternative implementation, the clamping mechanism further includes a clamping drive shaft and a rotating seat. The clamping drive shaft is arranged in a vertical direction, and the rotating seat rotates relative to the rotation axis. The rotating seat enables the two grippers to rotate synchronously relative to the rotation axis, and the grippers drive the clamping drive shaft to rotate.

[0015] As an alternative implementation, the clamping mechanism further includes a first motor, the first motor having a first output shaft having a hollow channel extending along its axis, the clamping drive shaft passing through the hollow channel, and the first output shaft being rotatably connected to the rotating seat.

[0016] In a second aspect, the present invention provides a hot-rhine diamond device, comprising the robotic arm described in any one of the first aspects.

[0017] The above solution employs a gripper design located on both sides of the rotation axis and capable of synchronous rotation. Combined with the vertical reciprocating motion of the first drive mechanism and the horizontal reciprocating motion of the second drive mechanism, a multi-degree-of-freedom robotic arm system is constructed. This system can not only stably grasp and release hot-fix rhinestones, but also achieve precise placement of the rhinestones at any angle through rotation and compound motion, effectively solving the problems of difficult orientation control and low positioning accuracy in the automated processing of irregularly shaped hot-fix rhinestones. Attached Figure Description

[0018] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of a hot-rhine diamond device provided in an embodiment of the present invention. Figure 1 ; Figure 2 A schematic diagram of a hot-rhine diamond device provided in an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present invention; Figure 4 An explosion illustration of a robotic arm provided for an embodiment of the present invention. Figure 1 ; Figure 5 An explosion illustration of a robotic arm provided for an embodiment of the present invention. Figure 2 ; Figure 6 An explosion illustration of a robotic arm provided for an embodiment of the present invention. Figure 3 ; Figure 7 An explosion illustration of a robotic arm provided for an embodiment of the present invention. Figure 4 ; Figure 8 A partial schematic diagram of the robotic arm provided in an embodiment of the present invention. Figure 1 ; Figure 9 for Figure 8 A cross-sectional schematic diagram; Figure 10 A partial schematic diagram of the robotic arm provided in an embodiment of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the connection structure between the gripper and the clamping auxiliary component provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the rotating seat structure provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the mounting bracket structure provided in an embodiment of the present invention; Figure 14 for Figure 13 An explosion diagram; Figure 15 This is a schematic cross-sectional view of the mounting bracket provided in an embodiment of the present invention; Figure 16 This is a schematic diagram illustrating a scenario where the grippers provided in this embodiment of the invention are used to attach hot-fix rhinestones to fabric. 10: Clamping mechanism; 101: Clamping drive shaft; 102: Gripper; 1021: Third connecting part; 1022: Clamping part; 103: Clamping auxiliary part; 1031: First connecting part; 1032: Second connecting part; 104: Guide part; 105: Rotating seat; 106: Protective cover; 107: Sliding sleeve; 1071: First part; 1072: Second part; 108: Stop part; 109: Elastic element; 110: First connecting sleeve; 111: Second connecting sleeve; 112: First motor; 1121: First output shaft; 1122: Second output shaft; 20: Clamping drive mechanism; 21: Second motor; 22: Intermittent transmission part; 23: Linkage assembly; 231: First mating part; 232: Second mating part; 31: First drive mechanism; 311: First sliding part; 32: Second drive mechanism; 321: Second sliding part; 41: First support frame, 42: First slider, 43: Second support frame, 431: Second body, 432: First guide rail, 433: Second guide rail, 44: Second slider, 45: Third support frame, 46: Fourth support frame, 47: Fifth support frame; 50: Pneumatic actuator; 51: Moving end; 52: Fixed base; 60: Heating mechanism; 61: Heating element; 62: Mounting base; 63: Heat-conducting element; 64: First heat insulation element; 65: Annular cover; 66: Heat insulation cover; 67: Heat dissipation cover; 671: Heat dissipation section; 68: Cooling element; 69: Second heat insulation element. 70: Mounting bracket, 71: Support surface, 711: Opening, 80: Material cylinder assembly, 91: Fabric, 92: Hot-fix rhinestone. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] like Figures 1-16 As shown, this embodiment provides a hot-rhine diamond device, including: a mounting bracket 70, a material cylinder assembly 80, a heating mechanism 60, and a robotic arm.

[0022] The mounting frame 70 has a support surface 71 for supporting the fabric, and the support surface 71 has an opening 711; the material cylinder assembly 80 is disposed on one side of the support surface 71 for storing hot-fix rhinestones and outputting hot-fix rhinestones outward. The heating mechanism 60 is located on the other side of the support surface 71 and is correspondingly positioned to the opening 711. The robotic arm and the barrel assembly 80 are located on the same side of the support surface 71. The robotic arm includes a clamping mechanism 10 for holding hot rhinestones. The clamping mechanism 10 is capable of reciprocating in at least the vertical and horizontal directions to place the hot rhinestones output from the barrel assembly 80 at the positions corresponding to the fabric and the heating mechanism 60, and press the hot rhinestones until the molten part of the hot rhinestones adheres to the fabric.

[0023] The feed cylinder assembly 80 is disposed on one side of the support surface 71 and is used to store and output hot-fix rhinestones. Specifically, the feed cylinder assembly 80 is located above the support surface 71 and serves as an automatic feed source for hot-fix rhinestones. It can organize randomly arranged hot-fix rhinestones and deliver them one by one to a preset position.

[0024] The robotic arm and the material cylinder assembly 80 are located on the same side of the support surface 71. The robotic arm includes a clamping mechanism 10 for holding the hot-fix rhinestones. The clamping mechanism 10 is capable of reciprocating motion in at least the vertical and horizontal directions. In this embodiment, both the robotic arm and the material cylinder assembly 80 are arranged above the support surface 71. This helps the robotic arm to complete the picking and unloading actions within the same plane or space, simplifying the movement trajectory of the clamping mechanism 10. The clamping mechanism 10 is the end effector of the robotic arm, which can be a pneumatic clamp, an electric clamp, or a vacuum nozzle, etc. To achieve precise transfer of the hot-fix rhinestones, the robotic arm must be capable of reciprocating motion in at least the vertical and horizontal directions, so that the clamping mechanism 10 can flexibly move back and forth between the picking position and the unloading position.

[0025] An opening 711 is located on the support surface 71, providing a heat conduction channel for the heating mechanism 60, allowing the hot-fix rhinestone to directly contact the heating mechanism 60 below during the bonding process. The shape of the opening 711 can be adapted to the shape of the hot-fix rhinestone, for example, it can be circular, oval, or other irregularly shaped holes, and its size is larger than the maximum outer contour of the hot-fix rhinestone.

[0026] The heating mechanism 60 is disposed on the other side of the support surface 71 and corresponds to the opening 711. In this embodiment, the heating mechanism 60 is located below the support surface 71. The heating mechanism 60 can be, but is not limited to, resistance heating.

[0027] like Figure 16 As shown, the working process and principle of the hot-fix rhinestone device of this application are as follows: First, the fabric 91 to be processed is laid flat on the support surface 71 of the mounting frame 70, covering the opening 711. The material cylinder assembly 80 automatically outputs the hot-fix rhinestones 92 one by one to the material picking position. Next, the robotic arm drives the clamping mechanism 10 to move to the material picking position to grab the hot-fix rhinestone 92, and then moves the hot-fix rhinestone 92 horizontally and / or vertically above the opening 711, and places the hot-fix rhinestone 92 on the fabric 91 covering the opening 711. The area of ​​the fabric 91 between the hot-fix rhinestone 92 and the heating mechanism 60 is the area where the hot-fix rhinestone will be bonded, which is the aforementioned material placement position. The area where the hot-fix rhinestone 92 will be bonded is selected by those skilled in the art according to their needs. Then, the heating mechanism 60 turns on the heating mode, and simultaneously, the robotic arm drives the clamping mechanism 10 to press against the hot-fix rhinestone 92, so that the hot-fix rhinestone 92 and the heating mechanism 60 are in seamless or tight contact with the fabric 91. The heat from the heating mechanism 60 is conducted through the fabric 91 to the molten part of the hot-fix rhinestone 92, causing it to melt. Under continuous pressure and heat, the molten part bonds tightly to the fabric fibers. After bonding is complete, the clamping mechanism 10 releases the hot-fix rhinestone and resets, ready for the next work cycle.

[0028] It should be noted that the molten part of the hot-fix rhinestone melts upon heating, and the molten liquid fully wets the fabric fibers. Simultaneously, under pressure, the molten liquid further penetrates into the fabric yarns. Once the preset bonding time is reached, the clamping mechanism 10 releases and retracts upwards, completing the hot-fix rhinestone bonding operation. The combined effect of pressure and temperature ensures that the cooled and solidified rhinestone is firmly bonded to the fabric. Because the opening 711 corresponds to the heating mechanism 60, heat is concentrated and conducted to the rhinestone through the back of the fabric. This ensures that the molten part of the rhinestone is fully softened while preventing direct contact of high temperatures with other areas of the fabric. The other areas of the fabric are those excluding the area corresponding to the heating mechanism 60. In the above technical solution, the robotic arm and the material cylinder assembly 80 are located on the same side of the support surface 71, and the clamping mechanism 10 can perform reciprocating motion in the vertical and horizontal directions, realizing the precise transfer of the hot-fix rhinestone from the material picking position to the material placing position, which greatly improves production efficiency and reduces labor costs. Since the opening 711 is set to correspond with the heating mechanism 60, the heat is concentratedly conducted to the hot-fix rhinestone through the back of the fabric. While ensuring that the molten part of the hot-fix rhinestone is fully softened, the high temperature is prevented from directly contacting the rest of the fabric. The rest of the fabric is the fabric area excluding the area corresponding to the heating mechanism 60. Based on the dual action of pressure and temperature, the molten liquid can fully wet the fabric fibers and penetrate into the fabric yarn, so that the hot-fix rhinestone is firmly bonded to the fabric after cooling and solidification.

[0029] As a possible approach, such as Figures 13-15 As shown, the heating mechanism 60 includes a heating element 61 and a heat-conducting element 63. Heat is transferred between the heating element 61 and the heat-conducting element 63. In the working state, a fabric is arranged between the heat-conducting element 63 and the hot-drill. The heat transferred through the heat-conducting element 63 causes the molten part of the hot-drill to adhere to the fabric. The maximum working temperature of the heat-conducting element 63 is lower than the melting temperature of the fabric fibers.

[0030] The heat-conducting component 63 can be a metal heat-conducting component, including but not limited to aluminum alloy heat-conducting components and copper heat-conducting components. The heat-conducting component 63 can be in direct or indirect contact with the heating component 61.

[0031] In a specific embodiment, such as Figure 14 As shown, both the heat-conducting element 63 and the heating element 61 are circular plates, coaxial and in direct contact. During the hot-fix process, the fabric is laid flat on the support surface 71 of the mounting frame 70, and the robotic arm holds the hot-fix rhinestone against the fabric surface. At this time, the hot-fix rhinestone, fabric, and heat-conducting element 63 are tightly attached from top to bottom. After the heating element 61 is activated, heat is transferred to the molten part of the hot-fix rhinestone through the fabric via the heat-conducting element 63. During this heat transfer process, the circular plate-shaped heat-conducting element 63 ensures uniform heating in the area in contact with the fabric, avoiding local overheating that could lead to poor adhesion of the hot-fix rhinestone or damage to the fabric.

[0032] This application limits the maximum operating temperature T1max of the heat-conducting component 63 and the critical melting temperature T2max of the fabric fibers, with T1max < T2max. This precisely restricts the heat input during the heating process within a narrow temperature range where the rhinestones melt while the fabric remains intact. While ensuring sufficient melting of the rhinestones and guaranteeing strong adhesion, it fundamentally limits the upper limit of the heating temperature, preventing excessively high operating temperatures of the heating mechanism 60 from causing the fabric fibers to melt, shrink, char, or even break. For example, when the fabric is common polyester fiber, its T2max is approximately 255℃~265℃, while the melting point of the rhinestone's hot-melting part is between 160℃~180℃. Therefore, the T1max of the heat-conducting component 63 can be set between 180℃~200℃. Through precise heating design, this application ensures sufficient melting and adhesion of the rhinestones while maintaining the physical properties and appearance of the fabric fibers, significantly improving the quality of the embroidery.

[0033] As a possible approach, such as Figure 15 As shown, the surface of the heat-conducting component 63 that contacts the fabric is lower than the support surface 71.

[0034] In practical applications, operators need to work frequently above the support surface. The surface of the heat-conducting component 63 facing the fabric should be set lower than the support surface 71. The support surface can separate the operator's hand from the high-temperature heat-conducting component, avoiding accidental burns caused by accidental contact with the high-temperature heat-conducting component.

[0035] As a possible approach, such as Figure 14 and Figure 15 As shown, the heating mechanism 60 also includes a first heat insulation member 64. The heating member 61 and the first heat insulation member 64 are respectively disposed on both sides of the heat conducting member 63. The first heat insulation member 64 is provided with a through hole, which allows the hot drill to pass through.

[0036] The first heat insulation element 64 is made of a heat insulation material that is resistant to high temperatures and has a low thermal conductivity, such as an asbestos pad or ceramic fiber board. A through hole is formed in the first heat insulation element 64, which penetrates the upper and lower surfaces of the first heat insulation element 64 in the vertical direction and is opposite to the working area of ​​the heat-conducting element 63. The diameter of the through hole is adapted to the size of the hot-drill to ensure that the hot-drill can pass through smoothly, while minimizing the hole diameter to reduce the heat radiation area.

[0037] When the hot-fix rhinestone is placed on the fabric and pressed down, the rhinestone passes through the through hole of the first heat insulation member 64 and indirectly contacts the heat-conducting member 63 below. At this time, the solid part of the first heat insulation member 64 covers the area of ​​the fabric except for the hot-fix rhinestone attachment point, effectively blocking the heat conduction from the heat-conducting member 63 to the non-hot-fix rhinestone attachment point of the fabric, thereby avoiding defects such as scorching, yellowing or melting deformation of the fabric due to large-area heating.

[0038] Specifically, the projected area of ​​the through hole on the heat-conducting component 63 is smaller than the surface area of ​​the heat-conducting component 63 facing the heat insulation component 64. This design ensures that the heat from the heat-conducting component 63 can only be transferred upwards through the smaller through hole, and only the small area of ​​fabric corresponding to the hot-drill receives heat, effectively avoiding defects such as yellowing, shrinkage, melting and damage caused by large-area heating of the entire fabric.

[0039] As a possible approach, such as Figure 14 and Figure 15 As shown, the heating mechanism 60 also includes a heat insulation cover 66, which has a second receiving portion, and the heating element 61 and the heat conducting element 63 are disposed in the second receiving portion.

[0040] In practical applications, the heating mechanism 60 also includes a heat insulation cover 66 and a mounting base 62. The mounting base 62 has a first receiving portion, which can be a groove, and the heat-conducting element 63 and the heating element 61 are installed in the first receiving portion. The heat insulation cover 66 has a second receiving portion, which can be a groove, and the mounting base 62 is installed in the second receiving portion.

[0041] The heat shield 66 can be made of a high-temperature resistant material with low thermal conductivity, such as ceramic fiber. By setting the heat shield 66, the heat generated by the heating element 61 can be confined inside the second housing, so that it is concentrated and transferred to the heat conduction element 63, thereby improving the efficiency of heat utilization and preventing heat from spreading to the surrounding area and affecting other parts of the embroidery machine or the safety of the operator.

[0042] It should be noted that, as Figure 14 and Figure 15 As shown, the heating mechanism 60 also includes an annular cover plate 65. The inner hole of the annular cover plate 65 is adapted to the through hole of the first heat insulation member 64, and the outer contour of the annular cover plate 65 is adapted to the opening of the second receiving portion, so that the annular cover plate 65 is engaged with the opening of the second receiving portion. Figure 15 Alternatively, as shown in Figure 16, the mounting base 62 is installed within the second receiving portion, and the first heat insulation member 64 is also located within the second receiving portion, positioned near the opening of the second receiving portion. The annular cover plate 65 engages with the opening of the second receiving portion and presses against the first heat insulation member 64 to ensure that the first heat insulation member 64 is securely disposed within the second receiving portion.

[0043] As a possible approach, such as Figure 14 As shown, the heating mechanism 60 also includes a heat dissipation cover 67, which has a third receiving portion, a heat insulation cover 66 disposed in the third receiving portion, and a plurality of heat dissipation portions 671 disposed on the heat dissipation cover 67.

[0044] The third receiving portion can be a groove, and the heat insulation cover 66 is installed inside the third receiving portion. The heat dissipation portion 671 is disposed on the wall of the heat dissipation cover 67, and can be a heat dissipation hole penetrating the wall, an outwardly protruding heat dissipation fin, or a combination of both. Several heat dissipation portions 671 are evenly distributed on the heat dissipation cover 67 or distributed according to a heat flux density gradient, used to increase the contact area between the heat dissipation cover 67 and the surrounding air, promoting air convection heat transfer. When the heating mechanism 60 is working, the heat insulation cover 66 blocks most of the heat from the heating element 61 from direct outward radiation, but some heat is still conducted to the outer wall of the heat insulation cover 66 and accumulates in the third receiving portion. The outer heat dissipation cover 67 continuously dissipates heat through the heat dissipation portions 671, significantly reducing the outer surface temperature of the heat dissipation cover 67, forming a low-temperature outer shell. Even if the hand accidentally touches it, there will be no high-temperature burns.

[0045] As a possible approach, such as Figure 14 As shown, the heating mechanism 60 also includes a cooling component 68. The cooling component 68 is connected to the heat sink 67 or the heat insulation cover 66, and the cooling component 68 is used to actively cool the heat sink 67 or the heat insulation cover 66 to accelerate the dissipation of heat.

[0046] The cooling component 68 can be, but is not limited to, an air-cooled cooling component. The air-cooled cooling component can continuously force air to the heat dissipation holes and heat dissipation fins of the heat dissipation cover 67, accelerate air convection, and quickly remove the residual heat accumulated in the heat dissipation cover. It is small in size, has low power consumption, and its installation space is suitable for the narrow work area at the bottom of the embroidery machine.

[0047] As a possible approach, such as Figure 14 As shown, the heating mechanism 60 also includes a second heat insulation member 69. The second heat insulation member 69, the heat insulation cover 66, and the heat dissipation cover 67 are located on the same side of the support surface 71. The second heat insulation member 69 is connected to the mounting bracket 70, and the heat insulation cover 66 or the heat dissipation cover 67 is connected to the second heat insulation member 69.

[0048] The second heat insulation component 69 is made of a heat-resistant material with low thermal conductivity, such as an asbestos pad or ceramic fiber board. The second heat insulation component 69 serves as a heat-blocking component between the heating mechanism 60 and the mounting bracket 70. If the heating mechanism 60 is directly connected to the mounting bracket 70, heat can easily be transferred to the mounting bracket 70, causing the mounting bracket 70 to be at a high temperature and potentially leading to burns. Therefore, by using the second heat insulation element 69, its low thermal conductivity material properties can effectively block the heat transfer path from the heating mechanism 60 to the mounting bracket 70, ensuring that the mounting bracket 70 and the support surface 71 are at a lower temperature.

[0049] As a possible approach, such as Figures 4-7As shown, the robotic arm includes a gripping mechanism 10, a first drive mechanism 31, and a second drive mechanism 32. The gripping mechanism 10 includes at least one pair of grippers 102, which can move closer or further apart from each other, and are located on opposite sides of a rotation axis. The two grippers 102 can rotate synchronously relative to the rotation axis. The first drive mechanism 31 causes the grippers 102 to reciprocate in the vertical direction. The second drive mechanism 32 causes the grippers 102 to reciprocate in the horizontal direction.

[0050] The first drive mechanism 31 and the second drive mechanism 32 can be in various forms, such as linear motors, cylinders, hydraulic cylinders, or lead screw and nut transmission mechanisms. The first drive mechanism 31 and the second drive mechanism 32 can ensure the precise positioning of the clamping mechanism 10, thereby allowing it to move freely back and forth between the material picking position and the material support position.

[0051] A pair of grippers are located on both sides of the rotating axis and rotate synchronously. After gripping the hot-fix rhinestone, the angle of the rhinestone can be adjusted arbitrarily according to the embroidery program. Especially for irregularly shaped hot-fix rhinestones with complex floral patterns, it can accurately match the preset placement posture and solve the defect of traditional hot-fix rhinestone devices that cannot adjust the angle of the rhinestone.

[0052] In a specific embodiment, such as Figures 4-7 As shown, the robotic arm also includes a first support frame 41, a second support frame 43, and a third support frame 45. The clamping mechanism 10 is connected to the first support frame 41. The first drive mechanism 31 is a screw-nut transmission mechanism, with its screw arranged vertically. The first drive mechanism 31 includes a first sliding part 311, which is also connected to the first support frame 41. In this way, the first drive mechanism 31 can realize the reciprocating motion of the entire clamping mechanism 10 in the vertical direction.

[0053] The second support frame 43 includes a second body 431. A first guide rail 432 and a second guide rail 433 are respectively disposed on two opposing surfaces of the second body 431. The first guide rail 432 extends vertically, and the second guide rail 433 extends horizontally. A first slider 42 can slide on the first guide rail 432 and is connected to the first support frame 41. When the first drive mechanism 31 drives the entire clamping mechanism 10 to reciprocate vertically, the first slider 42 and the first guide rail 432 engage in a guiding fit to restrict the entire clamping mechanism 10 to move only in the vertical direction.

[0054] The second drive mechanism 32 is a lead screw and nut transmission mechanism, with the lead screw arranged horizontally and connected to the third support frame 45. The second drive mechanism 32 includes a second sliding part 321, which is connected to the surface of the second body 431 having a second guide rail 433. Thus, the second drive mechanism 32 can drive the second support frame 43 to reciprocate horizontally, thereby enabling the entire clamping mechanism 10 to reciprocate horizontally. The second slider 44 can slide on the second guide rail 433 and is connected to the third support frame 45. When the second drive mechanism 32 drives the entire clamping mechanism 10 to reciprocate horizontally, the second slider 44 and the second guide rail 433 engage in a guiding fit to restrict the entire clamping mechanism 10 to move only in the horizontal direction.

[0055] In actual operation, the first drive mechanism 31 and the second drive mechanism 32 work together to control the spatial movement trajectory of the gripper 102. When material needs to be picked up, the second drive mechanism 32 drives the gripper 102 to move horizontally above the picking position, and the first drive mechanism 31 then drives the gripper 102 to descend to the picking position, where the gripper 102 closes and clamps the hot-drill. Subsequently, the first drive mechanism 31 drives the gripper 102 to rise and reset, and the second drive mechanism 32 then drives the gripper 102 to move horizontally to the unloading position, which is the fabric area above the opening 711. Then, the gripper 102 rotates the hot-drill to a specific angle as needed, and the first drive mechanism 31 drives the gripper 102 to descend, pressing the hot-drill against the fabric for hot-drilling operations.

[0056] Through the above technical solution, this application achieves automation and high precision in the gripping and transfer of hot-fix rhinestones. By adopting a gripper 102 design located on both sides of the rotation axis and capable of synchronous rotation, combined with the vertical reciprocating motion of the first drive mechanism 31 and the horizontal reciprocating motion of the second drive mechanism 32, a multi-degree-of-freedom robotic arm system is constructed. This system can not only stably grip and release hot-fix rhinestones, but also achieve precise placement of hot-fix rhinestones at any angle through rotation and compound motion, effectively solving the problems of difficult orientation control and low positioning accuracy in the automated processing of irregularly shaped hot-fix rhinestones. At the same time, this structured drive design replaces traditional manual operation, significantly improving the efficiency and consistency of hot-fix rhinestone processing, reducing labor costs, and providing a strong guarantee for mass production and high quality.

[0057] It should be noted that, as Figures 4-7 As shown, the robotic arm also includes a fourth support frame 46 and a fifth support frame 47. The fourth support frame 46 is connected to the third support frame 45, and the fifth support frame 47 is used to connect the needle bar frame of the computer embroidery machine head, such as... Figure 1As shown, the fifth support frame 47 is connected to the left or right side of the needle bar frame. The fourth support frame 46 and the fifth support frame 47 are connected by an electric push rod or a pneumatic push rod 50. The fixed seat 52 of the pneumatic push rod 50 is connected to the fifth support frame 47, and the movable end 51 of the pneumatic push rod 50 is connected to the fourth support frame 46. The movable end 51 of the pneumatic push rod 50 reciprocates in a direction inclined relative to the vertical direction, thereby driving the fourth support frame 46 to reciprocate in the inclined direction. In this way, the entire first drive mechanism 31, the second drive mechanism 32, and the clamping mechanism 10 can move closer to or further away from the mounting frame 70. Therefore, based on the connection between the fourth support frame 46 and the fifth support frame 47 via an electric push rod or a pneumatic push rod 50, the entire robot arm can be connected to one side of the needle bar frame or the machine head side.

[0058] As a possible approach, such as Figure 8 and Figure 9 As shown, the clamping mechanism 10 also includes a clamping drive shaft 101 and a clamping auxiliary component 103. The clamping drive shaft 101 is arranged vertically and reciprocates in the vertical direction. The clamping drive shaft 101, through the clamping auxiliary component 103, causes the two grippers 102 to move closer or further apart.

[0059] The clamping drive shaft 101 can be, but is not limited to, a long rod, with its axis extending vertically. The axis of the clamping drive shaft 101 is on the same straight line as the aforementioned rotation axis.

[0060] The clamping drive shaft 101 is used to move the two jaws 102 closer together or further apart via the clamping auxiliary member 103. The clamping auxiliary member 103 is disposed between the lower end of the clamping drive shaft 101 and the two jaws 102, and is used to convert the vertical linear motion of the clamping drive shaft 101 into the relative opening and closing motion of the two jaws 102 in the horizontal direction.

[0061] In a specific embodiment, such as Figure 11 and Figure 12 As shown, the clamping auxiliary component 103 includes a first connecting portion 1031 and a second connecting portion 1032. The first connecting portion 1031 is rotatably connected to the clamping drive shaft 101, allowing the second connecting portion 1032 to swing relative to the first connecting portion 1031. This structural design creates a kinematic pair between the clamping drive shaft 101 and the gripper 102 that can adapt to changes in angle. The first connecting portion 1031 is connected to the clamping drive shaft 101 via a pin, enabling relative rotation between the two and thus releasing the torsional constraint on the clamping auxiliary component 103 when the clamping drive shaft 101 rotates. The second connecting portion 1032 is drive-connected to the gripper 102, allowing the two grippers 102 to move closer or further apart. The second connecting portion 1032 serves as an intermediate transmission component connecting the clamping auxiliary component 103 and the gripper 102, and its swinging motion is directly converted into the opening and closing action of the gripper 102.

[0062] In practical applications, the space between two adjacent machine heads is small, and the aforementioned clamping auxiliary component 103 has a simple and compact structure, which is suitable for the narrow assembly space of the embroidery machine.

[0063] The second connecting part 1032 serves as an intermediate transmission component connecting the clamping auxiliary part 103 and the gripper 102, and its swing motion is directly converted into the opening and closing action of the gripper 102. For example, the gripper 102 includes a third connecting part 1021, which is connected to the second connecting part 1032. One of the third connecting part 1021 and the second connecting part 1032 is a receiving chamber, and the other is disposed within the receiving chamber. The third connecting part 1021 and the second connecting part 1032 are connected by a matching structure of the receiving chamber and the insert. In this structure, the receiving chamber acts as a spatial constraint, and its internal contour is adapted to the shape of the insert, so that the insert can be stably disposed within the receiving chamber. This connection method can restrict the insert in multiple directions, ensuring that during transmission, the second connecting part 1032 can accurately transmit motion and force to the third connecting part 1021, thereby driving the gripper 102 to perform the opening and closing action. Meanwhile, a small fitting gap can be maintained between the receiving chamber and the insert, which allows the two to produce a small amount of adaptive relative displacement when subjected to force, thereby effectively absorbing positional drift caused by machining errors, assembly deviations or long-term wear and tear, and avoiding mechanism jamming or transmission failure.

[0064] As an alternative implementation, the clamping mechanism 10 also includes a guide 104, which guides and engages with the gripper 102 to enable the gripper 102 to move linearly in the horizontal direction.

[0065] like Figure 11 As shown, the gripper 102 includes a third connecting portion 1021 and a clamping portion 1022 arranged vertically. The third connecting portion 1021 is a groove, and the second connecting portion 1032 is installed in the groove. The guide member 104 is arranged horizontally, and the two grippers 102 are sleeved on the guide member 104. The guide member 104 constrains the movement trajectory of the grippers 102, ensuring that when the grippers 102 perform opening and closing actions under the drive of the clamping auxiliary member 103, they move strictly along a horizontal straight line trajectory, eliminating possible rotation or sway, and improving the reliability of the clamping action.

[0066] As a possible approach, such as Figure 10 As shown, the robotic arm also includes a clamping drive mechanism 20. The clamping drive mechanism 20 includes a second motor 21 and a linkage assembly 23. The linkage assembly 23 includes at least one rod and includes a first mating part 231 and a second mating part 232. The output shaft of the second motor 21 is in a transmission engagement with the first mating part 231, and the clamping drive shaft 101 is in a transmission engagement with the second mating part 232, so that the clamping drive shaft 101 moves in the vertical direction.

[0067] The clamping drive mechanism 20 is positioned near the upper end of the clamping drive shaft 101. The first mating part 231 and the second mating part 232 are respectively located at different positions on the connecting rod assembly 23 to receive and output power. The output shaft of the second motor 21 transmits rotational power to the first mating part 231 of the connecting rod assembly 23, and then the power is transmitted to the clamping drive shaft 101 via the second mating part 232, driving the clamping drive shaft 101 to perform reciprocating linear motion in the vertical direction. In practical applications, the specific configuration of the connecting rod assembly 23 can be flexibly selected according to design requirements. For example, a crank-slider mechanism, a rocker mechanism, or other multi-bar mechanisms can be used, as long as the conversion from rotational motion to linear motion is achieved and the aforementioned transmission and mating relationships are satisfied.

[0068] In a specific embodiment, the second mating part 232 moves in the vertical direction and has a first switching position and a second switching position. The output end of the second motor 21 is provided with an intermittent transmission part 22. The intermittent transmission part 22 is in contact with the first mating part 231 but not connected. The intermittent transmission part 22 intermittently presses against the first mating part 231 so that the second mating part 232 moves to the first switching position.

[0069] The intermittent transmission part 22 and the first mating part 231 are connected by a non-traditional fixed connection. This design allows the second motor 21 to rotate continuously, periodically applying a thrust to the first mating part 231 through changes in the geometric contour of the intermittent transmission part 22, thereby converting the continuous rotational motion of the second motor 21 into the intermittent linear reciprocating motion of the second mating part 232. When the second motor 21 drives the intermittent transmission part 22 to rotate until its protrusion contacts the first mating part 231, the intermittent transmission part 22 presses against the first mating part 231 and moves downward, thereby driving the second mating part 232 to move vertically to the first switching position. When the intermittent transmission part 22 continues to rotate until its non-protrusion is opposite to the first mating part 231, the pressing effect disappears, and the second mating part 232 returns to the second switching position under the action of the reset elastic element. Through the above technical solution, this application realizes the timing control of clamping action using a purely mechanical structure, avoiding reliance on circuit control logic and simplifying the complexity of the control system.

[0070] Furthermore, a sliding sleeve 107 is fitted on the clamping drive shaft 101, and the sliding sleeve 107 can move along the clamping drive shaft 101. A stop portion 108 is provided on the clamping drive shaft 101 in its circumference. An elastic member 109 is pressed between the stop portion 108 and the sliding sleeve 107. The second mating portion 232 contacts the surface of the sliding sleeve 107 facing away from the elastic member 109. Through the elastic member 109, the second mating portion 232 is switched from the first switching position to the second switching position.

[0071] Among them, such as Figure 9As shown, the sliding sleeve 107 includes a first part 1071 and a second part 1072. The first part 1071 is in contact with the elastic member 109, and the second part 1072 is in contact with the second mating part 232. The second part 1072 is capable of rotating relative to the first part 1071.

[0072] Since the first part 1071 can rotate relative to the second part 1072, when the clamping drive shaft 101 rotates 360° to adjust the rhinestone angle, the first part 1071 of the sliding sleeve 107 can rotate synchronously with the clamping drive shaft 101 and the stop part 108, while the second part 1072 remains relatively stationary or only undergoes slight follow-up movement, thereby preventing the rotational motion from being directly transmitted to the second mating part 232 and the connecting rod assembly 23. This avoids wear or motion interference of the connecting rod assembly 23 due to shaft torsion, ensuring that the clamping mechanism 10 can stably perform opening and closing actions at any rotation angle.

[0073] As an alternative implementation, the clamping mechanism 10 further includes a clamping drive shaft 101 and a rotating seat 105, with the clamping drive shaft 101 arranged vertically. The rotating seat 105 rotates relative to the axis of rotation, enabling the two grippers 102 to rotate synchronously relative to the axis of rotation. The grippers 102 drive the clamping drive shaft 101 to rotate.

[0074] like Figure 9 As shown, the rotating base 105 is positioned near the lower end of the clamping drive shaft 101. The clamping drive shaft 101 passes through the rotating base 105, and a protective cover 106 is connected to the rotating base 105. The protective cover 106 is positioned around the two grippers 102, and the clamping portion 1022 protrudes from the protective cover 106. The aforementioned guide member 104 is connected to the inner wall of the protective cover 106.

[0075] When an external drive source drives the rotating base 105 to rotate around the rotation axis, the rotating base 105 drives the protective cover 106 to rotate, which in turn drives the two grippers 102 to rotate synchronously, thereby achieving 360° arbitrary adjustment of the gripping angle. This allows the robotic arm to precisely rotate the hot-fix rhinestone to the required specific angle according to the preset embroidery program.

[0076] Furthermore, such as Figure 9As shown, the clamping mechanism 10 also includes a first motor 112, which includes a first output shaft 1121 and a second output shaft 1122. The first output shaft 1121 is located near the lower end of the clamping drive shaft 101, and the second output shaft 1122 is located near the upper end of the clamping drive shaft 101. The first output shaft 1121 has a hollow channel extending along its axis, through which the clamping drive shaft 101 passes. The first output shaft 1121 is rotatably connected to the rotating seat 105 via a second connecting sleeve 111. The second output shaft 1122 also has a hollow channel extending along its axis, through which the clamping drive shaft 101 passes. The second output shaft 1122 is rotatably connected to the clamping drive shaft 101 via a first connecting sleeve 110.

[0077] The rotation of the clamping drive shaft 101 is achieved by a motor with a hollow output shaft, which effectively solves the problem of arranging a motor in a limited space and avoids the structural bulk and motion interference problems that may be caused by the traditional side-mounted drive method, making the overall structure of the hot rhinestone device more compact.

[0078] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A robotic arm, characterized in that, include: The clamping mechanism (10) includes at least one pair of jaws (102), the two jaws (102) can move closer or further apart from each other, and the two jaws (102) are located on both sides of the rotation axis, and the two jaws (102) can rotate synchronously relative to the rotation axis; The first drive mechanism (31) causes the gripper (102) to reciprocate in the vertical direction; The second drive mechanism (32) causes the gripper (102) to reciprocate in the horizontal direction.

2. The robotic arm according to claim 1, characterized in that, The clamping mechanism (10) further includes a clamping drive shaft (101) and a clamping auxiliary component (103). The clamping drive shaft (101) is arranged in the vertical direction and reciprocates in the vertical direction. The clamping drive shaft (101) uses the clamping auxiliary component (103) to bring the two jaws (102) closer to or further apart from each other.

3. The robotic arm according to claim 2, characterized in that, The clamping auxiliary component (103) includes a first connecting part (1031) and a second connecting part (1032). The first connecting part (1031) is rotatably connected to the clamping drive shaft (101) so that the second connecting part (1032) swings relative to the first connecting part (1031). The second connecting part (1032) is drively connected to the jaws (102) so that the two jaws (102) move closer or further away from each other.

4. The robotic arm according to claim 3, characterized in that, The gripper (102) includes a third connecting part (1022), which is connected to the second connecting part (1032) in a transmission manner. One of the third connecting part (1022) and the second connecting part (1032) is a receiving chamber, and the other is disposed in the receiving chamber.

5. The robotic arm according to claim 2, characterized in that, The clamping mechanism (10) further includes a guide (104), which guides and engages with the gripper (102) to allow the gripper (102) to move linearly in the horizontal direction.

6. The robotic arm according to claim 2, characterized in that, It also includes a clamping drive mechanism (20), which includes a second motor (21) and a linkage assembly (23), the linkage assembly (23) including at least one rod. The connecting rod assembly (23) includes a first mating part (231) and a second mating part (232). The output shaft of the second motor (21) is driven to engage with the first mating part (231), and the clamping drive shaft (101) is driven to engage with the second mating part (232) so that the clamping drive shaft (101) moves in the vertical direction.

7. The robotic arm according to claim 6, characterized in that, The second mating part (232) moves in the vertical direction and has a first switching position and a second switching position. The second motor (21) has an intermittent transmission part (22) at its output end. The intermittent transmission part (22) is in contact with the first mating part (231) but not connected. The intermittent transmission part (22) intermittently presses against the first mating part (231) so that the second mating part (232) moves to the first switching position.

8. The robotic arm according to claim 7, characterized in that, A sliding sleeve (107) is fitted onto the clamping drive shaft (101). The sliding sleeve (107) is movable along the clamping drive shaft (101). A stop portion (108) is provided along the circumference of the clamping drive shaft (101). An elastic member (109) is press-fitted between the stop portion (108) and the sliding sleeve (107). The second mating portion (232) contacts the surface of the sliding sleeve (107) facing away from the elastic member (109). The elastic element (109) causes the second mating part (232) to switch from the first switching position to the second switching position.

9. The robotic arm according to claim 8, characterized in that, The sliding sleeve (107) includes a first part (1071) and a second part (1072). The first part (1071) contacts the elastic element (109), and the second part (1072) contacts the second mating part (232). The first part (1071) is capable of rotating relative to the second part (1072).

10. The robotic arm according to claim 1, characterized in that, The clamping mechanism (10) further includes a clamping drive shaft (101) and a rotating seat (105), wherein the clamping drive shaft (101) is arranged in the vertical direction. The rotating seat (105) rotates relative to the rotation axis. The rotating seat (105) enables the two grippers (102) to rotate synchronously relative to the rotation axis. The grippers (102) drive the clamping transmission shaft (101) to rotate.

11. The robotic arm according to claim 10, characterized in that, The clamping mechanism (10) further includes a first motor (114), the first motor (114) includes a first output shaft (1141), the first output shaft (1141) has a hollow channel through which the clamping transmission shaft (101) passes, and the first output shaft (1141) is rotatably connected to the rotating seat (105).

12. A hot-rhine diamond device, characterized in that, The robotic arm included in any one of claims 1-11.

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