Grabbing mechanical arm for continuously detecting gram weight of fabric
By designing a grasping robot arm that includes moving components, cleaning components and anti-fall mechanism, the problem of falling during the gripping and movement of soft fabrics is solved, and continuous detection and precise weighing of fabric weight are achieved.
Patent Information
- Application Number
- CN202421078697.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-17
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-05-17
AI Technical Summary
The prior art is difficult to control the grab point when grabbing and moving soft fabrics, resulting in the fabric falling off during movement and unable to accurately weigh them.
A continuous grip robot arm for detecting the weight of fabric is designed, using a combination of moving components, cleaning components and anti-falling mechanisms to grab the cloth through pneumatic claws, and prevent the cloth from falling off through limiting and closing mechanisms to achieve Continuous gripping and precise weighing.
Continuous inspection of the weight of the fabric is achieved to ensure that the cloth is avoided from falling off during the transfer process, and to ensure accurate weighing and stable grasping of the fabric.
Smart Images
Figure CN222211903U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of cloth grabbing, in particular to a grabbing mechanical arm for continuously detecting the grammage of fabrics. Background Art
[0002] Fabric weight is one of the important parameters for calculating fabric cost. When weighing the weight of batch fabrics, pneumatic claws are usually used to grab the fabrics, and then the fabrics grabbed by the pneumatic claws are transferred to a high-precision electronic scale through a robotic arm to achieve accurate weighing of the fabric weight.
[0003] For example, Chinese patent CN219426810U discloses a grabbing robot arm, which drives the grabbing mechanism to move horizontally through a motor and a screw, and drives the grabbing assembly to move up and down through a hydraulic rod, thereby achieving the grabbing and movement of materials.
[0004] However, when grabbing the cloth, it is difficult to control the grabbing point of the cloth because the cloth is relatively soft, so the grabbed cloth may fall from the grabbing mechanism during the movement, resulting in the inability to weigh the cloth.
[0005] Based on this, the utility model designs a grabbing robot arm for continuously detecting the grammage of fabrics to solve the above problems. Utility Model Content
[0006] In view of the above-mentioned shortcomings of the prior art, the utility model provides a grabbing robot arm for continuously detecting the grammage of fabrics.
[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:
[0008] A grabbing mechanical arm for continuously detecting the weight of fabrics, comprising a base;
[0009] A mounting plate is fixedly mounted on the base, and the moving mechanism is mounted on the base and the mounting plate; an electronic scale and a conveyor belt are respectively mounted on the left and right sides of the base;
[0010] The moving mechanism comprises a moving component and a cleaning component, wherein the moving component is mounted on a mounting plate, and the cleaning component is mounted on the moving component and a base; a pneumatic claw for grabbing a piece of cloth is fixedly mounted on the output end of the moving component; and an anti-fall mechanism is mounted on the moving component and the mounting plate.
[0011] Furthermore, the moving assembly includes a driving assembly and a limiting assembly, the driving assembly is installed in the middle of the upper side of the mounting plate, and the limiting assembly is installed on the lower side of the mounting plate.
[0012] Furthermore, the driving assembly includes a rotating cylinder, a rotating rod and a moving rod. The rotating cylinder is fixedly mounted on the middle part of the upper side of the mounting plate. The output end of the rotating cylinder passes through the mounting plate and is rotatably connected to one end of the rotating rod. The other end of the rotating rod is rotatably connected to the upper end of the moving rod. A pneumatic claw is fixedly mounted on the lower end of the moving rod.
[0013] Furthermore, the limit assembly includes a slide rail, a slider, a mounting block and a limit groove. The slide rail is fixedly mounted on the mounting plate. The slide rail and the slider are limited and slidably connected. The slider is fixedly mounted with a mounting block. The mounting block has a limit groove, and the limit groove is limited and slidably connected to the moving rod.
[0014] Furthermore, the cleaning assembly includes a support frame and a sweeping rod, the support frame is fixedly mounted on the left side of the mounting block, the sweeping rod is fixedly mounted on the bottom of the support frame, and the bottom surface of the sweeping rod is located on the same horizontal plane as the top surface of the electronic scale.
[0015] Furthermore, the cleaning component also includes a notch, and the middle part of the base is provided with a notch.
[0016] Furthermore, the anti-fall mechanism includes a fixed block, a release plate, a sliding rod and a folding assembly. The fixed block is fixedly installed on the moving rod, and the fixed block is located on the lower side of the slide rail; the sliding rod is limitedly slidably connected with the moving rod between the fixed block and the pneumatic claw; a release plate is fixedly installed on the lower side of the mounting plate, and the top surface of the release plate is slidably connected to the bottom surface of the sliding rod; a plurality of folding assemblies are provided, and the plurality of folding assemblies are symmetrically installed on the fixed block and the sliding rod.
[0017] Furthermore, the folding assembly includes a connecting rod, a mounting rod and a hook claw, one end of the connecting rod is rotatably mounted on the fixed block, the other end of the connecting rod is rotatably connected to one end of the mounting rod, and the other end of the mounting rod is rotatably mounted on the sliding rod; a hook claw is fixedly mounted in the middle of the mounting rod.
[0018] The utility model has the following technical effects:
[0019] 1. The utility model moves the pneumatic claw to move above the conveyor belt, during which the anti-fall mechanism is released, so that the pneumatic claw can grab the cloth; the cloth on the conveyor belt is grabbed by the pneumatic claw, and then the moving component drives the cloth to move to the left through the pneumatic claw, during which the anti-fall mechanism is retracted to prevent the cloth from falling off the pneumatic claw during the movement; the cleaning component moves to the right side of the electronic scale; the moving component drives the cloth to move to the left side through the pneumatic claw, and the moving component drives the cleaning component to the left side of the electronic scale; after the anti-fall mechanism is released on the left side, the pneumatic claw is used to place the cloth on the electronic scale for precise weighing; then the moving component drives the pneumatic claw and the cleaning component to move to the right again, during which the cloth weighed on the electronic scale is removed by the cleaning component; through the cooperation of various components, the device can continuously grab the fabric, continuously detect the weight of the fabric, and prevent the fabric from falling off during the transfer process. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0021] Figure 1 The utility model is a three-dimensional grabbing mechanical arm for continuously detecting the weight of fabrics. Figure 1 ;
[0022] Figure 2 This is a front view of a grabbing mechanical arm for continuously detecting fabric weight according to the utility model;
[0023] Figure 3 The utility model is a three-dimensional grabbing mechanical arm for continuously detecting the weight of fabrics. Figure 2 ;
[0024] Figure 4 for Figure 3 The enlarged view of point A in the middle;
[0025] Figure 5 It is a schematic diagram of the hook and its connection structure.
[0026] The numbers in the figure represent:
[0027] 1. Base; 2. Electronic scale; 3. Mounting plate; 4. Moving mechanism; 41. Moving assembly; 411. Rotating cylinder; 412. Turning rod; 413. Moving rod; 414. Slide rail; 415. Sliding block; 416. Mounting block; 417. Limiting groove; 42. Cleaning assembly; 421. Support frame; 422. Sweeping rod; 423. Notch; 5. Pneumatic claw; 6. Anti-fall mechanism; 61. Fixed block; 62. Release plate; 63. Sliding rod; 64. Connecting rod; 65. Mounting rod; 66. Hook; 7. Conveyor belt; 8. Cloth. DETAILED DESCRIPTION
[0028] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0029] The utility model is further described below in conjunction with embodiments.
[0030] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view. Example 1
[0031] Please refer to the instruction manual Figure 1-2 , a grabbing robot arm for continuously detecting the weight of fabrics, comprising a base 1;
[0032] The base 1 is fixedly mounted with a mounting plate 3, and the moving mechanism 4 is mounted on the base 1 and the mounting plate 3; the left and right sides of the base 1 are respectively mounted with an electronic scale 2 and a conveyor belt 7
[0033] The moving mechanism 4 includes a moving component 41 and a cleaning component 42, the moving component 41 is installed on the mounting plate 3, and the cleaning component 42 is installed on the moving component 41 and the base 1; a pneumatic claw 5 for grabbing the cloth piece 8 is fixedly installed on the output end of the moving component 41; and the anti-fall mechanism 6 is installed on the moving component 41 and the mounting plate 3.
[0034] In this embodiment, when the grabbing robot arm for continuously detecting the weight of fabrics works normally, the conveyor belt 7 continuously conveys the cloth piece 8 to the working area of the pneumatic claw 5; the moving component 41 drives the pneumatic claw 5 to move to the top of the conveyor belt 7, and the anti-fall mechanism 6 is released during this process, so that the pneumatic claw 5 can grab the cloth piece 8; the pneumatic claw 5 grabs the cloth piece 8 on the conveyor belt 7, and then the moving component 41 drives the cloth piece 8 to move to the left through the pneumatic claw 5, and the anti-fall mechanism 6 is retracted during this process to prevent the cloth piece 8 from falling off the pneumatic claw 5 during the movement; the cleaning component 42 moves to the electronic scale 2 the right side of the electronic scale 2; the moving component 41 drives the cloth piece 8 to move to the left side through the pneumatic claw 5, and the moving component 41 drives the cleaning component 42 to move to the left side of the electronic scale 2; after the anti-fall mechanism 6 is released on the left side, the cloth piece 8 is placed on the electronic scale 2 through the pneumatic claw 5 for accurate weighing; then the moving component 41 drives the pneumatic claw 5 and the cleaning component 42 to move to the right again, and during this process, the cloth piece 8 weighed on the electronic scale 2 is removed by the cleaning component 42; through the cooperation of various components, the device can continuously grab the fabric, continuously detect the weight of the fabric, and prevent the cloth piece 8 from falling off during the transfer process. Example 2
[0035] like Figure 1-5 As shown, as a preferred embodiment of the utility model, the moving assembly 41 includes a driving assembly and a limiting assembly, the driving assembly is installed in the middle of the upper side of the mounting plate 3, and the limiting assembly is installed on the lower side of the mounting plate 3;
[0036] The driving assembly includes a rotating cylinder 411, a rotating rod 412 and a moving rod 413. The rotating cylinder 411 is fixedly mounted on the middle part of the upper side of the mounting plate 3. The output end of the rotating cylinder 411 passes through the mounting plate 3 and is rotatably connected to one end of the rotating rod 412. The other end of the rotating rod 412 is rotatably connected to the upper end of the moving rod 413. The lower end of the moving rod 413 is fixedly mounted with a pneumatic claw 5.
[0037] The limiting assembly includes a slide rail 414, a slider 415, a mounting block 416 and a limiting groove 417. The slide rail 414 is fixedly mounted on the mounting plate 3. The slide rail 414 and the slider 415 are limitedly slidably connected. The slider 415 is fixedly mounted with a mounting block 416. The mounting block 416 is provided with a limiting groove 417. The limiting groove 417 is limitedly slidably connected with the moving rod 413.
[0038] The cleaning assembly 42 includes a support frame 421 and a sweeping rod 422. The support frame 421 is fixedly mounted on the left side of the mounting block 416, and the sweeping rod 422 is fixedly mounted on the bottom of the support frame 421. The bottom surface of the sweeping rod 422 is located at the same horizontal plane as the top surface of the electronic scale 2.
[0039] The cleaning assembly 42 further includes a notch 423, and a notch 423 is provided in the middle of the base 1;
[0040] The anti-fall mechanism 6 includes a fixed block 61, a release plate 62, a slide bar 63 and a folding assembly. The fixed block 61 is fixedly installed on the moving rod 413, and the fixed block 61 is located at the lower side of the slide rail 414; the slide bar 63 is limitedly slidably connected with the moving rod 413 between the fixed block 61 and the pneumatic claw 5; the release plate 62 is fixedly installed on the lower side of the mounting plate 3, and the top surface of the release plate 62 is slidably connected with the bottom surface of the slide bar 63; there are multiple groups of folding assemblies, and the multiple groups of folding assemblies are symmetrically installed on the fixed block 61 and the slide bar 63;
[0041] The folding assembly includes a connecting rod 64, a mounting rod 65 and a hook 66. One end of the connecting rod 64 is rotatably mounted on the fixed block 61, the other end of the connecting rod 64 is rotatably connected to one end of the mounting rod 65, and the other end of the mounting rod 65 is rotatably mounted on the sliding rod 63; a hook 66 is fixedly mounted in the middle of the mounting rod 65.
[0042] In this embodiment, when the moving assembly 41, the cleaning assembly 42 and the anti-fall mechanism 6 are working normally, the rotating cylinder 411 drives the rotating rod 412 to rotate, and the rotating rod 412 drives one end of the moving rod 413 to rotate, and the end of the moving rod 413 rotates with the rotating rod 412, so that a relative displacement in the horizontal and vertical directions is generated between the end of the moving rod 413 and the rotating cylinder 411; the moving rod 413 maintains relative vertical movement with the mounting block 416 under the limiting action of the limiting groove 417, and the moving rod 413 pushes the slider 415 to move through the limiting groove 417 and the mounting block 416, and the slider 415 moves horizontally under the limiting action of the slide rail 414; the rotating cylinder 411 drives the pneumatic claw 5 to circulate between the top of the electronic scale 2 and the top of the conveyor belt 7 through the rotating rod 412 and the moving rod 413; the pneumatic claw 5 grabs the cloth piece 8 on the conveyor belt 7 and moves it to the top of the electronic scale 2 under the drive of the moving rod 413. Release; at the same time, the moving rod 413 pushes the slider 415 to move horizontally through the limiting groove 417 and the mounting block 416, and the slider 415 moves horizontally through the support frame 421 to drive the sweeping rod 422 to move horizontally; the moving rod 413 moves to the top of the electronic scale 2 and places the cloth piece 8 on the electronic scale 2, and the cloth piece 8 is weighed by the electronic scale 2. At this time, the sweeping rod 422 is located on the left side of the electronic scale 2; after weighing, the rotating cylinder 411 drives the rotating rod 412 and the moving rod 413 to move to the right side, and continues to grab the cloth piece 8 on the conveyor belt 7. In this process, the moving rod 413 drives the sweeping rod 422 to move to the right through the limiting groove 417, the mounting block 416, the slider 415 and the support frame 421, and the sweeping rod 422 pushes the cloth piece 8 weighed on the electronic scale 2 to the right side of the electronic scale 2, and falls into the collecting device below through the notch 423, leaving the electronic scale 2 vacant, which is convenient for weighing the remaining cloth pieces 8;
[0043] At the same time, the moving rod 413 moves downward, so that the slide bar 63 contacts the release plate 62, and the moving rod 413 continues to move downward, so that the slide bar 63 is pushed by the release plate 62 toward the fixed block 61; thereby changing the distance between the fixed block 61 and the slide bar 63, the fixed block 61 pushes the installation rod 65 to rotate downward through the connecting rod 64, and the installation rod 65 rotates outward to drive the hook 66 to rotate outward, so that the multiple hooks 66 are separated and no longer block the pneumatic claw 5 from grabbing the cloth piece 8; after the pneumatic claw 5 grabs the cloth piece 8, the rotating cylinder 411 drives the rotating rod 412 and the moving rod 413 to rotate. The pneumatic claw 5 moves upward; the slide bar 63 moves downward under the action of gravity until the slide bar 63 is no longer in contact with the release plate 62, and the slide bar 63 is reset to drive the connecting rod 64, the mounting rod 65 and the hook 66 to reset; the cloth grabbed by the pneumatic claw 5 is clamped again by the multiple hooks 66 to prevent the cloth piece 8 from falling from the pneumatic claw 5 during the movement; when the moving rod 413 moves to the left side, the slide bar 63 is pushed by the release plate 62 on the left side through the connecting rod 64 and the mounting rod 65 to drive the hook 66 to move, so that the multiple hooks 66 are separated, and the pneumatic claw 5 places the cloth piece 8 on the electronic scale 2.
[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A grabbing robot arm for continuously detecting the weight of fabrics, comprising a base (1), characterized in that: A mounting plate (3) is fixedly mounted on the base (1), and a moving mechanism (4) is mounted on the base (1) and the mounting plate (3); an electronic scale and a conveyor belt are respectively mounted on the left and right sides of the base (1); The moving mechanism (4) comprises a moving component (41) and a cleaning component (42); the moving component (41) is mounted on the mounting plate (3), and the cleaning component (42) is mounted on the moving component (41) and the base (1); a pneumatic claw (5) for grabbing a cloth piece (8) is fixedly mounted on the output end of the moving component (41); and the anti-fall mechanism (6) is mounted on the moving component (41) and the mounting plate (3).
2. The grabbing robot arm for continuous detection of fabric weight according to claim 1 is characterized in that: The moving assembly (41) comprises a driving assembly and a limiting assembly, the driving assembly being mounted on the middle portion of the upper side of the mounting plate (3), and the limiting assembly being mounted on the lower side of the mounting plate (3).
3. The grabbing robot arm for continuous detection of fabric weight according to claim 2 is characterized in that: The driving assembly comprises a rotating cylinder (411), a rotating rod (412) and a moving rod (413); the rotating cylinder (411) is fixedly mounted on the middle portion of the upper side of the mounting plate (3); the output end of the rotating cylinder (411) passes through the mounting plate (3) and is rotatably connected to one end of the rotating rod (412); the other end of the rotating rod (412) is rotatably connected to the upper end of the moving rod (413); and a pneumatic claw (5) is fixedly mounted on the lower end of the moving rod (413).
4. The grabbing robot arm for continuously detecting fabric weight according to claim 3 is characterized in that: The limiting assembly comprises a slide rail (414), a slider (415), a mounting block (416) and a limiting groove (417); the slide rail (414) is fixedly mounted on the mounting plate (3); the slide rail (414) and the slider (415) are connected in a limiting sliding manner; the slider (415) is fixedly mounted with the mounting block (416); the mounting block (416) is provided with a limiting groove (417); and the limiting groove (417) is connected in a limiting sliding manner to the moving rod (413).
5. The grabbing robot arm for continuous detection of fabric weight according to claim 4 is characterized in that: The cleaning assembly (42) comprises a support frame (421) and a sweeping rod (422); the support frame (421) is fixedly mounted on the left side of the mounting block (416); the sweeping rod (422) is fixedly mounted on the bottom of the support frame (421); and the bottom surface of the sweeping rod (422) and the top surface of the electronic scale (2) are located on the same horizontal plane.
6. The grabbing robot arm for continuous detection of fabric weight according to claim 5 is characterized in that: The cleaning component (42) further comprises a notch (423), and the notch (423) is provided in the middle of the base (1).
7. The grabbing robot arm for continuously detecting fabric weight according to claim 6 is characterized in that: The anti-fall mechanism (6) comprises a fixed block (61), a release plate (62), a slide bar (63) and a folding assembly. The fixed block (61) is fixedly mounted on the moving rod (413), and the fixed block (61) is located at the lower side of the slide rail (414). The slide bar (63) is limitedly slidably connected to the moving rod (413) between the fixed block (61) and the pneumatic claw (5). The release plate (62) is fixedly mounted on the lower side of the mounting plate (3), and the top surface of the release plate (62) is slidably connected to the bottom surface of the slide bar (63). A plurality of folding assemblies are provided, and the plurality of folding assemblies are symmetrically mounted on the fixed block (61) and the slide bar (63).
8. The grabbing robot arm for continuous detection of fabric weight according to claim 7 is characterized in that: The folding assembly comprises a connecting rod (64), a mounting rod (65) and a hook (66); one end of the connecting rod (64) is rotatably mounted on the fixed block (61); the other end of the connecting rod (64) is rotatably connected to one end of the mounting rod (65); the other end of the mounting rod (65) is rotatably mounted on the sliding rod (63); and a hook (66) is fixedly mounted in the middle of the mounting rod (65).