Needle cylinder type cloth clamp and clamp controlled by manipulator of dyeing and finishing machine

Abstract

The utility model discloses a needle cylinder type cloth clamp and a clamp controlled by a manipulator of a dyeing and finishing machine, and relates to the field of dyeing and finishing equipment. Comprising a needle cylinder, a lantern ring with a pin hole and a connecting arm gripper. The parts below the second elbows which deflect outwards and swing hands swing inwards and converge with each other so as to clamp the cloth; the part above the second elbow of the swinging hand swings inwards and the part below the second elbow is far away from each other, and the clamping state is released. According to the needle cylinder type cloth clamp, the sleeve with the clamped part and the pull rod with the squeezed part can be matched with a needle cylinder type cutting mechanical arm of a small sample dyeing and finishing machine, and the mechanical arm can grab a needle cylinder type cutting device of a mother liquor bottle to drop liquid to a sample cup and can also grab cloth clamped by the needle cylinder type cloth clamp to the sample cup; a second mechanical gripper does not need to be additionally arranged to clamp the cloth sample, the cost of the dyeing and finishing machine is reduced, and industrial control setting is simple.

Description

Technical Field

[0001] The utility model relates to the field of dyeing and finishing equipment, in particular to a needle-cylinder type cloth clamp and a clamp controlled by a dyeing and finishing machine manipulator. Background Art

[0002] Sample dyeing is the process of dyeing a small number of samples before mass production, which is used to predict and optimize the dyeing effect of the final product and ensure the accuracy and consistency of color. The sample dyeing and finishing machine is equipped with multiple barrels or cups for dyeing or plate making at the same time, and a robot is set to drip liquid on the sample cup or barrel, while observing the dyeing and fixing effect of the sample. The machine combines pre-processing functions such as powder matching, color matching, and sample dyeing, and also combines post-processing functions such as washing, alkali boiling, stirring, softening, and drying, so it is favored by textile factories. Existing sample dyeing and finishing machines mainly place samples or fabric samples or fabrics in sample cups manually, and the robot is mainly used to complete the need to add water or drip liquid. The industry has tried to use a second mechanical gripper to operate the fabric sample, which is costly and complex in industrial control settings.

[0003] In view of the shortcomings of the prior art, it is particularly meaningful to provide a needle-type cloth clamp that can be adapted to the existing dyeing and finishing machine manipulator. Utility Model Content

[0004] The utility model aims to avoid the shortcomings of the prior art and provide a needle-cylinder type cloth clamp and a clamp controlled by a dyeing and finishing machine robot.

[0005] The above-mentioned purpose of the utility model is achieved by the following technical means:

[0006] The utility model discloses a needle-cylinder type cloth clamp, comprising:

[0007] Syringe 1: comprising a sleeve 11 having a clamped portion 111 and a pull rod 12 having a squeezed portion 121, the sleeve 11 being provided with a guide groove 13 and a blocking seat 14;

[0008] The collar 2 with a pin hole is sleeved on the outside of the sleeve 11. The collar 2 can move axially relative to the syringe 1 by cooperating with the guide groove 13 through the pin shaft 21 connected to the pull rod 12;

[0009] The connecting arm gripper 3 is composed of an upper arm 31 and a swinging hand 32 with a second elbow 34 . One end of the upper arm is hinged to the collar 2 , and the other end is hinged to one end of the swinging hand 32 to form a first elbow 33 . The second elbow 34 of the swinging hand 32 is hinged to the blocking seat 14 .

[0010] Optionally, the clamped portion 111 is the upper portion of the sleeve and a flange 112 disposed on the upper portion of the sleeve.

[0011] Optionally, the clamped portion 111 is two flanges 112 on the upper portion of the sleeve for defining the clamping position.

[0012] Optionally, the squeezed portion 121 is a cap rod 122 provided at the end of the pull rod 12 .

[0013] Optionally, the squeezed portion 121 is a cap nail provided at the end of the pull rod 12 .

[0014] Preferably, the blocking seat 14 includes a blocking platform and a hinged seat, the blocking seat 14 is blocked at the bottom end of the sleeve 11 through the blocking platform, and the second elbow 34 of the swing arm 32 is hinged to the hinged seat.

[0015] Preferably, the portion below the second elbow 34 of the swinging hand 32 is a clip 321, and the inner side of the clip 321 is a plane.

[0016] Preferably, there are three upper arms 31 and three swinging arms 32.

[0017] The utility model also discloses a fixture controlled by a dyeing and finishing machine manipulator, comprising a dyeing and finishing machine and a manipulator 4 arranged on the dyeing and finishing machine, wherein the manipulator 4 can move on the dyeing and finishing machine along the X, Y, and Z axes, and the manipulator 4 is provided with a clamping portion 41 and a pumping portion 42;

[0018] The clamping portion 41 and the squeezing portion 42 cooperate with the clamped portion 111 and the squeezed portion 121 of the needle-cylinder type cloth clamp.

[0019] Furthermore, the clamping target of the connecting arm gripper 3 is a fabric sample or a fabric cage provided with a fabric sample.

[0020] The beneficial effects of adopting the above technical solution are:

[0021] The clamped portion 111 is clamped to fix the sleeve 11, and the squeezed portion 121 is squeezed and then the pull rod 12 is pulled to drive the collar 2 to move axially downward, while at the same time driving one end of the upper arm 31 to move downward, so that the inner angle of the first elbow 33 becomes smaller, the first elbow 33 deviates outward, and the part below the second elbow 34 of the swinging hand 32 swings inward to merge with each other and thus clamp the cloth; the clamped portion 111 is clamped to fix the sleeve 11, and the squeezed portion 121 is pulled up and then the pull rod 12 is pulled up to drive the collar 2 to move axially upward, while at the same time driving one end of the upper arm 31 to move upward, so that the inner angle of the upper arm 31 and the swinging hand 32 becomes larger, the part above the second elbow 34 of the swinging hand 32 swings inward and the part below the second elbow 34 moves away from each other, thus releasing the clamping state. The present syringe-type cloth clamp, the sleeve 11 with the clamped portion 111 and the pull rod 12 with the squeezed portion 121 can cooperate as follows Figure 6-7 The syringe-type opening robot of the small sample dyeing and finishing machine can grab the syringe-type opening device of the mother liquid bottle to drip liquid into the sample cup, and can also grab the syringe-type fabric clamp to clamp the fabric into the sample cup. There is no need to set up a second mechanical gripper to clamp the fabric sample, which reduces the cost of the dyeing and finishing machine and simplifies the industrial control setting. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the clamping state of the needle-type cloth clamp described in the embodiment;

[0023] Figure 2 It is a schematic diagram of one structure of the clamped part and the squeezed part;

[0024] Figure 3 It is another structural schematic diagram of the clamped part and the squeezed part;

[0025] Figure 4 It is a schematic diagram in the clamping state;

[0026] Figure 5 This is a schematic diagram of the opening of the needle-type fabric clamp;

[0027] Figure 6 It is a schematic diagram of the fixture controlled by the robot of the dyeing and finishing machine;

[0028] Figure 7 It is a schematic diagram of the robot arm of the dyeing and finishing machine;

[0029] Figure 8 Schematic diagram of the plugging seat described in the embodiment.

[0030] Among them, the syringe 1; the sleeve 11; the clamped part 111; the flange 112; the pull rod 12; the squeezed part 121; the cap rod 122; the guide groove 13; the blocking seat 14; the blocking platform 141; the hinge seat 142; the collar 2; the pin 21; the connecting arm gripper 3; the upper arm 31; the swinging hand 32; the clip 321; the first elbow 33; the second elbow 34; the manipulator 4; the clamping part 41; the squeezing part 42. DETAILED DESCRIPTION

[0031] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1.

[0033] like Figure 1-5 and Figure 8 A needle-cylinder type cloth clamp is shown, comprising:

[0034] Syringe 1: comprising a sleeve 11 having a clamped portion 111 and a pull rod 12 having a squeezed portion 121, the sleeve 11 being provided with a guide groove 13 and a blocking seat 14;

[0035] The collar 2 with a pin hole is sleeved on the outside of the sleeve 11. The collar 2 can move axially relative to the syringe 1 by cooperating with the guide groove 13 through the pin shaft 21 connected to the pull rod 12;

[0036] The pin 21 is fixed to the pull rod 12, and the pin 21 passes through the guide groove 13 and is connected to the pin hole of the collar 2;

[0037] The connecting arm gripper 3 is composed of an upper arm 31 and a swinging hand 32 with a second elbow 34 . One end of the upper arm is hinged to the collar 2 , and the other end is hinged to one end of the swinging hand 32 to form a first elbow 33 . The second elbow 34 of the swinging hand 32 is hinged to the blocking seat 14 .

[0038] Clamping state: Figure 1 and Figure 4 As shown, the clamped portion 111 is clamped to fix the sleeve 11, and the squeezed portion 121 is squeezed and then the pull rod 12 drives the ring 2 to move axially downward, while at the same time driving one end of the upper arm 31 to move downward, so that the inner angle of the first elbow 33 becomes smaller, the first elbow 33 is offset outward, and the part below the second elbow 34 of the swing hand 32 swings inward to merge with each other and thus clamp the cloth.

[0039] Open state: Figure 5 As shown, the clamped portion 111 is clamped to fix the sleeve 11, and the squeezed portion 121 is pulled up and then the pull rod 12 is pulled up to drive the ring 2 to move axially upward, thereby driving one end of the upper arm 31 to move upward, so that the inner angle between the upper arm 31 and the swing hand 32 becomes larger, and the part above the second elbow 34 of the swing hand 32 swings inward while the parts below the second elbow 34 move away from each other, thereby releasing the clamping state.

[0040] The present needle-type cloth clamp has a sleeve 11 with a clamped portion 111 and a pull rod 12 with a squeezed portion 121 that can be matched as follows: Figure 6-7 The syringe-type opening robot of the small sample dyeing and finishing machine can grab the syringe-type opening device of the mother liquid bottle to drip liquid into the sample cup, and can also grab the syringe-type fabric clamp to clamp the fabric into the sample cup. There is no need to set up a second mechanical gripper to clamp the fabric sample, which reduces the cost of the dyeing and finishing machine and simplifies the industrial control setting.

[0041] Embodiment 2. This embodiment is an optional embodiment of the clamped portion, such as Figure 2 As shown, the clamped portion 111 is the upper portion of the sleeve and the flange 112 provided on the upper portion of the sleeve.

[0042] Embodiment 3. This embodiment is an optional embodiment of the clamped portion, such as Figure 3 As shown, the clamped portion 111 is two flanges 112 on the upper portion of the sleeve for defining the clamping position.

[0043] Embodiment 4. This embodiment is an optional embodiment of the squeezed portion, such as Figure 2-3As shown, the squeezed portion 121 is a cap rod 122 disposed at the end of the pull rod 12 .

[0044] Embodiment 5. This embodiment is an optional embodiment of the squeezed portion, such as Figure 2-3 As shown, the squeezed portion 121 is a cap nail provided at the end of the pull rod 12 .

[0045] Example 6. Figure 1 and Figure 8 As shown, the blocking seat 14 includes a blocking platform 141 and a hinged seat 142 . The blocking seat 14 is blocked at the bottom end of the sleeve 11 through the blocking platform 141 , and the second elbow 34 of the swinging hand 32 is hinged to the hinged seat 142 .

[0046] When the pull rod 12 is pressed downward and contacts the blocking seat 14 , the clamping state of the connecting arm gripper 3 is optimal.

[0047] Example 7. Figure 1-3 As shown, the portion below the second elbow 34 of the swinging hand 32 is a clip 321, and the inner side of the clip 321 is a plane.

[0048] Example 8. Figure 1 , 4 as well as Figure 5 As shown, the upper arm 31 and the swinging hand 32 are both three. When clamping the cloth, the inner swing below the second elbow 34 of the swinging hand 32 merges with each other and the end portion is Figure 4 The triangular bell shown has three clamping points, and the fabric can be clamped at any clamping point, making it easier to clamp the fabric.

[0049] Embodiment 9. This embodiment shows a fixture controlled by a dyeing and finishing machine robot, such as Figure 6-7 As shown, it includes a dyeing and finishing machine and a manipulator 4 provided on the dyeing and finishing machine, the manipulator 4 can move on the dyeing and finishing machine along the X, Y, and Z axes, and the manipulator 4 is provided with a clamping portion 41 and a pumping portion 42;

[0050] The clamping portion 41 and the pumping portion 42 are Figure 1-3 The clamped portion 111 and the squeezed portion 121 of the needle-type cloth clamp shown in the figure cooperate with each other.

[0051] Exemplarily, the clamped part and the squeezed part of the syringe-type cloth clamp have the same clamping and squeezing principle as a syringe-type liquid dispensing device disclosed in CN117328239A, and the same manipulator can adapt to syringe-type dripping and grasping of cloth.

[0052] Exemplarily, the clamped part and the squeezed part of the syringe-type cloth clamp are the same as the clamping and squeezing principle of the suction syringe used in a syringe-type automatic material cutting method disclosed in CN112064270A, and the same robot can be adapted to cutting and grabbing cloth.

[0053] Exemplarily, the clamped part and the squeezed part of the syringe-type cloth clamp are the same as the clamping and squeezing principle of the suction syringe used in the material cutting waste liquid recovery storage device disclosed in CN215210033U, and the same robot can be adapted to suck materials and grab cloth.

[0054] The fixture controlled by the dyeing and finishing machine robot can cooperate with the syringe-type opening robot of the small sample dyeing and finishing machine. The robot can grab the syringe-type opening device of the mother liquid bottle to drip liquid into the sample cup, and can also grab the syringe-type fabric clamp to clamp the fabric to the sample cup. There is no need to set up a second mechanical gripper to clamp the fabric sample, which reduces the cost of the dyeing and finishing machine and simplifies the industrial control setting.

[0055] Embodiment 10. Not shown in the figure, the clamping target of the connecting arm gripper 3 is a fabric sample, or the supporting target of the connecting arm gripper 3 is a fabric cage containing a fabric sample.

[0056] For example, Figure 6-7 As shown, assuming that there are No. 1-6 fabric samples in the fabric sample area and No. 1-6 sample cups in the dyeing and finishing area, the robot 4 is controlled to grab the syringe-type fabric clamp and move it to the area where fabric sample No. 1 in the fabric sample area is located, and the No. 1 fabric sample is clamped by the clamp and moved to the area where sample cup No. 1 in the dyeing and finishing area is located and the clamp is opened, and the fabric sample is put into the sample cup to perform the pre-processing or post-processing procedure.

[0057] For example, Figure 6-7 As shown, assuming that there are No. 1-6 fabric samples in the fabric sample area and No. 1-6 sample cups in the dyeing and finishing area, the robot 4 is controlled to grab the syringe-type fabric clamp and move it to the area where fabric sample No. 1 in the fabric sample area is located, and the clamp clamps fabric sample No. 1 and moves it to sample cup No. 1 in the dyeing and finishing area, and inserts the fabric sample into the cup. The clamp does not leave the cup and maintains a clamping state to directly participate in the pre-processing or post-processing procedure and then directly take out the fabric sample.

[0058] For example, Figure 6-7 As shown, assuming that there are No. 1-6 cloth cages in the cloth sample area, there are cloth samples in the cloth cages, and there are jacks on the top of the cloth cages, and there are No. 1-6 sample cups in the dyeing and finishing area, the robot 4 is controlled to grab the syringe-type cloth clamp and move it to the area where the No. 1 cloth cage in the cloth sample area is located, and the clamp is inserted into the jack of the No. 1 cloth cage in a clamped state, and the clamp then takes the cloth cage in an open state and moves it to the area where the No. 1 sample cup in the dyeing and finishing area is located, and the clamping state is restored, and the cloth cage is put into the sample cup to execute the pre-processing or post-processing procedure.

[0059] For example, Figure 6-7As shown, assuming that there are No. 1-6 cloth cages in the cloth sample area, there are cloth samples in the cloth cages, there are insertion holes on the top of the cloth cages, and there are No. 1-6 sample cups in the dyeing and finishing area, the robot 4 is controlled to grab the syringe-type cloth clamp and move it to the area where the No. 1 cloth cage in the cloth sample area is located, and the clamp is inserted into the insertion hole of the No. 1 cloth cage in a clamped state, and the clamp then takes the cloth cage in an open state and moves it to the No. 1 sample cup in the dyeing and finishing area, and inserts the cloth cage into the cup, and the clamp does not leave the cup and remains in an open state to directly participate in the pre-processing or post-processing program, and then directly takes out the cloth cage.

[0060] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A needle-cylinder type cloth clamp, characterized in that: include: The syringe (1) comprises a sleeve (11) having a clamped portion (111) and a pull rod (12) having a squeezed portion (121); the sleeve (11) is provided with a guide groove (13) and a blocking seat (14); A collar (2) with a pin hole is sleeved on the outside of the sleeve (11), and the collar (2) can move axially relative to the syringe (1) by cooperating with the guide groove (13) through a pin shaft (21) connected to the pull rod (12); The connecting arm gripper (3) is composed of an upper arm (31) and a swinging hand (32) having a second elbow (34). One end of the upper arm is hinged to the collar (2), and the other end is hinged to one end of the swinging hand (32) to form a first elbow (33). The second elbow (34) of the swinging hand (32) is hinged to the blocking seat (14).

2. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The clamped portion (111) is the upper portion of the sleeve and a flange (112) disposed on the upper portion of the sleeve.

3. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The clamped portion (111) is two flanges (112) on the upper portion of the sleeve used to define the clamping position.

4. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The squeezed portion (121) is a cap rod (122) arranged at the end of the pull rod (12).

5. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The squeezed portion (121) is a cap nail arranged at the end of the pull rod (12).

6. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The blocking seat (14) comprises a blocking platform and an articulated seat. The blocking seat (14) is blocked at the bottom end of the sleeve (11) through the blocking platform, and the second elbow (34) of the swinging hand (32) is hinged to the articulated seat.

7. The needle-cylinder type cloth clamp according to claim 1, characterized in that: The portion below the second elbow (34) of the swinging hand (32) is a clip (321), and the inner side of the clip (321) is a plane.

8. The needle-cylinder type cloth clamp according to claim 7, characterized in that: There are three upper arms (31) and three swinging hands (32).

9. A fixture controlled by a dyeing and finishing machine robot, characterized in that: The invention comprises a dyeing and finishing machine and a manipulator (4) arranged on the dyeing and finishing machine, wherein the manipulator (4) can move on the dyeing and finishing machine along the X, Y and Z axes, and the manipulator (4) is provided with a clamping part (41) and a pumping part (42); The clamping portion (41) and the squeezing portion (42) cooperate with the clamped portion (111) and the squeezed portion (121) of the needle-cylinder cloth clamp according to any one of claims 1 to 6.

10. The fixture controlled by the robot of the dyeing and finishing machine according to claim 9, characterized in that: The clamping target of the connecting arm gripper (3) is a fabric sample, or the supporting target of the connecting arm gripper (3) is a fabric cage containing the fabric sample.

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