Integrated multifunctional gripper

Abstract

The utility model discloses a kind of integrated multifunctional grippers, the integrated gripper includes I-beam frame, needle suction cup is equipped in the both sides of I-beam frame downwards, and vacuum chuck is also equipped under I-beam frame, vacuum chuck is correspondingly provided with vacuum transmitter;Needle suction cup is divided into multiple first needle suction cup and second needle suction cup again, first needle suction cup and second needle suction cup are correspondingly provided with first solenoid valve and second solenoid valve;Vacuum transmitter, first solenoid valve and second solenoid valve are then installed on I-beam frame.The setting of integrated gripper, it is convenient and fast to install replacement adjustment, in turn from desktop position to grab lower mould plate, thick material, thin material, upper mould plate, place on rotary table mechanism, first needle suction cup and second needle suction cup can be accurately grabbed respectively to thick material, thin material at this time, first needle suction cup and second needle suction cup only need to be adjusted to be accurately grabbed respectively to thick material, thin material;Vacuum chuck accurately grabs lower mould plate and upper mould plate respectively.

Description

TECHNICAL FIELD

[0001] The utility model relates to clothing industry technical field, concretely relates to integrated multifunctional gripper. BACKGROUND

[0002] The needle type suction cup gripper commonly used in the clothing industry has a fixed size range and a single form, and can only be used to grab clothing fabrics of a single fixed size, fixed material and fixed thickness, has poor versatility, is time-consuming and laborious when switching to process fabrics, and cannot be applied to scenes of mixed processing of different fabrics.

[0003] The needle type suction cup has the effect of realizing a simpler and more compact needle type suction cup structure and adapting to small space operation.

[0004] The suction cup structure has a simple structure, and is simple and stable compared with the prior art.

[0005] The above patent document is relatively easy to implement for single grabbing, but it is still relatively troublesome for 0.1mm inner lining and multi-layer processing. UTILITY MODEL CONTENT

[0006] The utility model discloses in order to can be applicable to 0.1mm and multi-layer fabric processing, and a kind of integrated multifunctional gripper is proposed.

[0007] Therefore, the technical scheme of the utility model is an integrated multifunctional gripper, the integrated gripper includes I-shaped beam frame, characterized by: needle type suction cup is provided on the both sides of I-shaped beam frame downward, and vacuum suction cup is further provided below I-shaped beam frame, and vacuum suction cup is correspondingly provided with vacuum transmitter;

[0008] The needle type suction cup is divided into a plurality of first needle type suction cups and second needle type suction cups, and the first needle type suction cup and the second needle type suction cup are correspondingly provided with a first electromagnetic valve and a second electromagnetic valve.

[0009] The vacuum transmitter, the first electromagnetic valve and the second electromagnetic valve are installed on the I-shaped beam frame.

[0010] Effect lies in: the setting of integrated gripper, convenient and fast installation replacement adjustment, in turn, grab lower mold plate, thick material, thin material, upper mold plate from desktop position, place on rotary table mechanism, at this time, first needle type suction cup and second needle type suction cup can accurately grab thick material and thin material respectively, at this time, only need to adjust first needle type suction cup and second needle type suction cup to realize accurate grabbing of thick material and thin material respectively.

[0011] The vacuum suction cup accurately grabs the lower mold plate and the upper mold plate respectively.

[0012] Further improvement lies in that the I-shaped beam frame of the integrated gripper is further provided with a feeler rod and a proximity switch.

[0013] Effects lie in that the feeler rod is lowered to a specified height along with the integrated gripper, the bottom of the feeler rod contacts the rotating table top and is blocked from continuing to be lowered, gradually approaches until triggering the proximity switch, i.e. the gripper stops lowering.

[0014] Further improvement lies in that the two side edges of the I-shaped beam frame are respectively provided with a waist-shaped slot hole, and the first needle type suction disc and the second needle type suction disc and the vacuum suction disc are correspondingly arranged in the waist-shaped slot hole to form a movement relationship.

[0015] Meanwhile, the middle beam of the I-shaped beam frame is also adjustable in movement.

[0016] Effects lie in that the waist-shaped slot hole is provided and the middle beam of the I-shaped beam frame is also adjustable in movement, which is suitable for processing of different materials, can be equipped with needle type suction discs of various strokes, and the position of the suction disc can be arbitrarily adjusted within a size range, which is suitable for grabbing of various size materials; various suction discs are modularly installed, which is convenient and fast to replace, and saves time cost and labor cost in the replacement process.

[0017] Further improvement lies in that the needle type suction disc comprises an adjusting mechanism and an executing mechanism, the adjusting mechanism is arranged on the upper part of the executing mechanism, the adjusting mechanism further comprises a first servo motor, the first servo motor is provided with a lead screw downward through a motor output shaft, and the lead screw is driven to rotate to drive a guide connecting block to move up and down;

[0018] The executing mechanism comprises a first housing, a vertical sliding groove is arranged in the first housing, and the guide connecting block moves up and down along the sliding groove arranged in the first housing; the lower end of the guide connecting block is connected with a sliding block to move up and down to drive a needle type sliding sheet, so as to realize extension and retraction of the needle;

[0019] The needle type sliding sheet is provided with a plurality of needles, and the plurality of needles are arranged obliquely;

[0020] Among each group of needle type sliding sheets, the first needle type sliding sheet and the second needle type sliding sheet are arranged oppositely, so that the plurality of needles oppositely form an included angle;

[0021] The first needle type sliding sheet and the second needle type sliding sheet are provided with a horizontal guide groove, and an inclined guide groove is arranged below the horizontal guide groove;

[0022] Among each group of needle type sliding sheets, the first needle type sliding sheet and the second needle type sliding sheet are arranged oppositely, so that the plurality of needles oppositely form an included angle;

[0023] A second positioning column is arranged and penetrates the inclined guide groove;

[0024] At this time, when the sliding block moves downward, the first needle type sliding sheet and the second needle type sliding sheet move oppositely.

[0025] The effect is that the movement of the first servo motor in the adjusting mechanism not only realizes the downward taking process, but also adjusts the movement track of the first executing mechanism, and the electric control adjustment is convenient and fast, different needle piercing extension amounts corresponding to different fabrics can be set through the program, and when different products are switched, the labor and time cost is greatly saved.

[0026] Further improvement lies in that the inclined guide groove is an arc-shaped guide groove, and the first needle slide and the second needle slide form arc line movement through the second positioning column.

[0027] The effect is that the inclined guide groove is an arc-shaped guide groove, and the first needle slide and the second needle slide form arc line movement through the second positioning column.

[0028] The two-sided needle slide is designed with a heterodirectional arc-shaped guide groove, the rotation movement of the lead screw is converted into the composite movement of the slide in two directions, more transverse feeding is obtained under the condition of the same vertical extension, the surface contact between the needle and the fabric is increased under the condition of the same needle diameter, the clamping angle between the needle and the fabric is reduced, greater piercing is obtained, the fabric is clamped by the heterodirectional extension needle, and the stability of the grabbing is improved.

[0029] Further improvement lies in that the needle tip is an arc-shaped needle.

[0030] The effect is that the arc-shaped needle requires a small piercing depth in the direction of the gravity vector, and each single needle has better bearing, clamping and anti-falling effects on the fabric. Beneficial effects

[0031] The utility model provides a kind of integrated multifunctional gripper, modular installation various suction cups, and replacement is convenient and fast;Break through the single function of clothing gripper, adjust the problem of tedious, integrated design saves the labor cost and equipment cost of each process, improves work efficiency, and reduces enterprise cost.

[0032] Suction cup position can be adjusted arbitrarily within size range, and is suitable for layered grabbing of various size fabrics. ACCURACY OF DRAWINGS

[0033] Figure 1 It is the front view of the integrated gripper of embodiment one;

[0034] Figure 2 It is the front view of the integrated gripper of embodiment one; Figure 1

[0035] Figure 3 It is the perspective view of needle type suction cup of embodiment two;

[0036] ​Figure 4 is Figure 3 a sectional view of the first servo motor;

[0037] Figure 5 is Figure 4 an enlarged view at A in

[0038] Figure 6 is Figure 3 an internal view of the

[0039] Fig. 1 is an adjusting mechanism, 2 is an actuating mechanism, 1.1 is a first servo motor, 1.2 is a motor output shaft, 1.3 is a screw rod, 1.4 is a guide connecting block;

[0040] 2.1 is a first housing, 2.2 is a sliding groove, and 2.3 is a sliding block;

[0041] 3 is an integrated gripper; 3.1 is a proximity switch; 3.2 is a probe rod; 3.3 is a vacuum chuck; 3.4 is a first needle type chuck; 3.5 is a second needle type chuck; 3.6 is a first electromagnetic valve; 3.7 is a second electromagnetic valve; and 3.8 is a vacuum generator;

[0042] 3.13 is a plurality of needle stings; 3.14 is a first needle type sliding sheet, 3.15 is a second needle type sliding sheet, 3.16 is a transverse guide groove, 3.17 is an arc-shaped guide groove, 3.18 is a first positioning column, and 3.19 is a second positioning column. DETAILED DESCRIPTION

[0043] The utility model discloses as shown in Figures 1-6 .

[0044] Embodiment one as shown in Figures 1-2 :

[0045] The integrated gripper 3 includes an I-beam frame, a plurality of needle type chucks are provided downward on both sides of the I-beam frame, and a vacuum chuck 3.3 is further provided below the I-beam frame, and the vacuum chuck 3.3 is correspondingly provided with a vacuum transmitter 3.8;

[0046] The needle type chucks are further divided into a plurality of first needle type chucks 3.4 and second needle type chucks 3.5, and the first needle type chucks 3.4 and the second needle type chucks 3.5 are correspondingly provided with a first electromagnetic valve 3.6 and a second electromagnetic valve 3.7;

[0047] The vacuum transmitter 3.8, the first electromagnetic valve 3.6 and the second electromagnetic valve 3.7 are installed on the I-beam frame.

[0048] The I-beam frame of the integrated gripper 3 is further provided with a probe rod 3.2 and a proximity switch 3.1.

[0049] The two side edges of the I-beam frame are respectively provided with a waist-shaped slot hole, and the first needle type suction disc 3.4 and the second needle type suction disc 3.5 and the vacuum suction disc 3.3 correspond to the waist-shaped slot hole to form a movement relationship.

[0050] Meanwhile, the middle beam of the I-beam frame is also in an adjustable movement relationship.

[0051] Embodiment two is as shown in Figures 3-6

[0052] The needle type suction disc comprises an adjusting mechanism 1 and an executing mechanism 2, the adjusting mechanism 1 is arranged on the upper portion of the executing mechanism 2, the adjusting mechanism 1 further comprises a first servo motor 1.1, the first servo motor 1.1 is provided with a lead screw 1.3 downward through a motor output shaft 1.2, and the lead screw 1.3 is driven to rotate to drive a guide connecting block 1.4 to move up and down.

[0053] The executing mechanism 2 comprises a first shell 2.1, a guide groove 2.2 is vertically arranged in the first shell 2.1, and the guide connecting block 1.4 moves up and down along the guide groove 2.2 arranged in the first shell 2.1; a sliding block 2.3 is connected to the lower end of the guide connecting block 1.4, and the sliding block 2.3 moves up and down to drive a needle type sliding sheet, so that the needle type sliding sheet is extended and retracted.

[0054] A plurality of needles 3.13 are arranged below the needle type sliding sheet, and the plurality of needles 3.13 are arranged obliquely.

[0055] Among each group of needle type sliding sheets, a first needle type sliding sheet 3.14 and a second needle type sliding sheet 3.15 are arranged oppositely, so that the plurality of needles 3.13 oppositely form an included angle.

[0056] The first needle type sliding sheet 3.14 and the second needle type sliding sheet 3.15 are provided with a transverse guide groove 3.16, and an inclined guide groove 3.17 is arranged below the transverse guide groove 3.16.

[0057] The two side edges of the sliding block 2.3 are provided with a first positioning column 3.18 and penetrate the transverse guide groove 3.16.

[0058] A second positioning column 3.19 is arranged and penetrates the inclined guide groove 3.17.

[0059] At this time, when the sliding block 2.3 moves downward, the first needle type sliding sheet 3.14 and the second needle type sliding sheet 3.15 move oppositely.

[0060] The movement of the first servo motor 1.1 in the adjusting mechanism 1 not only realizes the downward piercing process, but also adjusts the movement track of the executing mechanism 2, and the electric control adjustment is convenient and fast, and different needle extension amounts corresponding to different fabrics can be set through a program, and when different products are switched, the labor and time cost can be greatly saved.

[0061] ​The inclined guide groove 3.17 is an arc-shaped guide groove, and the first needle slide 3.14 and the second needle slide 3.15 form an arc line motion through the second positioning column 3.19.

[0062] The inclined guide groove 3.17 is an arc-shaped guide groove surrounding the second positioning column 3.19 to form an arc line motion; so that the first needle slide 3.14 and the second needle slide 3.15 have an arc line puncture and guide to form a needle picking action, which can easily grasp 0.1mm thin materials without damaging the cloth itself.

[0063] The two-sided needle slide is designed with a different direction arc-shaped guide groove, which converts the rotation motion of the lead screw into the composite motion of the needle slide in two directions, obtains more transverse feeding under the same vertical extension, increases the surface contact of the needle picking and the cloth under the same needle picking diameter, reduces the clamping angle of the needle picking and the cloth, obtains greater penetration, clamps the cloth through the needle picking of different directions, and improves the stability of grabbing.

[0064] The ends of the plurality of needle picks 3.13 are arc-shaped needle picks.

[0065] The arc-shaped needle picks require a small penetration depth in the direction of the gravity vector, and each single needle pick has better bearing, clamping, and anti-falling effect on the cloth.

[0066] A vision system can be equipped to realize high-precision grabbing and placing. An inductive sensor is equipped to slow down and stop at the appropriate position, which is faster and more accurate than the existing manual operation in the industry, reduces labor costs, and ensures the safety and stability of the device in use.

[0067] A vacuum chuck is equipped to replace the action of manually opening and closing the mold. An inductive sensor is equipped to slow down and stop at the appropriate position, which ensures the safety and stability of the device in use.

Claims

1. An integrated multi-functional gripper comprising an I-beam frame, characterized by: Integrated gripper (3) includes H-shaped beam frame, and needle type suction cups are arranged downward on both sides of the H-shaped beam frame, and a vacuum suction cup (3.3) is further arranged below the H-shaped beam frame, and the vacuum suction cup (3.3) is correspondingly provided with a vacuum emitter (3.8); The needle type suction cups are further divided into a plurality of first needle type suction cups (3.4) and second needle type suction cups (3.5), and the first needle type suction cups (3.4) and the second needle type suction cups (3.5) are correspondingly provided with first electromagnetic valves (3.6) and second electromagnetic valves (3.7); The vacuum emitter (3.8), the first electromagnetic valve (3.6) and the second electromagnetic valve (3.7) are installed on the H-shaped beam frame.

2. The integrated multi-functional gripper of claim 1, wherein: The H-shaped beam frame of the integrated gripper (3) is further provided with a feeler rod (3.2) and a proximity switch (3.1).

3. An integrated multifunction gripper according to claim 1 or 2, characterized in that: The two side edges of the H-shaped beam frame are respectively provided with a waist-shaped slot hole, and the first needle type suction cups (3.4) and the second needle type suction cups (3.5) and the vacuum suction cup (3.3) correspondingly form a movement relationship in the waist-shaped slot hole; Meanwhile, the middle beam of the H-shaped beam frame also has an adjustable movement relationship.

4. The integrated multi-functional gripper of claim 1, wherein: The needle type suction cup comprises an adjusting mechanism (1) and an executing mechanism (2), the adjusting mechanism (1) is arranged on the upper portion of the executing mechanism (2), the adjusting mechanism (1) further comprises a first servo motor (1.1), the first servo motor (1.1) is downwardly provided with a lead screw (1.3) through a motor output shaft (1.2), and the lead screw (1.3) is driven to rotate to drive a guide connecting block (1.4) to move up and down; The executing mechanism (2) comprises a first housing (2.1), a vertical guide groove (2.2) is arranged in the first housing (2.1), and the guide connecting block (1.4) moves up and down along the guide groove (2.2) in the first housing (2.1); a sliding block (2.3) is connected to the lower end of the guide connecting block (1.4), and the sliding block (2.3) moves up and down to drive a needle type sliding sheet, so that the needle type sliding sheet is extended and retracted; A plurality of needles (3.13) are arranged below the needle type sliding sheet, and the plurality of needles (3.13) are arranged obliquely; In each group of needle type sliding sheets, a first needle type sliding sheet (3.14) and a second needle type sliding sheet (3.15) are oppositely arranged, so that the plurality of needles (3.13) oppositely form an included angle; The first needle type sliding sheet (3.14) and the second needle type sliding sheet (3.15) are provided with a transverse guide groove (3.16), and an inclined guide groove (3.17) is arranged below the transverse guide groove (3.16); The two side edges of the sliding block (2.3) are provided with first positioning columns (3.18) which penetrate through the transverse guide groove (3.16); Second positioning columns (3.19) are arranged and penetrate through the inclined guide groove (3.17); At this time, when the sliding block (2.3) moves downward, the first needle type sliding sheet (3.14) and the second needle type sliding sheet (3.15) move oppositely.

5. An integrated multi-functional gripper as claimed in claim 4, wherein: The inclined guide groove (3.17) is an arc-shaped guide groove, and the first needle type sliding sheet (3.13) and the second needle type sliding sheet (3.15) form an arc line movement through the second positioning column (3.19).

6. The integrated multi-functional gripper of claim 4, wherein: The needle (3.13) is an arc-shaped needle.

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