Manipulator structure for cloth conveying

Abstract

The utility model discloses a manipulator structure for conveying cloth, and aims to provide a manipulator structure for conveying cloth, which can improve the transfer efficiency and improve the operation automation. The device comprises a control box, the lower end of the control box is connected with a conveying platform, the upper end of the control box is provided with a material taking support arm, the lower end of the conveying platform is connected with a moving mechanism, the moving mechanism is electrically connected with the control box, the upper end of the conveying platform is connected with a material placing plate, and the material taking support arm comprises a base, a connecting support arm, a rotating shaft, a crank arm rotating shaft and a clamping structure. The base is rotationally connected with the control box, one end of the connecting support arm is rotationally connected with the base, the other end of the connecting support arm is rotationally connected with one end of the rotating shaft, the other end of the rotating shaft is rotationally connected with a transition rotating seat, one end of the crank arm rotating shaft is rotationally connected with the other end of the transition rotating seat, and the other end of the crank arm rotating shaft is rotationally connected with the clamping structure. The utility model has the beneficial effect that an efficient and smooth production flow line for placing, temporarily storing, conveying, taking and transferring cloth materials is formed.

Description

Technical Field

[0001] This utility model relates to the field of fabric production and preparation technology, and in particular to a robotic arm structure for fabric conveying. Background Technology

[0002] Fabrics are commonly used materials in decoration. They include various types of fabrics such as synthetic fiber carpets, non-woven wall coverings, linen, nylon, colored adhesive tape, and flannel. In the production of fabric materials, it is often necessary to transfer and store materials in different states in preparation for further processing.

[0003] Chinese Patent Publication No. CN114955045B, Publication Date: October 18, 2022. This utility model relates to an automated fabric handling robot, including a mounting plate. An adjustment component is disposed below the mounting plate, and multiple clamping components arranged in a matrix are disposed below the adjustment component. Two clamping components, positioned front and rear, are fixedly connected to a packaging component at their bottom ends. A pressure component is fixedly connected to the upper surface of the adjustment component relative to the clamping components. A connecting plate is fixedly connected to the clamping components. The drawback of this technical solution is that it is difficult to adapt to fabrics that need to be transferred and placed individually, such as tubular or spool-like fabric materials, requiring still manual fine-tuning, leading to reduced conveying and transfer efficiency.

[0004] In summary, the fabric conveying process suffers from low efficiency. Utility Model Content

[0005] This invention aims to overcome the shortcomings of low conveying and transfer efficiency in existing fabric conveying technologies by providing a robotic arm structure for fabric conveying that improves transfer efficiency and operational automation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic arm structure for fabric conveying includes a control box, a conveying platform connected to the lower end of the control box, a material-picking arm at the upper end of the control box, a moving mechanism connected to the lower end of the conveying platform, the moving mechanism being electrically connected to the control box, a material-discharging plate connected to the upper end of the conveying platform, and a material-picking arm including a base, a connecting arm, a rotating shaft, a crank arm rotating shaft, and a clamping structure. The base is rotatably connected to the control box, one end of the connecting arm is rotatably connected to the base, the other end of the connecting arm is rotatably connected to one end of the rotating shaft, the other end of the rotating shaft is rotatably connected to a transition seat, one end of the crank arm rotating shaft is rotatably connected to the other end of the transition seat, and the other end of the crank arm rotating shaft is rotatably connected to the clamping structure.

[0008] The control box contains a control system that provides overall control of the material-picking arm and moving mechanism within the area via electrical connection. This enables the material-picking arm to precisely pick up and place fabric materials on the feeding plate of the conveyor platform for transfer operations. The moving mechanism moves the entire robotic arm structure to transport the fabric materials, realizing a production flow line for the placement, temporary storage, conveying, picking, and transfer of fabric materials. Specifically, the material-picking arm is connected to the control box via a base and can rotate, achieving the first degree of freedom—full omnidirectional rotation of the material-picking arm. The connecting arm is rotatably connected to the base, achieving the second degree of freedom, and this second degree of freedom rotation dimension is perpendicular to the first, increasing the lifting depth of the material-picking arm. The other end of the connecting arm is rotatably connected to a rotating shaft, achieving the third degree of freedom, and this third degree of freedom rotation dimension is parallel to the second, further increasing the lifting depth of the material-picking arm. The transition rotary seat is rotatably connected to the other end of the rotating shaft, achieving the fourth degree of freedom. The fourth degree of freedom (DOF) is perpendicular to the third degree of freedom (DOF) to adjust and improve the rotational freedom of the crank arm shaft and clamping structure. One end of the crank shaft is rotatably connected to the transition pivot to form the fifth degree of freedom (DOF), which is also perpendicular to the fourth degree of freedom (DOF) in the opposite direction, enabling directional control of the clamping structure and improving rotational control. The clamping structure is rotatably connected to the other end of the crank shaft to form the sixth degree of freedom (DOF), which is also perpendicular to the fifth degree of freedom (DOF), ensuring that the sixth and fourth degrees of freedom rotate in the same dimension. This ultimately achieves high flexibility in handling material handling environments. The result is a highly efficient and smooth production line for the placement, temporary storage, conveying, and transfer of fabric materials, with flexible and adaptable material handling capabilities.

[0009] Preferably, the base includes a fixed base and a rotating base. The fixed base is electrically connected to the control box and is connected to a drive mechanism one. The rotating base is connected to a drive mechanism two. The rotating base is rotatably connected to the fixed base via drive mechanism one, and the material-picking arm is rotatably connected to the rotating base via drive mechanism two. The fixed base in the base is connected to the control box platform so that the rotating base above can rotate stably with the fixed base as support under the drive of drive mechanism one. The rotation direction of the rotating base is parallel to the upper surface of the control box and the feeding plate, so as to realize the horizontal rotation of the entire material-picking arm (except for the fixed base) in all directions on the control box, which facilitates adaptation to the target position of the transfer, reduces the overall steering movement of the robot structure by the moving mechanism, and thus improves flexibility. Drive mechanism two is connected to the rotating base, and the material-picking arm is connected to drive mechanism two to be driven, so that the material-picking arm rotates stably on the rotating base with the support of the fixed base and the rotating base. This achieves the effect of ensuring automated operation and stable structural connection.

[0010] Preferably, one end of the rotating shaft is connected to a drive mechanism three, and the connecting arm is rotatably connected to the rotating shaft via the drive mechanism three. The drive mechanism three is installed at one end of the rotating shaft, and the connecting arm is mounted on the drive mechanism three and driven to rotate. The rotation direction of the connecting arm is the same as the rotation direction of the rotating shaft, extending the length of the connecting arm through the rotating shaft. This allows the fabric material to be picked up and contacted at the lowest point of the feeding plate and placed at the highest point of the target. This achieves the effects of improving structural connection stability, ensuring automated operation, and ensuring a large working range for the robotic arm structure.

[0011] Preferably, the other end of the rotating shaft is connected to a drive mechanism four, and one end of the transition rotary seat is rotatably connected to the rotating shaft via the drive mechanism four. Several reinforcing ribs are connected to the side of the rotating shaft. The drive mechanism four is installed at the other end of the rotating shaft, allowing the transition rotary seat to be driven to rotate via its connection to the drive mechanism four. The drive mechanism four drives the transition rotary seat to rotate horizontally relative to the end face of the rotating shaft, thereby rotating the clamping structure connected behind it horizontally to adjust the clamping position. Several reinforcing ribs are connected to the side of the rotating shaft near the drive mechanism four to ensure the load-bearing capacity of the transition rotary seat and the clamping structure and prevent breakage. This achieves the effects of improving structural connection strength, ensuring automated operation, and enhancing transport flexibility.

[0012] Preferably, the other end of the transition rotary seat is provided with a movable groove. The cross-sectional shape of the transition rotary seat is U-shaped. The movable groove is connected to a drive mechanism five. The clamping structure includes a drive mechanism six and a gripping component. One end of the crank arm shaft is connected to the drive mechanism five, and the crank arm shaft is rotatably connected to the movable groove through the drive mechanism five. The other end of the crank arm shaft is connected to the drive mechanism six, and the gripping component is rotatably connected to the crank arm shaft through the drive mechanism six. The end face of the other end of the transition rotary seat is provided with a recessed movable groove. The U-shaped groove provides sufficient rotation space for the transition rotary seat during directional rotation, allowing the crank arm shaft to rotate on the movable groove through the drive mechanism five. This enables the crank arm shaft to start vertical reciprocating rotation during the horizontal rotation of the drive mechanism four above, thereby enhancing the multi-direction effect of the gripping component below. The gripping component is connected to the drive mechanism six on the crank shaft, and through the cooperation of the drive mechanisms four, five, and six, flexible multi-angle gripping operations are achieved. This further improves the structural connection strength, ensures automated operation, and enhances the flexibility of transport.

[0013] Preferably, the gripping assembly includes a mounting plate, a gripper, a drive mechanism 7, and a suction cup. One side of the mounting plate is connected to the drive mechanism 6, and the drive mechanism 7 is connected to the other side of the mounting plate. The gripper is connected to the drive mechanism 7, and the suction cup is connected to a fixing plate, which is bolted to the mounting plate. The mounting plate in the gripping assembly has one side connected to the drive mechanism 6 and the other side connected to the drive mechanism 7, allowing the drive mechanism to drive the gripper to grip and transfer the fabric material. Simultaneously, the suction cup is bolted to the mounting plate via the fixing plate to absorb and transfer the partitions between fabric materials. The gripper and suction cup flexibly perform material placement and retrieval operations through the aforementioned six drives. This achieves efficient fabric conveying, stable structural connections, and smooth operation.

[0014] The beneficial effects of this utility model are: it forms an efficient and smooth production line for the placement, temporary storage, conveying, retrieval and transfer of fabric materials through the robotic arm structure; it is flexible in material placement and retrieval and highly adaptable; it ensures automated operation and stable structural connection; and it ensures a large working range of the robotic arm structure. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present invention;

[0016] Figure 2 This is a perspective view of the present invention;

[0017] Figure 3 This is a cross-sectional view of the present invention;

[0018] Figure 4 This is a diagram showing the usage state of this utility model.

[0019] In the diagram: 1. Control box, 2. Conveying platform, 3. Material handling arm, 4. Moving mechanism, 5. Discharging plate, 6. Base, 7. Connecting arm, 8. Rotating shaft, 9. Crank arm shaft, 10. Clamping structure, 11. Transition rotating seat, 12. Fixed seat, 13. Rotating seat, 14. Drive mechanism one, 15. Drive mechanism two, 16. Drive mechanism three, 17. Drive mechanism four, 18. Reinforcing rib, 19. Movable groove, 20. Drive mechanism five, 21. Drive mechanism six, 22. Mounting plate, 23. Gripper, 24. Drive mechanism seven, 25. Suction cup, 26. Fixed plate, 27. Camera, 28. Lighting lamp, 29. Fabric roll, 30. Partition. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of components illustrated in these embodiments do not limit the scope of this application. For ease of illustration, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “below” other elements or features would be positioned “up” other elements or features. Thus, the exemplary term “down” can include both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly. It should also be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale. Techniques, processes, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, processes, and equipment should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be discussed further in subsequent figures.

[0023] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0024] Example 1:

[0025] like Figure 1 , 3 As shown, a robotic arm structure for fabric conveying includes a control box 1. The lower end of the control box 1 is connected to a conveying platform 2, and the upper end of the control box 1 is provided with a material picking arm 3. The lower end of the conveying platform 2 is connected to a moving mechanism 4, which is electrically connected to the control box 1. The upper end of the conveying platform 2 is connected to a feeding plate 5. The material picking arm 3 includes a base 6, a connecting arm 7, a rotating shaft 8, a curved arm rotating shaft 9, and a clamping structure 10. The base 6 is rotatably connected to the control box 1. One end of the connecting arm 7 is rotatably connected to the base 6, and the other end of the connecting arm 7 is rotatably connected to one end of the rotating shaft 8. The other end of the rotating shaft 8 is rotatably connected to a transition rotating seat 11. One end of the curved arm rotating shaft 9 is rotatably connected to the other end of the transition rotating seat 11, and the other end of the curved arm rotating shaft 9 is rotatably connected to the clamping structure 10.

[0026] like Figure 2 , 3 As shown, the base 6 includes a fixed base 12 and a rotating base 13. The fixed base 12 is electrically connected to the control box 1. The fixed base 12 is connected to a drive mechanism 14. The rotating base 13 is connected to a drive mechanism 15. The rotating base 13 is rotatably connected to the fixed base 12 through the drive mechanism 14. The material picking arm 3 is rotatably connected to the rotating base 13 through the drive mechanism 15.

[0027] like Figure 2 As shown, one end of the rotating shaft 8 is connected to a drive mechanism 316, and the connecting arm 7 is rotatably connected to the rotating shaft 8 through the drive mechanism 316.

[0028] like Figure 2 , 3 As shown, the other end of the rotating shaft 8 is connected to a drive mechanism 17, one end of the transition rotary seat 11 is rotatably connected to the rotating shaft 8 through the drive mechanism 17, and several reinforcing ribs 18 are connected to the side of the rotating shaft 8.

[0029] like Figure 2 , 3As shown, the other end of the transition rotary seat 11 is provided with a movable groove 19. The cross-sectional shape of the transition rotary seat 11 is U-shaped. The movable groove 19 is connected to the drive mechanism 20. The clamping structure 10 includes a drive mechanism 21 and a gripping component. One end of the crank arm shaft 9 is connected to the drive mechanism 20. The crank arm shaft 9 is rotatably connected to the movable groove 19 through the drive mechanism 20. The other end of the crank arm shaft 9 is connected to the drive mechanism 21. The gripping component is rotatably connected to the crank arm shaft 9 through the drive mechanism 21.

[0030] like Figure 2 As shown, the gripping assembly includes a mounting plate 22, a gripper 23, a drive mechanism 24, and a suction cup 25. One side of the mounting plate 22 is connected to the drive mechanism 21, and the drive mechanism 24 is connected to the other side of the mounting plate 22. The gripper 23 is connected to the drive mechanism 24, and the suction cup 25 is connected to a fixing plate 26, which is bolted to the mounting plate 22.

[0031] like Figure 1-4 As shown:

[0032] Drive mechanisms 14, 25, 316, 417, 520 and 621 all use rotary motors, drive mechanism 724 uses a cylinder structure, and the gripper 23 is moved by the drive mechanism 724. There are two grippers 23 at both ends of the mounting plate 22. The mounting plate 22 is equipped with a camera 27 and a light 28 to monitor the transfer of the robotic arm structure.

[0033] In this embodiment, taking the transfer of fabric rolls 29 in the fabric material as an example, several layers of fabric rolls 29 are placed on the feeding plate 5, and partitions 30 are placed between each layer of fabric rolls 29 for isolation. The moving mechanism 4 is a roller structure so that the fabric material on the conveying platform 2 can be transported over long distances.

[0034] The control box 1 contains a control system (not shown in the figure) to transmit signals and control the power supply of each drive mechanism on the material handling arm 3 via electrical connection.

[0035] In use: The conveying platform 2 is moved to the vicinity of the target location via the moving mechanism 4. The fabric material is transferred to the target location via the openable material-grabbing arm 3 of the control box 1. When picking up the fabric roll 29: The material-grabbing arm 3 is rotated above the feeding plate 5 by the drive mechanism 14. The height is adjusted by the drive mechanisms 2 15 and 3 16 to adapt the clamping structure 10 to the current stacking height of the fabric material (e.g., ...). Figure 4As shown), the transition turntable 11 is rotated by drive mechanism four 17, and the crank arm shaft 9 is rotated by drive mechanism five 20. Under the rotation of the crank arm shaft 9 in the movable groove 19, the gripper 23 can be vertically inserted into the core of the fabric roll 29. At this time, the drive mechanism 24 is activated to push the gripper 23. Both grippers 23 move outward and lock the core of the fabric roll 29. The fabric roll 29 can then be moved away by the lifting action of drive mechanism two 15 and drive mechanism three 16 and placed through drive mechanism four 17, drive mechanism five 20 and drive mechanism six 21. With the release of the gripper 23 by drive mechanism seven 24, the transfer of the fabric roll 29 is completed. When removing the partition 30, the suction cup 25 is attached to the partition 30 through the same process, so that the partition 30 can be removed and the fabric roll 29 can continue to be transferred, realizing the conveying of the fabric by the robotic arm structure.

[0036] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robotic arm structure for conveying fabric, characterized in that, The system includes a control box (1), a conveying platform (2) connected to the lower end of the control box (1), a material picking arm (3) provided at the upper end of the control box (1), a moving mechanism (4) connected to the lower end of the conveying platform (2), the moving mechanism (4) being electrically connected to the control box (1), a material feeding plate (5) connected to the upper end of the conveying platform (2), and the material picking arm (3) including a base (6), a connecting arm (7), a rotating shaft (8), a curved arm rotating shaft (9), and a clamping structure (10). The base (6) is rotatably connected to the control box (1), one end of the connecting arm (7) is rotatably connected to the base (6), the other end of the connecting arm (7) is rotatably connected to one end of the rotating shaft (8), the other end of the rotating shaft (8) is rotatably connected to a transition rotating seat (11), one end of the curved arm rotating shaft (9) is rotatably connected to the other end of the transition rotating seat (11), and the other end of the curved arm rotating shaft (9) is rotatably connected to the clamping structure (10).

2. The robotic arm structure for fabric conveying according to claim 1, characterized in that, The base (6) includes a fixed seat (12) and a rotating seat (13). The fixed seat (12) is electrically connected to the control box (1). The fixed seat (12) is connected to a drive mechanism one (14). The rotating seat (13) is connected to a drive mechanism two (15). The rotating seat (13) is rotatably connected to the fixed seat (12) through the drive mechanism one (14). The material picking arm (3) is rotatably connected to the rotating seat (13) through the drive mechanism two (15).

3. The structure of a robotic arm for conveying fabric according to claim 2, characterized in that, One end of the rotating shaft (8) is connected to a drive mechanism three (16), and the connecting arm (7) is rotatably connected to the rotating shaft (8) through the drive mechanism three (16).

4. The structure of a robotic arm for conveying fabric according to claim 3, characterized in that, The other end of the rotating shaft (8) is connected to a drive mechanism four (17). One end of the transition rotary seat (11) is rotatably connected to the rotating shaft (8) through the drive mechanism four (17). Several reinforcing ribs (18) are connected to the side of the rotating shaft (8).

5. The structure of a robotic arm for conveying fabric according to claim 4, characterized in that, The other end of the transition turntable (11) is provided with a movable groove (19). The cross-sectional shape of the transition turntable (11) is U-shaped. The movable groove (19) is connected to a drive mechanism five (20). The clamping structure (10) includes a drive mechanism six (21) and a gripping component. One end of the curved arm shaft (9) is connected to the drive mechanism five (20). The curved arm shaft (9) is rotatably connected to the movable groove (19) through the drive mechanism five (20). The other end of the curved arm shaft (9) is connected to the drive mechanism six (21). The gripping component is rotatably connected to the curved arm shaft (9) through the drive mechanism six (21).

6. The structure of a robotic arm for conveying fabric according to claim 5, characterized in that, The gripping assembly includes a mounting plate (22), a gripper (23), a drive mechanism seven (24), and a suction cup (25). One side of the mounting plate (22) is connected to the drive mechanism six (21), and the drive mechanism seven (24) is connected to the other side of the mounting plate (22). The gripper (23) is connected to the drive mechanism seven (24). The suction cup (25) is connected to a fixing plate (26), and the fixing plate (26) is bolted to the mounting plate (22).

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