Grabbing device suitable for different yardage roll diameters

Abstract

The utility model discloses a grabbing device suitable for different yardage roll diameters, and belongs to the field of textile machinery automation, the grabbing device comprises a cloth discharging device, a mechanical clamping jaw assembly and a switchable clamping and lifting assembly, the diameter of a yardage roll is recognized through a camera module, and a clamping or lifting mode is automatically selected; the problem that a mechanical arm interferes with equipment when large-diameter cloth rolls are grabbed is effectively solved, and the large-diameter cloth roll grabbing device has the advantages that the grabbing requirements of the cloth rolls with different diameters are met, interference between the mechanical arm and the circular knitting machine upper frame is avoided, and it is guaranteed that the cloth rolls are taken out smoothly.

Description

Technical Field

[0001] This invention relates to the field of textile machinery automation, and more particularly to a gripping device suitable for different fabric roll diameters. Background Technology

[0002] Automation in textile machinery is a crucial area for the intelligent transformation of manufacturing under the Industry 4.0 framework. Among these, the circular knitting machine (single / double-sided circular knitting machine) is a core piece of equipment in the textile industry, widely used for producing high-quality knitted fabrics. Traditionally, after completing fabric roll processing, the circular knitting machine requires manual intervention for processes such as replacing empty cores, picking up the fabric roll, cutting the fabric, and installing new cores. With rising labor costs and increasing demands for intelligent manufacturing, the industry urgently needs to achieve unmanned operation of the entire fabric roll processing process through automation technology.

[0003] Currently, some companies have begun to explore the use of Automated Guided Vehicles (AGVs) or Autonomous Mobile Robots (AMRs) to assist in the operation of large circular kilns. For example, rail-mounted AGVs are used for material transport, or robotic arms are controlled through preset programs to perform grasping actions.

[0004] However, the large circular knitting machine produces fabric rolls of different diameters according to the needs. Due to the limitation of internal space, the space for extracting smaller diameter fabric rolls is often just enough, but for large diameter fabric rolls, the height of the core is relatively high after being rolled. If the smaller diameter grippers are used to grab them, the robotic arm will be interfered with by the upper frame of the large circular knitting machine, causing the fabric roll to be unable to be taken out from the guide groove. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a gripping device applicable to different fabric roll diameters.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] The present invention provides a gripping device applicable to different fabric roll diameters, including a fabric lowering device. The platform of the fabric lowering device is provided with a left mechanical arm and a right mechanical arm, and mechanical gripper assemblies are installed on both the left and right mechanical arms.

[0008] The mechanical gripper assembly includes a camera module and a gripper mechanism; the camera module is used to identify and calculate the diameter of the fabric roll.

[0009] The gripper mechanism includes a gripping component and a lifting component. The gripping component or the lifting component is selected according to the different fabric roll diameters to unload the fabric roll. The gripping component unloads the fabric roll by gripping, and the lifting component unloads the fabric roll by lifting.

[0010] A preferred embodiment of the present invention is that the clamping assembly includes a gripper mounting plate, which is mounted on a robotic arm. An electric push rod is fixedly mounted on the gripper mounting plate, and a movable finger is mounted on the output end of the electric push rod. A fixed finger is fixed to one side of the movable finger and is mounted on the gripper mounting plate. The rod core is gripped by the movable finger and the fixed finger. A lifting assembly for lifting the rod core is also fixedly connected to the fixed finger. The lifting position of the lifting assembly is higher than the gripping position of the movable finger and the fixed finger.

[0011] A preferred embodiment of the present invention is that the lifting component includes a hook mounting plate, which is mounted on the fixed finger, and a hook is mounted on the hook mounting plate.

[0012] A preferred embodiment of the present invention is that the gripper mechanism further includes a rubbing mechanism, which is used to rotate the fabric roll to release the fabric.

[0013] A preferred embodiment of the present invention is that the rubbing mechanism includes a rubbing motor and a forward rubbing wheel;

[0014] The forward rolling wheel and two auxiliary wheels are arranged in a triangular pattern, with the forward rolling wheel at the top and the core being gripped at the center of the triangular pattern.

[0015] A preferred embodiment of the present invention is that the rubbing mechanism further includes a secondary rubbing wheel rotatably mounted on the hook mounting plate, and the secondary rubbing wheel is connected to the primary rubbing wheel in a transmission manner.

[0016] A preferred embodiment of the present invention is that the rubbing mechanism further includes an adjustment mechanism, which includes an adjustment fixing block, the adjustment fixing block being fixedly installed on the gripper mounting plate, an adjustment spring being connected to the lower end of the adjustment fixing block, an adjustment movable plate being connected to the lower end of the adjustment spring, and the rubbing motor and the positive rubbing wheel being fixedly installed on the adjustment movable plate.

[0017] A preferred embodiment of the present invention is that the hook mounting plate is provided with an arc-shaped groove, a sliding block is slidably disposed in the arc-shaped groove, and the auxiliary rubbing wheel is rotatably mounted on the sliding block.

[0018] A preferred embodiment of the present invention is that the end of the hook is provided with an upward-pointing arc-shaped hook.

[0019] The beneficial effects of this invention are as follows:

[0020] The present invention provides a gripping device applicable to different fabric roll diameters. 1. The device identifies the gripping point height based on the camera module and calculates the fabric roll diameter. Different gripping methods are selected according to the diameter range to meet the needs of fabric rolls with various diameters.

[0021] 2. The rubbing mechanism can rotate the fabric roll while gripping it to release the fabric, allowing the fabric roll to be taken out of the circular knitting machine. This prevents the fabric roll from being pulled or damaged during movement, or from falling off.

[0022] 3. The positive and negative rubbing wheels are connected by a drive system, allowing for rubbing in various ways. The positive rubbing wheel is equipped with an adjustment mechanism to buffer the pressure of the grippers on the PVC pipe, preventing excessive pressure from causing the PVC pipe to break. The hook contacts the negative rubbing wheel through the weight of the cloth roll, thus reducing the interaction between them and making it less likely for the PVC pipe to break. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the fabric lowering device;

[0024] Figure 2 This is a three-dimensional structural diagram of the mechanical gripper assembly;

[0025] Figure 3 This is a front view structural diagram of the mechanical gripper assembly;

[0026] Figure 4 This is a schematic diagram of the hook mounting plate structure;

[0027] In the picture:

[0028] 1. Left robotic arm; 2. Right robotic arm; 3. Mechanical gripper assembly; 4. Camera module; 5. Gripping assembly; 6. Gripper mounting plate; 7. Electric push rod; 8. Movable finger; 9. Fixed finger; 10. Lifting assembly; 11. Rubbing mechanism; 12. Auxiliary wheel; 13. Rubbing motor; 14. Positive rubbing wheel; 15. Hook mounting plate; 16. Hook; 17. Secondary rubbing wheel; 18. Adjustment mechanism; 19. Adjustment fixing block; 20. Adjustment spring; 21. Adjustment moving plate; 22. Arc groove; 23. Sliding block; 24. Arc hook; 25. Rod core. Detailed Implementation

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] In the field of textile machinery automation, the technical bottleneck of large circular knitting machine fabric roll gripping has long been present. Traditional operations rely on manual replacement of cores and gripping of fabric rolls, resulting in low efficiency and safety hazards. When introducing automated equipment, the spatial interference problem between the robotic arm and the equipment frame becomes prominent, especially when the fabric roll diameter changes, as the fixed gripping mechanism struggles to adapt to different size requirements. Existing track-mounted AGVs or pre-programmed robotic arms, when gripping large-diameter fabric rolls, cannot complete the fabric roll extraction operation within the guide groove due to the increased core height obstructing the gripping path.

[0031] To address these issues, the development process focused on improving the adaptability of the gripping mechanism. Analysis of the space occupancy characteristics of fabric rolls with different diameters revealed that small-diameter rolls could be gripped using conventional methods, while large-diameter rolls required a different gripping path to avoid mechanical interference. This led to the concept of a dual-mode gripping mechanism, which uses a visual recognition system to determine the fabric roll size in real time and dynamically select the optimal gripping strategy.

[0032] Therefore, this application proposes a technical solution including a fabric unloading device. The device has a left robotic arm 1 and a right robotic arm 2 on its platform, and both robotic arms are equipped with mechanical gripper assemblies 3. The mechanical gripper assembly 3 integrates a camera module 4 and a gripper mechanism. The camera module 4 is used to identify the diameter of the fabric roll, and the gripper mechanism includes a clamping assembly 5 and a lifting assembly 10. The clamping or lifting method is selected according to the diameter of the fabric roll to perform the fabric unloading operation.

[0033] Among them, the mechanical gripper assembly 3 refers to a composite device integrating vision inspection and execution mechanism, which can be implemented using an industrial camera and servo drive module, and calculates the outer diameter of the fabric roll through image processing algorithms. The clamping assembly 5 refers to the mechanical structure that fixes the fabric roll through clamping action, which can be implemented using an electric push rod 7 to drive the movable finger 8 and the fixed finger 9 to form a clamping force. The lifting assembly 10 refers to the support structure that transfers the fabric roll by lifting, which can be implemented using a combination design of L-shaped hook 16 and mounting plate, with an anti-drop arc structure at the end of the hook 16.

[0034] Specifically, the left robotic arm 1 and the right robotic arm 2 are symmetrically arranged on both sides of the platform to expand the operating coverage area. The camera module 4 performs a 3D scan of the fabric roll. When a small-diameter fabric roll is detected, the movable finger 8 and fixed finger 9 of the gripping component 5 close to grip the core 25; when a large-diameter fabric roll is detected, the hook 16 of the lifting component 10 extends into the bottom of the core 25 to lift it. The two gripping modes automatically switch according to the risk of spatial interference. During gripping operations, the robotic arm adopts a vertical descent path, while during lifting operations, it adopts an inclined lifting path to avoid the equipment frame.

[0035] Compared to existing technologies, traditional solutions using a single gripping mode often fail to extract large-diameter fabric rolls. This solution achieves adaptive gripping through visual recognition and dual-mode switching. Existing robotic arms, due to their fixed paths, cannot avoid the equipment frame. This solution adjusts the robotic arm's trajectory by changing the gripping method, effectively avoiding spatial interference.

[0036] Through the above technical solution, this application successfully solves the mechanical interference problem in the gripping of fabric rolls by large circular knitting machines, achieving stable extraction of fabric rolls of different diameters. The clamping mode ensures precise positioning of small-diameter fabric rolls, while the lifting mode expands the gripping space by changing the position of the force point. The two modes work together to improve the adaptability of the equipment and the reliability of operation.

[0037] This application further proposes a clamping assembly 5 including a gripper mounting plate 6. The gripper mounting plate 6 is mounted on a robotic arm. An electric push rod 7 is fixedly mounted on the gripper mounting plate 6. An active finger 8 is mounted on the output end of the electric push rod 7. A fixed finger 9 is fixedly mounted on the gripper mounting plate 6 on one side of the active finger 8. A lifting assembly 10 is fixedly connected to the fixed finger 9. The lifting position of the lifting assembly 10 is higher than the clamping position.

[0038] The gripper mounting plate 6 is a rigid support structure for supporting the gripping assembly 5. It can be made of aluminum alloy or steel plate and is connected to the robotic arm via bolts, providing a stable operating reference for gripping actions. The electric push rod 7 is a linear drive device, specifically a ball screw structure driven by a servo motor. It controls the opening and closing range of the movable finger 8 through output displacement, achieving precise adjustment of the gripping force. The movable finger 8 and the fixed finger 9 form a gripping surface, which can be designed with a V-shape or arc shape to increase the contact area and disperse the gripping pressure, preventing indentations on the surface of the core 25. The lifting assembly 10 is a lifting mechanism with load-bearing function, specifically an L-shaped hook 16 structure. The lifting position is set 20-50 mm above the gripping position, allowing the core 25 to disengage from the gripping area before the robotic arm lifts vertically, reducing the lifting height of the robotic arm.

[0039] Specifically, when gripping small-diameter fabric rolls, the electric push rod 7 drives the movable finger 8 to close with the fixed finger 9, securing the core 25 with clamping force before vertical lifting. When handling large-diameter fabric rolls, the robotic arm controls the lifting assembly 10 to rise below the core 25, using the hook 16 to support the weight of the fabric roll. At this time, the robotic arm only needs to perform a small vertical movement to move the fabric roll out of the working area. The vertical distance between the lifting assembly 10 and the clamping assembly 5 is set higher than the lowest interference point on the large circular knitting machine frame, ensuring that the robotic arm's movement trajectory avoids the equipment frame in lifting mode. Switching between clamping and lifting modes is achieved through the robotic arm's path planning, without the need for additional drive units.

[0040] Compared to existing technologies, traditional gripping devices rely on a single gripping surface to hold fabric rolls. When handling large-diameter fabric rolls, the height of the robotic arm needs to be significantly increased, leading to spatial interference with the large circular knitting machine frame. Existing improvements use telescopic structures added to the ends of the grippers to accommodate different diameters, but these telescopic mechanisms increase the complexity of the device and the failure rate.

[0041] Through the above technical solution, this application, while maintaining the original gripping function, utilizes the fixed finger 9 to integrate the lifting component 10 to form a dual-mode operating mechanism. This allows the robotic arm to complete the operation without excessive lifting when gripping large-diameter fabric rolls, effectively avoiding the risk of collision between the robotic arm's movement trajectory and the large circular knitting machine frame. Simultaneously, the fixed installation method of the lifting component 10 avoids the addition of moving parts, maintaining the structural reliability of the device. For fabric rolls with diameters ranging from 150-400 mm, full-size coverage gripping can be achieved with a single robotic arm, significantly reducing equipment modification costs.

[0042] This application further proposes that the lifting assembly 10 includes a hook mounting plate 15, which is mounted on the fixed finger 9, and a hook 16 is mounted on the hook mounting plate 15.

[0043] The hook mounting plate 15 is a rigid support structure used to support the lifting components. Specifically, it can be made of metal sheet stamping and then fixed to the fixing finger 9 with bolts. Its installation position can be adjusted according to the size of the core 25. The hook 16 is a metal component with an arc-shaped support surface. Specifically, it can be made of steel sheet bent to form a groove structure, and its end can extend upward to form a limiting protrusion.

[0044] Specifically, the hook mounting plate 15 is directly integrated into the surface of the fixing finger 9 of the clamping assembly 5, forming a rigid connection through the support of the fixing finger 9. When the robotic arm moves to the fabric roll gripping position, the arc-shaped supporting surface of the hook 16 can abut against the bottom circumferential edge of the core 25, and the fabric roll is disengaged from the guide groove through the vertical lifting action of the robotic arm. Since the hook mounting plate 15 does not require additional space for the robotic arm's movement trajectory, spatial interference between the end of the robotic arm and the upper frame of the large circular knitting machine is avoided when gripping large-diameter fabric rolls.

[0045] Compared to existing technologies, traditional solutions typically employ independent bracket structures or adjustable support rods. These structures require additional mounting bases and occupy the robotic arm's movement space. In contrast, this solution reuses the fixed fingers 9 of the gripping component 5 as the mounting base. While maintaining the original compact gripper layout, it allows the lifting function to directly inherit the spatial positioning accuracy of the gripping component 5, significantly improving the gripping compatibility for fabric rolls of different diameters.

[0046] Through the above technical solution, this application optimizes the movement trajectory of the robotic arm during the gripping of large-diameter fabric rolls, eliminates the risk of equipment structural interference by fixing the finger 9 and integrating the lifting mechanism, and at the same time uses the end limiting structure of the hook 16 to prevent the fabric roll from slipping, ensuring a stable and reliable gripping process.

[0047] This application further proposes a technical solution of adding a rubbing mechanism 11 to the gripper mechanism, which is used to drive the cloth roll to rotate to realize the cloth unloading operation.

[0048] The rubbing mechanism 11 is a mechanical component that can apply rotational driving force to the surface of the fabric roll. Specifically, it can be achieved by using a motor to drive the friction wheel, which generates frictional torque through contact with the fabric roll surface via a power output device. The positive rubbing wheel 14 and the auxiliary wheel 12 form a triangular arrangement, which allows the fabric roll to be positioned at multiple points while simultaneously obtaining rotational driving force.

[0049] Specifically, after the robotic arm grasps the fabric roll, the forward rubbing wheel 14 of the rubbing mechanism 11 and the auxiliary wheel 12 form a three-point support structure, stably constraining the fabric roll at the center position of the triangular shape. At this time, the rubbing motor 13 is activated to drive the forward rubbing wheel 14 to rotate, causing the fabric roll to rotate around its own axis through friction. The contact pressure between the forward rubbing wheel 14 and the fabric roll can be automatically adjusted by the spring mechanism to maintain effective driving force. The centrifugal force generated when the fabric roll rotates and the constraint of the arc-shaped hook 24 form a dynamic balance, ensuring smooth fabric feeding while preventing the fabric roll from slipping.

[0050] Compared to existing technologies, traditional fabric roll gripping devices only have a fixed clamping function, making it difficult to achieve fabric roll rotation in confined spaces. This solution, however, integrates an active drive mechanism into the gripper mechanism, enabling controllable rotation of the fabric roll while it is being gripped, effectively overcoming the difficulty of releasing large-diameter fabric rolls due to space constraints. Existing technologies require external traction devices for fabric roll separation, while this solution achieves integrated gripping and unloading operations through a built-in drive mechanism.

[0051] Through the above technical solution, this application achieves active rotation control after the fabric roll is gripped, solving the problem of unloading fabric rolls of different diameters in a confined space. The synergistic effect of three-point positioning and friction drive ensures the stability of the fabric roll rotation while avoiding the sensitivity of traditional clamping devices to the fabric roll diameter. The arc-shaped hook 24 structure allows the fabric roll to rotate while forming a physical limit, effectively preventing the fabric roll from accidentally falling off under centrifugal force.

[0052] This application further proposes a rubbing mechanism 11 including a rubbing motor 13 and a forward rubbing wheel 14. The forward rubbing wheel 14 and two auxiliary wheels 12 are arranged in a triangular pattern, with the forward rubbing wheel 14 located at the top and the clamped core 25 located at the center of the triangular pattern.

[0053] The rubbing motor 13 is the power source that drives the rotation of the forward rubbing wheel 14. It can be implemented using a servo motor or a stepper motor. Its output shaft is connected to the forward rubbing wheel 14 via a coupling, and the fabric roll unwinding speed is adjusted by controlling the rotation speed. The forward rubbing wheel 14 is the active friction wheel that directly contacts the surface of the core 25. It can be implemented using a metal wheel with a rubber-coated surface, increasing the driving force by increasing the coefficient of friction. The auxiliary wheel 12 is the passive wheel that cooperates with the forward rubbing wheel 14 to form a three-point support structure. It can be implemented using a freely rotating nylon roller, whose surface contacts the core 25 but does not apply active driving force. The triangular arrangement means that the forward rubbing wheel 14 is located at the top apex, and the two auxiliary wheels 12 are located on the bottom left and right sides respectively. The geometric support surface formed by the three is distributed in a triangular pattern. This arrangement ensures that the axis of the core 25 is always at the geometric center of the plane formed by the three points.

[0054] Specifically, after the core 25 is fixed by the clamping mechanism, the rubbing motor 13 drives the forward rubbing wheel 14 to rotate clockwise or counterclockwise. The surface of the forward rubbing wheel 14 generates friction with the outer wall of the core 25, causing the fabric roll to rotate. Two auxiliary wheels 12 abut against the outer wall of the core 25 from both below, forming a stable three-point contact support structure. Since the forward rubbing wheel 14 is located directly above the core 25, the weight of the core 25 causes it to exert positive pressure on the contact surface with the forward rubbing wheel 14, thereby enhancing the frictional driving force. The auxiliary wheels 12 reduce sliding friction with the core 25 by rotating freely, avoiding obstruction of the core 25's rotation.

[0055] Compared to existing technologies, traditional solutions employ a single-sided drive wheel with a fixed support plate, which is prone to axial misalignment due to uneven force distribution during fabric roll rotation. This solution, however, utilizes a three-point triangular layout to form a symmetrical support structure. While the drive wheel actively applies force, the auxiliary wheel 12 restricts the lateral displacement of the core 25. Compared to a two-point clamping structure, the three-point support creates planar constraints, eliminating the core 25's degrees of freedom in the plane of rotation and effectively preventing slippage caused by inertia or vibration.

[0056] Through the above technical solution, this application forms a stable three-point contact support during the fabric roll unloading process, ensuring that the axis position of the core 25 is always under control. The passive rotation characteristic of the auxiliary wheel 12 reduces the resistance to the rotation of the core 25, and together with the active drive of the positive rolling wheel 14, achieves smooth and uniform release of the fabric roll.

[0057] This application further proposes to rotatably mount a secondary rubbing wheel 17 on the hook mounting plate 15, the secondary rubbing wheel 17 being connected to the primary rubbing wheel 14 in a transmission connection.

[0058] Specifically, when the robotic arm selects the lifting assembly 10 to grasp a large-diameter fabric roll, the positive rubbing wheel 14 and the auxiliary rubbing wheel 17 rotate synchronously. The auxiliary rubbing wheel 17 rubs the core rod 25 on the hook 16, causing the core rod 25 to rotate, thereby causing the fabric roll to rotate and release the fabric.

[0059] This application further proposes that the rubbing mechanism 11 also includes an adjustment mechanism 18, the adjustment mechanism 18 includes an adjustment fixing block 19, the adjustment fixing block 19 is fixedly installed on the gripper mounting plate 6, the lower end of the adjustment fixing block 19 is connected to an adjustment spring 20, the lower end of the adjustment spring 20 is connected to an adjustment movable plate 21, and the rubbing motor 13 and the positive rubbing wheel 14 are fixedly installed on the adjustment movable plate 21.

[0060] The adjusting fixing block 19 refers to the basic support structure used to fix the adjusting mechanism 18. Specifically, it can be implemented by bolting a metal block to the gripper mounting plate 6, providing rigid support for the spring and the movable plate. The adjusting spring 20 is a mechanical element with elastic deformation capability, specifically a helical spring or disc spring, which absorbs the impact force when the positive rubbing wheel 14 contacts the rod core 25 through changes in spring compression. The adjusting movable plate 21 is the moving part that supports the rubbing motor 13 and the positive rubbing wheel 14. Specifically, it can be implemented by hinged aluminum alloy plate to the spring, converting the elastic deformation of the spring into the vertical displacement of the positive rubbing wheel 14, thereby dynamically adjusting the contact pressure.

[0061] Specifically, when the rubbing roller 14 contacts the surface of the core 25, changes in the diameter or position of the core 25 will cause fluctuations in the contact pressure. When the pressure increases, the adjusting spring 20 is compressed, causing the adjusting movable plate 21 and the rubbing roller 14 to move upwards, thereby reducing the squeezing force on the core 25. When the pressure decreases, the spring returns to its original deformation, pushing the movable plate downwards to maintain effective contact between the rubbing roller 14 and the core 25. During this process, the rubbing motor 13 remains fixedly connected to the adjusting movable plate 21 to ensure the stability of power transmission. Through the elastic deformation characteristics of the spring, the pressure of the rubbing roller 14 on the core 25 is controlled within a safe range, preventing the PVC pipe from rupturing due to rigid compression.

[0062] Compared with existing technologies, the forward rolling wheel 14 of the traditional rolling mechanism 11 is usually fixedly installed, which cannot automatically adjust the pressure according to the change of the core diameter 25, and is prone to crushing the PVC pipe. This solution introduces a spring adjustment mechanism 18, which gives the forward rolling wheel 14 a vertical displacement degree of freedom, and can dynamically adapt to the contact pressure requirements of cloth rolls with different diameters, thus solving the technical defect that rigid structures cannot reduce pressure peaks.

[0063] Through the above technical solution, this application realizes adaptive control of the pressure of the positive rolling wheel 14 on the core 25, which effectively avoids damage to the PVC pipe caused by excessive pressure while ensuring the normal rotation of the fabric roll. It is especially suitable for automated gripping scenarios of fabric rolls of different diameters.

[0064] This application further proposes to machine an arc-shaped slide with a specific curvature on the surface of the hook mounting plate 15. The slide is equipped with a freely movable sliding component. The auxiliary rubbing wheel 17 is mounted on the sliding component through a bearing structure. When the main rubbing wheel is adjusted vertically, the auxiliary rubbing wheel 17 can move synchronously along the slide track.

[0065] The arc-shaped slide refers to a curved track with a predetermined radius, which can be milled onto the surface of a metal sheet using a CNC machine tool. Its curvature parameters are geometrically related to the adjustment stroke of the main rolling wheel. The sliding component refers to a moving block with a guide boss, which can be made of polytetrafluoroethylene composite material, enabling low-friction coefficient position switching within the slide. This structure allows the auxiliary rolling wheel 17 to maintain a stable relative angle between its rotation axis and the center line of the fabric roll during movement, avoiding sudden changes in contact pressure.

[0066] Specifically, when the main roller 14 adjusts its pressure up and down, the mounting base of the auxiliary roller 17 compensates for displacement along the arc-shaped slide. The radius of curvature of the slide is precisely calculated, ensuring that the auxiliary roller 17 always maintains tangential contact with the main roller 14 during movement. The sliding component causes the auxiliary roller 17 to change its spatial position during displacement, but the effective contact area is maintained by the arc-shaped trajectory constraint. This dynamic adjustment mechanism can automatically adapt to changes in the position of the main roller 14.

[0067] This application further proposes that the end of the hook 16 is provided with an upward arc-shaped hook 24. When the core 25 is located in the groove, the auxiliary rubbing wheel 17 rubs it. Under the reaction force of the auxiliary rubbing wheel 17, the cloth roll will move outward. However, after rotating to the part of the arc-shaped hook 24, it will move back under the gravity of the cloth roll. Therefore, the arc-shaped hook 24 can restrict the core 25 and prevent the core 25 from sliding out of the groove due to the force.

[0068] The arc-shaped hook 24 refers to a hook-like structure with an upwardly curved end. It can be formed by stamping a metal sheet and welding it to the end of the hook 16, and its curvature matches the movement trajectory of the rod core 25. The groove refers to a recessed area formed on the surface of the hook 16, which can be formed through machining or casting processes. It is used to accommodate the rod core 25 and guide its movement. The bending angle and height of the arc-shaped hook 24 are configured to create a mechanical obstruction when the rod core 25 moves outward, while simultaneously providing a return-guided function under gravity.

[0069] Specifically, when the auxiliary roller 17 applies the rolling force, the core rod 25 is subjected to a reaction force and moves outward. At this time, the curved edge of the arc hook 24 forms a physical blocking boundary. When the core rod 25 moves to the end of the arc hook 24, its gravitational component is decomposed into an inward sliding component along the tangent direction of the curved surface, causing the core rod 25 to return to its original position along the curved surface of the arc hook 24. This two-way constraint mechanism allows the core rod 25 to generate the necessary displacement during the fabric laying operation, while maintaining positioning stability through the synergistic effect of geometric limiting and mechanical balance.

[0070] Compared with existing technologies, traditional solutions often use fixed baffles or rigid limiters to prevent the core 25 from slipping, but these cannot meet the displacement requirements in dynamic operations. This solution, through the curved surface structure design of the arc hook 24, retains the motion freedom required for laying the fabric, and utilizes the synergistic effect of gravity and mechanical limit to achieve adaptive constraints, thus resolving the contradiction between dynamic operation and positioning stability.

[0071] Through the above technical solution, this application effectively suppresses the slippage phenomenon caused by the rubbing reaction force during the unwinding process of the fabric roll, ensuring that the core rod 25 is always kept in the working area of ​​the groove of the hook 16, while avoiding equipment interference or damage to the core rod 25 caused by rigid limit, and significantly improving the success rate and stability of fabric roll operation under automation.

[0072] Through the above technical solution, this application can effectively prevent the fabric roll from detaching from the lifting component 10 due to reaction force during high-speed rotation, ensuring the continuous stability of the fabric feeding process. The passive reset mechanism of the arc hook 24 significantly reduces the frequency of equipment maintenance and avoids downtime caused by the slippage of the core rod 25, which is especially suitable for scenarios where fabric rolls of different diameters are produced alternately.

[0073] Working Principle: The camera module 4 identifies and calculates the position of the core rod 25 and the fabric roll diameter. Different unloading methods are selected based on different diameters. When the fabric roll diameter is small, the movable finger 8 and fixed finger 9 work together to grip it. During the extraction and movement of the fabric roll, the forward rubbing wheel 14 and the auxiliary wheel 12 work together to rotate the fabric roll and release it, maintaining the tension of the fabric roll and facilitating movement. When the fabric roll diameter is large, due to the large fabric roll diameter and the limited internal space of the large circular knitting machine, the upward extraction stroke of the movable finger 8 and fixed finger 9 is limited. Therefore, a groove mechanism is selected for extraction. The hook 16 is positioned higher and hooks the core rod 25 from below, increasing the upward stroke of the core rod 25, thereby allowing the core rod 25 to move out of the guide groove. The auxiliary rubbing wheel 17 then rotates the fabric roll to release it. This invention is described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims of this application are within the protection scope of this invention.

Claims

1. A grabbing device suitable for different cloth roll diameters, comprising a lower cloth device, a platform of the lower cloth device being provided with a left mechanical arm (1) and a right mechanical arm (2), and a mechanical gripper assembly (3) being installed on the left mechanical arm (1) and the right mechanical arm (2); the mechanical gripper assembly (3) comprising a camera module (4) and a gripper mechanism, the camera module (4) being used for identifying and calculating the cloth roll diameter; the gripper mechanism comprising a clamping assembly (5) and a lifting assembly (10), and the clamping assembly (5) or the lifting assembly (10) being selected according to the cloth roll diameter to lower the cloth roll, the clamping assembly (5) lowering the cloth roll by clamping, and the lifting assembly (10) lowering the cloth roll by lifting.

2. The grabbing device suitable for different cloth roll diameters according to claim 1, wherein the clamping assembly (5) comprises a gripper mounting plate (6) installed on the mechanical arm, a fixed electric push rod (7) being fixedly installed on the gripper mounting plate (6), a movable finger (8) being installed at an output end of the fixed electric push rod (7), a fixed finger (9) being fixedly installed on one side of the gripper mounting plate (6) and located at one side of the movable finger (8), a rod core being clamped by the movable finger (8) and the fixed finger (9), and a lifting assembly (10) being fixedly connected to the fixed finger (9) and used for lifting the rod core, a lifting position of the lifting assembly (10) being higher than a clamping position of the movable finger (8) and the fixed finger (9).

3. The grabbing device suitable for different cloth roll diameters according to claim 2, wherein the lifting assembly (10) comprises a lifting hook mounting plate (15) installed on the fixed finger (9), and a lifting hook (16) being installed on the lifting hook mounting plate (15).

4. The grabbing device suitable for different cloth roll diameters according to claim 1 or 3, wherein the gripper mechanism further comprises a rubbing mechanism (11) used for rotating the cloth roll to release the cloth.

5. The grabbing device suitable for different cloth roll diameters according to claim 4, wherein the rubbing mechanism (11) comprises a rubbing motor (13) and a rubbing wheel (14).

6. The grabbing device suitable for different cloth roll diameters according to claim 5, wherein the rubbing mechanism (11) further comprises a sub-rubbing wheel (17) rotatably installed on the lifting hook mounting plate (15), and the sub-rubbing wheel (17) is in transmission connection with the rubbing wheel (14).

7. The grabbing device suitable for different cloth roll diameters according to claim 6, wherein the rubbing mechanism (11) further comprises an adjusting mechanism (18), the adjusting mechanism (18) comprising an adjusting fixed block (19) fixedly installed on the gripper mounting plate (6), an adjusting spring (20) connected to a low end of the adjusting fixed block (19), an adjusting movable plate (21) connected to a low end of the adjusting spring (20), and the rubbing motor (13) and the rubbing wheel (14) being fixedly installed on the adjusting movable plate (21). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. The grabbing device for different cloth roll linear meters according to claim 7, characterized in that: An arc-shaped slot (22) is arranged on the supporting hook mounting plate (15), a sliding block (23) is slidably arranged in the arc-shaped slot (22), and the auxiliary rubbing wheel (17) is rotatably mounted on the sliding block (23).

9. The grabbing device for different cloth roll linear meters according to claim 8, characterized in that: An upward arc-shaped hook (24) is arranged at the end of the supporting hook (16).

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