Manipulator with cloth detection function

Abstract

The utility model discloses a manipulator with a cloth detection function, which relates to the technical field of cloth grabbing and comprises a base, a mechanical arm is movably connected to the top of the base, a connecting frame is arranged at one end of the mechanical arm, and a shaking component is arranged on the connecting frame. According to the manipulator with the cloth detection function, the temperature sensor captures infrared radiation energy emitted by the surface of a fabric and accurately converts the infrared radiation energy into an electric signal through the temperature sensor, the temperature information of the fabric is obtained, cloth made of different materials has unique temperature characteristics, and the temperature of the fabric is detected. The system can quickly recognize different fabrics, the capacitive sensor is arranged on the soft beak clamp to detect the surface roughness of the fabrics and further recognize the materials of the fabrics, the pressure sensor monitors the clamping force, the system automatically adjusts the clamping force according to roughness data, and the problem that in the prior art, a mechanical arm does not have the fabric recognition and detection function is solved.

Description

Technical Field

[0001] This utility model relates to the field of fabric gripping technology, specifically a robotic arm with fabric detection function. Background Technology

[0002] Fabric gripping robots are automated devices specifically designed for the textile and related industries. They aim to efficiently and accurately perform tasks such as fabric gripping and handling, and are key equipment for driving the industry's intelligent upgrade. These robots possess excellent flexibility and precision. Their multi-joint biomimetic structure design simulates the flexible movement of a human arm, allowing them to freely extend and rotate in complex three-dimensional space, easily handling fabric gripping and handling. In terms of operational efficiency, the fabric gripping robot performs exceptionally well. It can work continuously at a high speed and stable pace, far exceeding the speed of manual operation, significantly shortening the production cycle. Furthermore, thanks to precise path planning and motion control algorithms, the robot's movements are smooth and its positioning accurate during handling, effectively reducing repetitive operations caused by positioning deviations, and further improving production efficiency.

[0003] While the soft-beak grippers on existing fabric gripping robots are adapted to the softness of fabrics to some extent, relying on a single structure for gripping has significant shortcomings. In scenarios involving the mixed production of multiple fabric types, the robot cannot identify the fabric type and can only operate according to uniform preset parameters. This requires manual readjustment of gripping parameters every time the fabric type is changed, consuming a lot of time and labor costs and reducing overall production efficiency. Different fabric materials have huge differences in physical properties, such as elasticity, thickness, and softness. Robots lacking recognition capabilities cannot perceive these differences, resulting in a mismatch between gripping force and fabric requirements, leading to problems such as over-gripping, under-gripping, or unstable gripping, affecting product quality and production stability. Therefore, we need a robot with fabric detection capabilities. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm with fabric detection function to solve the existing problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm with fabric detection function, comprising a base, a robotic arm movably connected to the top of the base, a connecting frame at one end of the robotic arm, a shaking component on the connecting frame, a positioning component on one side of the connecting frame, a flexible beak clamp connected to the bottom of the shaking component, a temperature sensor fixedly connected inside the connecting frame, a pressure sensor on one side of the flexible beak clamp, and a capacitance sensor at the bottom of the flexible beak clamp; the shaking component includes a side plate, the side plate being fixedly connected to the connecting frame, a spring sleeve hinged to one side of the side plate, a support spring inside the spring sleeve, a connecting rod connected to one end of the support spring, an installation tube movably hinged to one end of the connecting rod, and a connecting spring sleeved on the outer wall of the installation tube.

[0006] Preferably, the spring sleeve forms an elastic support structure with the supporting spring and the connecting rod, and one end of the supporting spring is hinged to the connecting rod, while the other end of the supporting spring extends into the spring sleeve for fixation.

[0007] Preferably, the mounting tube is elastically connected to the connecting frame via a connecting spring, and one end of the connecting spring is sleeved on the outer wall of the mounting tube and fixed to the connecting frame, and the mounting tube passes through the connecting frame and is connected to the flexible beak clamp.

[0008] Preferably, the positioning component includes an electric push rod, which is fixedly connected to the connecting frame. The output end of the electric push rod is fixedly connected to a movable frame. The movable frame is provided with a mounting spring inside, and a bracket is slidably connected inside the movable frame. A limit piece is fixedly connected to the bottom of the bracket.

[0009] Preferably, the movable frame is constructed as an elastic structure with a mounting spring and a support, and the mounting spring is disposed between the movable frame and the support.

[0010] Preferably, the connecting frame is equipped with an infrared temperature sensor, which is used to detect temperature changes during the fabric gripping process, and the infrared temperature sensor is electrically connected to the control system of the robot arm.

[0011] Preferably, the flexible beak gripper is equipped with a capacitive sensor, which is used to detect the roughness of the fabric to identify different fabrics, and the capacitive sensor is electrically connected to the control system of the robot arm.

[0012] Compared with the prior art, the beneficial effects of this utility model are: this robotic arm with fabric detection function,

[0013] (1) By setting temperature sensor, pressure sensor and capacitance sensor, the temperature sensor captures the infrared radiation energy emitted by the fabric surface and accurately converts it into an electrical signal to obtain the fabric temperature information. Different fabrics have unique temperature characteristics. With the help of this temperature data, the system can quickly identify different fabrics. The capacitance sensor set on the flexible beak clamp works synchronously with the pressure sensor. The capacitance sensor detects the surface roughness of the fabric and further identifies the fabric material. The pressure sensor monitors the clamping force. The system automatically adjusts the clamping force according to the roughness data, which solves the problem that the existing technology does not have the function of fabric identification and detection when gripping fabric.

[0014] (2) The positioning component is set to make the upper layer of fabric in the clamped area bend into an n-shape to form a larger space. At this time, the electric push rod is started and the moving frame is moved to one side of the fabric, so that the limiting piece on the bracket is precisely inserted between the upper layer of fabric and the second layer of fabric, realizing the single clamping of the upper layer of fabric. The swaying component is set to make the connecting spring rebound when the robotic arm moves the flexible beak clamp upward. Under the joint support of the support springs on both sides and the spring installed on the bracket, the flexible beak clamp will sway up and down due to inertia. Thanks to the damping characteristics of the spring itself, the swaying will be weakened quickly and the flexible beak clamp will quickly return to stability. The swaying process can automatically remove the fabric that may be clamped, ensuring that only the target fabric is grabbed each time, which solves the problem of easy to grab too much fabric in the prior art. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of the present utility model;

[0016] Figure 2 This is a schematic diagram of the shaking component and positioning component of this utility model;

[0017] Figure 3 This is a schematic diagram of the positioning component structure of this utility model;

[0018] Figure 4 This is a schematic diagram of the mounting tube and connecting spring structure of this utility model;

[0019] Figure 5 This utility model Figure 4 Enlarged structural diagram at point A in the middle.

[0020] In the diagram: 1. Base; 2. Robotic arm; 3. Connecting frame; 4. Shaking assembly; 401. Side plate; 402. Spring sleeve; 403. Support spring; 404. Connecting rod; 405. Mounting tube; 406. Connecting spring; 5. Positioning assembly; 501. Electric push rod; 502. Moving frame; 503. Mounting spring; 504. Bracket; 505. Limiting plate; 6. Flexible beak clamp; 7. Temperature sensor; 8. Pressure sensor; 9. Capacitive sensor. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] This utility model embodiment provides a robotic arm with fabric detection function, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device includes a base 1, a robotic arm 2 movably connected to the top of the base 1, a connecting frame 3 at one end of the robotic arm 2, a shaking component 4 on the connecting frame 3, a positioning component 5 on one side of the connecting frame 3, a flexible beak clamp 6 connected to the bottom of the shaking component 4, a temperature sensor 7 fixedly connected inside the connecting frame 3, a pressure sensor 8 on one side of the flexible beak clamp 6, and a capacitance sensor 9 at the bottom of the flexible beak clamp 6. The shaking component 4 includes a side plate 401, which is fixedly connected to the connecting frame 3. A spring sleeve 402 is hinged to one side of the side plate 401, a support spring 403 is installed inside the spring sleeve 402, a connecting rod 404 is connected to one end of the support spring 403, and an installation tube 405 is movably hinged to one end of the connecting rod 404. A connecting spring 406 is sleeved on the outer wall of the installation tube 405. When the flexible beak clamp 6 contacts the fabric, the installation tube 405 moves upward, squeezing the connecting spring 406 and simultaneously pulling the connecting rods 404 on both sides. When the support spring 403 is stretched, the external pneumatic mechanism is activated. Through the connection with the mounting tube 405, the opening and closing action and clamping force of the flexible beak clamp 6 are precisely controlled. The capacitive sensor 9 and the pressure sensor 8 set on the flexible beak clamp 6 work synchronously. The capacitive sensor 9 detects the surface roughness of the fabric, and the pressure sensor 8 monitors the clamping force. The system automatically adjusts the clamping force according to the roughness data and further identifies the fabric material.

[0023] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the spring sleeve 402 forms an elastic support structure with the supporting spring 403 and the connecting rod 404. One end of the supporting spring 403 is hinged to the connecting rod 404, and the other end of the supporting spring 403 extends into the spring sleeve 402 for fixation. By relying on the spring sleeve 402, the supporting spring 403 and the connecting rod 404 to jointly construct a unique elastic support structure, the spring sleeve 402 and the connecting rod 404 can generate a certain angle under pressure. When an external force is applied to this structure, it can cause the connecting rod 404 to tilt. Relying on the elasticity of the supporting spring 403 itself, the connecting rod 404 can vibrate when the force is released.

[0024] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the mounting tube 405 forms an elastic connection structure with the connecting frame 3 through the connecting spring 406. One end of the connecting spring 406 is sleeved on the outer wall of the mounting tube 405 and fixed to the connecting frame 3. The mounting tube 405 passes through the connecting frame 3 and is connected to the flexible beak clamp 6, which strengthens the connection effect between the mounting tube 405 and the flexible beak clamp 6. During the process of the connecting frame 3 driving the flexible beak clamp 6 to move downward to grasp the fabric, the flexible beak clamp 6 can be forced to push the mounting tube 405 upward to stretch the connecting spring 406.

[0025] In a further preferred embodiment of this utility model, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the positioning component 5 includes an electric push rod 501, which is fixedly connected to the connecting frame 3. The output end of the electric push rod 501 is fixedly connected to a movable frame 502. A mounting spring 503 is provided inside the movable frame 502, and a bracket 504 is slidably connected inside the movable frame 502. A limiting piece 505 is fixedly connected to the bottom of the bracket 504. After the initial clamping is completed, the upper layer of fabric in the clamped area of ​​the fabric edge will bend into an n-shape, forming a larger space. At this time, the electric push rod 501 is activated, driving the movable frame 502 to move to one side of the fabric, so that the limiting piece 505 on the bracket 504 accurately extends between the upper layer of fabric and the second layer of fabric, realizing the single clamping of the upper layer of fabric.

[0026] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the movable frame 502 forms an elastic structure with the support 504 by means of the mounting spring 503, and the mounting spring 503 is placed between the movable frame 502 and the support 504, which strengthens the connection between the movable frame 502 and the mounting spring 503, so that the movable frame 502 can rely on the mounting spring 503 to support the support 504.

[0027] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, an infrared temperature sensor 7 is installed on the connecting frame 3. The infrared temperature sensor 7 is used to detect temperature changes during the fabric gripping process. The infrared temperature sensor 7 is electrically connected to the control system of the robot. The infrared temperature sensor 7 detects temperature changes during the fabric gripping process in real time and transmits the data to the control system of the robot. The control system analyzes and compares the data fed back by the sensor based on preset temperature characteristic models of different fabrics, and can quickly identify the type of fabric.

[0028] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a capacitive sensor 9 is installed on the flexible beak gripper 6. The capacitive sensor 9 is used to detect the roughness of the fabric to identify different fabrics. The capacitive sensor 9 is electrically connected to the control system of the robot arm. As the flexible beak gripper 6 moves downward, it comes into contact with the fabric. Different fabrics have different surface roughness due to differences in fiber composition and weaving process. The capacitive sensor 9 senses this difference and transmits the identification information to the robot arm control system in real time. The control system automatically adjusts the gripping force and method accordingly to ensure that each gripping is accurate and stable, which greatly improves the efficiency and quality of fabric gripping.

[0029] Working Principle: During operation, when gripping fabric, the robotic arm 2 first moves the flexible beak gripper 6 precisely above the fabric to be gripped. Multiple temperature sensors 7 mounted on the connecting frame 3 then activate. These sensors capture the infrared radiation energy emitted from the fabric surface and precisely convert it into an electrical signal to obtain fabric temperature information. Different fabric materials have unique temperature characteristics; using this temperature data, the system can quickly identify different fabrics. The moment the flexible beak gripper 6 contacts the fabric, its mounting tube 405 moves upward, compressing the connecting spring 406 and simultaneously pulling the support springs 403 on the connecting rods 404 on both sides. At this time, the external pneumatic mechanism activates, precisely controlling the opening and closing action and gripping force of the flexible beak gripper 6 through its connection with the mounting tube 405. The capacitive sensor 9 and pressure sensor 8 mounted on the flexible beak gripper 6 work synchronously. The capacitive sensor 9 detects the surface roughness of the fabric, while the pressure sensor 8... The system monitors the clamping force and automatically adjusts it based on roughness data. It further identifies the fabric material. After initial clamping, the upper layer of fabric in the clamped area bends into an "n" shape, creating a larger space. At this point, the electric push rod 501 starts, moving the moving frame 502 towards the fabric side. This allows the limiting piece 505 on the support 504 to precisely extend between the upper and second layers of fabric, achieving single clamping of the upper layer. When the robotic arm 2 moves the flexible beak clamp 6 upwards, the connecting spring 406 rebounds. Supported by the two side support springs 403 and the spring 503 mounted on the support 504, the flexible beak clamp 6 sways up and down due to inertia. Thanks to the damping characteristics of the springs, the swaying quickly weakens, and the flexible beak clamp 6 quickly returns to stability. During the swaying process, it automatically removes any fabric that might be clamped, ensuring that only the target fabric is gripped each time. This improves the accuracy and efficiency of fabric gripping and handling operations, laying a solid foundation for subsequent production processes.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A manipulator with cloth detection function, comprising a base (1), characterized in that: The top of the base (1) is movably connected with a mechanical arm (2), one end of the mechanical arm (2) is provided with a connecting frame (3), the connecting frame (3) is provided with a shaking assembly (4), one side of the connecting frame (3) is provided with a positioning assembly (5), the bottom of the shaking assembly (4) is connected with a soft beak clamp (6), the inside of the connecting frame (3) is fixedly connected with a temperature sensor (7), one side of the soft beak clamp (6) is provided with a pressure sensor (8), the bottom of the soft beak clamp (6) is provided with a capacitive sensor (9). The shaking assembly (4) comprises a side plate (401), the side plate (401) is fixedly connected on the connecting frame (3), one side of the side plate (401) is hingedly connected with a spring sleeve (402), the inside of the spring sleeve (402) is provided with a supporting spring (403), one end of the supporting spring (403) is connected with a connecting rod (404), one end of the connecting rod (404) is movably hingedly connected with a mounting pipe (405), the outer wall of the mounting pipe (405) is sleeved with a connecting spring (406).

2. The robot with cloth detection function according to claim 1, characterized in that: The spring sleeve (402) and the connecting rod (404) constitute an elastic support structure through the supporting spring (403), one end of the supporting spring (403) is hingedly connected with the connecting rod (404), and the other end of the supporting spring (403) extends into the spring sleeve (402) and is fixed.

3. The robot with cloth detection function according to claim 1, characterized in that: The mounting pipe (405) and the connecting frame (3) constitute an elastic connection structure through the connecting spring (406), one end of the connecting spring (406) is sleeved on the outer wall of the mounting pipe (405) and fixed with the connecting frame (3), and the mounting pipe (405) penetrates through the connecting frame (3) and is connected with the soft beak clamp (6).

4. The robot with cloth detection function according to claim 1, characterized in that: The positioning assembly (5) comprises an electric push rod (501), the electric push rod (501) is fixedly connected on the connecting frame (3), the output end of the electric push rod (501) is fixedly connected with a moving frame (502), the inside of the moving frame (502) is provided with a mounting spring (503), the inside of the moving frame (502) is slidably connected with a support (504), the bottom of the support (504) is fixedly connected with a limiting sheet (505).

5. The robot with cloth detection function according to claim 4, characterized in that: The moving frame (502) and the support (504) constitute an elastic structure through the mounting spring (503), and the mounting spring (503) is arranged between the moving frame (502) and the support (504).

6. The robot with cloth detection function according to claim 1, characterized in that: The connecting frame (3) is provided with an infrared temperature sensor (7), the infrared temperature sensor (7) is used for detecting temperature change in the cloth grabbing process, and the infrared temperature sensor (7) is electrically connected with the control system of the mechanical hand.

7. The robot with cloth detection function according to claim 1, characterized in that: The soft beak clamp (6) is provided with a capacitive sensor (9), the capacitive sensor (9) is used for detecting cloth roughness to identify different cloths, and the capacitive sensor (9) is electrically connected with the control system of the mechanical hand.

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