A gripping device for flexible sheet material

Abstract

The utility model provides a kind of for flexible sheet material's grabbing equipment, including fixed jaw mechanism and moving jaw mechanism, wherein, fixed jaw mechanism includes fixed part and adhering component, the adhering component includes material conveying module and adhesive, the adhesive is used to adhere material, the material conveying module is used to transport the adhesive;Moving jaw mechanism includes moving claw and jaw driving component, the jaw driving component drives the moving claw and the fixed part cooperation clamps material.The grabbing equipment of the application, adhesive and material adhere, to lift material, to provide the gap of moving claw into below material, beneficial to layered and sheet material of stacked layered grabbing, and, set up material conveying module, facilitate the replacement update of adhesive weakened adhesive, improve the overall efficiency of grabbing equipment.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment, and in particular relates to a gripping device for flexible sheet materials. Background Technology

[0002] The gripping equipment disclosed herein refers to equipment for gripping flexible sheet materials, and in particular equipment suitable for gripping fabrics.

[0003] For flexible sheet materials, adhesion can be used to separate single layers in stacked materials, but the adhesiveness of the adhesive structure will gradually decrease, affecting the effectiveness of adhesion separation. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to provide a gripping device for flexible sheet materials, comprising:

[0005] A fixed gripper mechanism includes a fixing component and an adhesion component. The adhesion component includes a material conveying module and an adhesive component. The adhesive component is used to adhere materials, and the material conveying module is used to convey the adhesive component.

[0006] A movable gripper mechanism includes a movable gripper and a gripper drive assembly, wherein the gripper drive assembly drives the movable gripper to cooperate with the fixing member to grip materials.

[0007] In some embodiments, the adhesive is a strip adhesive, the material conveying module includes a supply reel and a return reel, the strip adhesive is conveyed from the supply reel to the return reel, and the portion of the strip adhesive located between the supply reel and the return reel is used to adhere material.

[0008] In some embodiments, the material conveying module further includes a pressing member that presses the strip-shaped adhesive between the supply reel and the recovery reel onto the material surface to adhere the material. The pressing member has an adhesion position at the same height as the fixing member in the vertical direction and a detachment position higher than the fixing member.

[0009] The adhesion assembly further includes an adhesion drive that drives the pressing member to move between the adhesion position and the detachment position, thereby driving the strip adhesive member to adhere to and detach from the material.

[0010] In some embodiments, the feed reel and the recovery reel are respectively disposed on both sides of the space where the pressing element is located;

[0011] The adhesion assembly further includes a tension roller, which is disposed between the pressing element and the feed reel and / or the recycling reel, and the tension roller moves synchronously with the pressing element.

[0012] In some embodiments, the adhesion component further includes:

[0013] The grating rotates synchronously with the tensioning roller;

[0014] The first sensor is used to detect the rotation of the grating.

[0015] In some embodiments, the grating's perforated grid structure is uniformly distributed circumferentially.

[0016] In some embodiments, the adhesion assembly further includes a second sensor disposed on the strip adhesive conveying path between the supply reel and the return reel, the second sensor being used to detect whether the strip adhesive on the supply reel has been used up.

[0017] In some embodiments, the adhesion assembly further includes a tension roller disposed between the pressing member and the feed reel and / or the recycling reel, the tension roller moving synchronously with the pressing member;

[0018] The second sensor is located between the pressure member and the tension roller.

[0019] In some embodiments, the adhesion assembly further includes a reel drive connected to the recycling reel to drive the recycling reel to wind the strip adhesive.

[0020] In some embodiments, the adhesion assembly further includes a braking element that is brakely connected to the feed reel to brake or release the feed reel.

[0021] In some embodiments, the pressing element is provided with a rolling structure that abuts against the strip adhesive element to ensure smooth conveying of the strip adhesive element.

[0022] Beneficial effects:

[0023] The gripping device provided by this utility model has an adhesive component that adheres to the material to lift the material, thereby providing a gap for the moving claw to extend under the material. This facilitates the layered gripping of stacked layered and sheet-like materials. Furthermore, a material conveying module is provided to facilitate the replacement of adhesive components with weakened adhesion, improving the convenience and efficiency of adhesive component replacement. Attached Figure Description

[0024] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0025] Figure 1 This is a side view of a gripping device according to an embodiment of the present invention;

[0026] Figure 2 This is a perspective view of a gripping device according to an embodiment of the present invention;

[0027] Figure 3 This is a perspective view of a gripping device according to an embodiment of the present invention;

[0028] Figure 4 This is a front view of a gripping device according to an embodiment of the present invention;

[0029] Figure 5 for Figure 4 A sectional view along AA';

[0030] Figure 6 This is a perspective view of a gripping device according to an embodiment of the present invention. Attached image description:

[0032] 1. Gripping arm; 21. Fixing component; 222. Adhesion drive component; 223a. Feed reel; 223b. Recycle reel; 224. Pressing component; 224a. Rolling structure; 225. Adhesive component; 226. Tensioning roller; 226a. First tensioning roller; 226b. Second tensioning roller; 227a. Grating; 227b. First sensor; 228. Second sensor; 229a. Reel drive component; 229b. Braking component; 3 1. Moving claw; 311. First moving claw; 312. Second moving claw; 313. Bent end; 32. Gripper drive assembly; 321. First drive member; 322. Second drive member; 323. Third drive member; 324. Fourth drive member; 4. Telescopic mechanism; 41. Rotary drive member; 42. Lead screw; 43. Slider; 44. Third sensor; 45. Fourth sensor; 46. Fifth sensor; 5. Housing. Detailed Implementation

[0033] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0034] This invention provides a gripping device for gripping flexible sheet-like materials, particularly suitable for gripping fabrics. In some applications, the gripping device can be used in the sewing industry to grip fabric pieces to be sewn.

[0035] In some embodiments of the present invention, the gripping device includes a fixed gripper mechanism and a movable gripper mechanism. The fixed gripper mechanism includes a fixing member 21 and an adhesion component. The adhesion component includes a material conveying module and an adhesive component 225 for adhering material, and the material conveying module for conveying the adhesive component. The movable gripper mechanism includes a movable gripper 31 and a gripper driving assembly 32, which drives the movable gripper 31 to cooperate with the fixing member 21 to grip the material.

[0036] In embodiments of the present invention, the adhesive element 225 adheres to and lifts the material to separate a single layer from the stacked material, thereby providing a gap for the moving claw 31 to extend beneath the material. This facilitates the layered gripping of stacked layered and sheet-like materials. Furthermore, the inclusion of a material conveying module facilitates the replacement and recycling of adhesive elements with weakened adhesion, improving the convenience and speed of adhesive element replacement and overall improving gripping efficiency.

[0037] Compared to existing technologies that use needles and mechanical picking to separate single-layer materials, the gripping device of this invention does not cause damage or wrinkles to the material. Compared to existing technologies that use negative pressure adsorption to separate single-layer materials, the gripping device of this invention does not allow the surface smoothness and permeability of the material to affect the separation effect. In other words, the gripping device of this invention can accurately separate materials of various materials into single layers without damage.

[0038] Figure 1 This is a side view of a gripping device according to an embodiment of the present invention, such as... Figure 1 As shown, the adhesive component is a strip adhesive component 225. The material conveying module includes a feed reel 223a and a return reel 223b. The strip adhesive component 225 is transferred from the feed reel 223a to the return reel 223b. The portion of the strip adhesive component 225 located between the feed reel 223a and the return reel 223b is used to adhere material.

[0039] In an embodiment of the present invention, a supply reel 223a and a recycling reel 223b are provided, which can replace and recycle the strip adhesive 225 with weakened adhesiveness, thereby both quickly updating the strip adhesive 225 and storing the used strip adhesive 225.

[0040] In some embodiments of the present invention, the tape reel 223a stores unused strip adhesive 225. The strip adhesive 225 may be an existing roll of strip adhesive 225 detachably mounted on the tape reel 223a, or it may be directly wound onto the tape reel 223a, or it may be in other forms, which are not limited in this disclosure. The tape reel 223a releases the strip adhesive 225 by rotation. The roll of strip adhesive 225 may be commercially available tape, or it may be adhesive strip, double-sided tape, etc., or it may be a non-adhesive strip that becomes adhesive after passing through an adhesive substance (such as glue), but it is not limited to these.

[0041] In some embodiments of the present invention, the recycling disc 223b collects the strip adhesive 225 with insufficient adhesion at the pressing member 224 by rotating and winding it.

[0042] In some embodiments of the present invention, the feeding module may have a coating structure to coat the surface of the pressing member with an adhesive substance (such as glue) stored therein or externally to form an adhesive component. The feeding module and the adhesive component may also exist in other forms, which are not limited herein.

[0043] In some embodiments of the present invention, such as Figure 1 As shown, the material conveying module also includes a pressing component 224, which presses the strip-shaped adhesive 225 between the feed reel 223a and the recovery reel 223b onto the material surface to adhere the material. The pressing component 224 has an adhesion position at the same height as the fixing component 21 in the vertical direction and a detachment position higher than the fixing component 21. The adhesion assembly includes an adhesion driving component 222, which drives the pressing component 224 to move between the adhesion position and the detachment position to drive the strip-shaped adhesive 225 to adhere to and detach from the material.

[0044] In an embodiment of the present invention, the adhesion driving member 222 is used to drive the pressing member 224, which in turn drives the strip adhesive member 225 to move between the adhesion position and the detachment position. When it is necessary to release the material, the pressing member 224 can be driven to the detachment position so that the material detaches from the adhesion of the strip adhesive member 225, thereby avoiding interference from the release of the material by the strip adhesive member 225.

[0045] In some embodiments of this disclosure, the fixing member 21 can be configured as a frame structure surrounding the pressing member 224. When the pressing member 224 is in the adhesion position, the fixing member 21 surrounds the pressing member 224 to achieve overall shape integrity, which can make the transition between adhesion and clamping processes more reliable.

[0046] In some embodiments of the present invention, such as Figure 1As shown, the feed reel 223a and the recovery reel 223b are respectively disposed on both sides of the pressing component 224 located in the interval; the adhesion assembly also includes a tension roller 226, which can be disposed between the pressing component 224 and the feed reel 223a, and the tension roller 226 moves synchronously with the pressing component 224.

[0047] In an embodiment of the present invention, the tension roller 226, which is arranged to move synchronously with the pressing member 224, can keep the strip adhesive member 225 taut during the process of the pressing member 224 moving from the adhesion position to the release position, so as to prevent the strip adhesive member 225 from loosening and adhering to other parts of the gripping equipment and affecting the normal operation of the gripping process.

[0048] In some embodiments of the present invention, the tension roller 226 may also be disposed between the pressing element 224 and the recovery disc 223b.

[0049] In some embodiments of the present invention, such as Figure 1 As shown, the tension roller 226 includes a first tension roller 226a and a second tension roller 226b. The first tension roller 226a is disposed between the pressing member 224 and the feed reel 223a, and the second tension roller 226b is disposed between the pressing member 224 and the recovery reel 223b.

[0050] In an embodiment of the present invention, a first tensioning roller 226a and a second tensioning roller 226b are respectively provided on both sides of the pressing component 224, which can make the strip adhesive component 225 on both sides of the pressing component 224 tensioned, thereby further improving the stability of the strip adhesive component 225 during the transmission process.

[0051] In some embodiments of the present invention, the gripping device may be configured with a structure that guides the tension roller 226 to increase the stability of the movement of the tension roller 226.

[0052] In some embodiments of the present invention, the tension roller 226 may be fixedly connected to or integrally formed with the pressing element 224.

[0053] Figure 4 This is a front view of a gripping device according to an embodiment of the present invention. Figure 5 for Figure 4 A cross-sectional view along AA', in some embodiments of the invention, such as Figure 1 , Figure 4 and Figure 5 As shown, the adhesion assembly also includes a grating 227a and a first sensor 227b. The grating 227a rotates synchronously with the tension roller 226; the first sensor 227b is used to detect the rotation of the grating 227a.

[0054] In an embodiment of the present invention, the rotation of the tension roller 226 can be determined by detecting the rotation of the grating 227a using the first sensor 227b. If the feed reel 223a or the take-up reel 223b rotates while the tension roller 226 does not rotate, it can be determined that the strip adhesive component 225 is broken. Based on this, it is possible to monitor whether the strip adhesive component 225 is broken.

[0055] In some embodiments of the present invention, the synchronous rotation of the grating 227a and the tension roller 226 can be achieved in various ways, such as by making the grating 227a and the tension roller 226 coaxial, or by transmitting the grating 227a and the tension roller 226 through gears, belts, chains, etc. The present invention does not limit this.

[0056] In some embodiments of the present invention, the adhesion assembly further includes a reel drive 229a, which is drivenly connected to a recovery reel 223b to drive the recovery reel 223b to wind the used strip adhesive 225. The determination of whether the strip adhesive 225 is broken can also be based on a comparison of the rotation of the reel drive 229a and the grating 227a. If the reel drive 229a rotates while the grating 227a does not rotate, it can be determined that the strip adhesive 225 is broken.

[0057] In some embodiments of the present invention, the first sensor 227b may be selected from a variety of sensors, as long as they can monitor the grating 227a, such as a photoelectric sensor, but is not limited thereto.

[0058] In some embodiments of the present invention, the perforated grid structure of the grating 227a is uniformly distributed circumferentially.

[0059] In an embodiment of the present invention, the perforated grid of the grating 227a is evenly distributed. The rotation number of the perforated grid (also referred to as grating points) of the grating 227a is monitored by the first sensor 227b, and the conveying length of the strip adhesive 225 is calculated based on the number of grating points. The conveying length of the strip adhesive 225 and the start / stop of conveying are then controlled accordingly. This allows for precise control of the transmission distance of the strip adhesive 225, avoiding waste of the strip adhesive 225 or insufficient replacement of the strip adhesive 225. In this embodiment, the aim is to determine and monitor the conveying length of the strip adhesive 225 by the rotation of the grating 227a. In its specific control logic, the number of grating points that the grating 227a needs to rotate can be obtained based on the preset conveying length, or the length of the already conveyed strip adhesive 225 can be calculated based on the obtained number of grating points, or other calculation and control logic can be adopted. This disclosure does not limit this approach.

[0060] In some embodiments of the present invention, the adhesion assembly further includes a second sensor 228 disposed on the path of the strip adhesive 225 between the supply reel 223a and the return reel 223b, and the second sensor 228 is used to detect whether the strip adhesive 225 of the supply reel 223a has been used up.

[0061] In an embodiment of the present invention, by setting a second sensor 228 on the conveying path of the strip adhesive 225, when the strip adhesive 225 is used up, the last section of it is an opaque section (set to white or other colors), which has a clear difference in color and light transmittance from the transparent strip adhesive. By monitoring the color or light transmittance of the strip adhesive 225 by the second sensor 228, it can be determined whether the strip adhesive on the feed reel 223a is used up.

[0062] In embodiments of the present invention, the second sensor 228 can detect whether the adhesive strip 225 is exhausted in various ways. For example, the second sensor 228 is a photoelectric sensor with a light emitting end and a light receiving end, with the adhesive strip 225 passing between the light emitting end and the light receiving end. The adhesive strip 225 has good light transmittance, allowing light emitted from the light emitting end to pass through the adhesive strip 225 and be received by the light receiving end. When the adhesive strip is exhausted, the opaque section (such as the white section) at the end of the adhesive strip prevents the light emitted from the light emitting end from being received by the light receiving end. Therefore, if the light receiving end receives the light emitted from the light emitting end, it is determined that the adhesive strip 225 still has some capacity; if the light receiving end cannot receive the light emitted from the light emitting end, it is determined that the adhesive strip 225 is exhausted. The second sensor 228 can also adopt other principles and forms, such as using a visual sensor, but is not limited thereto, and this disclosure does not limit it in this regard.

[0063] In some embodiments of the present invention, the second sensor 228 is disposed between the pressure member 224 and the tension roller 226.

[0064] In an embodiment of the present invention, thanks to the synchronous movement of the tension roller 226 and the pressing element 224, the posture of the strip adhesive element 225 between the tension roller 226 and the pressing element 224 is relatively stable, and the accuracy of detection is improved by placing the second sensor 228 between the tension roller 226 and the pressing element 224.

[0065] In some embodiments of the present invention, such as Figure 1 , Figure 5 As shown, the adhesion assembly also includes a reel drive 229a, which is driven to connect with a recovery reel 223b to drive the recovery reel 223b to wind the strip adhesive 225.

[0066] In an embodiment of the present invention, the tape drive 229a is driven to the recovery reel 223b. When the recovery reel 223b winds the strip adhesive 225, the power is transmitted to the supply reel 223a through the strip adhesive 225, so that one tape drive 229a can drive the recovery reel 223b and the supply reel 223a at the same time.

[0067] In embodiments of the present invention, the disk drive 229a may be a stepper motor, but is not limited thereto.

[0068] In some embodiments of the present invention, such as Figure 1 , Figure 5 As shown, the adhesion assembly also includes a brake 229b, which is brakely connected to the feed reel 223a to brake or release the feed reel 223a.

[0069] In the embodiments of this disclosure, the brake 229b is used to brake the supply reel 223a, which on the one hand prevents the inertial rotation of the supply reel 223a from causing the strip adhesive 225 to loosen, and on the other hand, the driving force of the reel drive 229a is used to tension the strip adhesive 225 between the supply reel 223a and the return reel 223b.

[0070] In embodiments of this disclosure, the brake element 229b may be a cylinder structure.

[0071] Figure 2 This is a perspective view of a gripping device according to an embodiment of the present invention. In some embodiments of this disclosure, such as... Figure 2 As shown, the pressing component 224 is provided with a rolling structure 224a, which abuts against the strip adhesive component 225.

[0072] In the embodiments of this disclosure, by providing a rolling structure 224a in the pressure member 224, the smoothness of the strip adhesive member 225 passing through the pressure member 224 can be improved.

[0073] In some embodiments of this disclosure, the rolling structure 224a may be a pair of rollers arranged side by side.

[0074] In some embodiments of this disclosure, a strip adhesive 225 is used to provide adhesion to the adhesion assembly for adhering material. The strip adhesive 225 is stored on a feed reel 223a and is powered by a reel drive 229a to move from the feed reel 223a to a return reel 223b. The strip adhesive 225 at the pressure member 224 is updated as needed by moving it from the feed reel 223a to the return reel 223b. The update cycle can be set as needed, for example, updating once after each adhesion, updating once after several adhesions, or controlled according to the residual stickiness of the strip adhesive 225; this invention does not limit this.

[0075] In some embodiments of the present invention, the adhesion area provided by the adhesion component is set to a variable form so as to provide different adhesion effects (including adhesion strength, etc.) on the material by adjusting the adhesion area, so as to adapt to the different requirements of different materials for adhesion effect due to factors such as their own weight and surface smoothness.

[0076] In some embodiments of the present invention, the change in the adhesion area of ​​the adhesion component can be achieved in various ways. For example, the side of the pressure member 224 used to press the strip adhesive member 225 can be made into a variable area. The pressure member 224 can be made telescopic, specifically by providing a telescopic structure (e.g., a telescopic sheet or a telescopic rod) on the pressure member 224. When it is necessary to increase the adhesion area, the telescopic structure is extended, and when it is necessary to decrease the adhesion area, the telescopic structure is retracted. Alternatively, the pressure member 224 can be made foldable, specifically by providing a folded portion on the pressure member 224 in a flip-folding manner. When it is necessary to increase the adhesion area, the folded portion is unfolded by flipping, and when it is necessary to decrease the adhesion area, the folded portion is folded by flipping.

[0077] In some embodiments of the present invention, the gripping arm may also be provided with multiple pressing elements 224. The adhesion area can be adjusted by activating the number of pressing elements 224, thereby adjusting the adhesion effect.

[0078] In some embodiments of the present invention, the adhesion effect can also be adjusted by adjusting the pressure and compression time between the adhesion component and the material when the gripping arm reaches the gripping position. For example, increasing the pressure between the adhesion component and the material can enhance the adhesion force between them; decreasing the pressure can weaken the adhesion force. For example, extending the contact compression time between the gripping arm and the material after reaching the gripping position can enhance the adhesion force between them; shortening the contact compression time can weaken the adhesion force.

[0079] In some embodiments of the invention, the pressure between the adhesion component and the material can be measured by a fifth sensor 46 for detecting pressure.

[0080] In some embodiments of the present invention, such as Figure 1As shown, in some embodiments of the present invention, the gripping device includes a gripping arm 1, which includes a fixed gripper mechanism and a movable gripper mechanism. The fixed gripper mechanism includes a fixing member 21 and an adhesion component. The adhesion component includes an adhesive member 225 and a pressing member. The adhesive member 225 has adhesiveness for adhering to flexible sheet materials. The pressing member 225 moves between an adhesion position and a release position. The adhesion position is at the same height as the fixing member 21 in the vertical direction, and the release position is higher than the fixing member 21 in the vertical direction. The adhesive member 225 and the pressing member 224 are separately disposed. The pressing member 224 moves to the adhesion position to push the adhesive member 225 to adhere to the flexible sheet material; the movable gripper mechanism... The gripper mechanism includes at least one movable claw 31 and at least one set of gripper drive assemblies 32. The movable claw 31 moves between an initial position and a clamping position. In the initial position, it avoids the fixing member 21 in the vertical direction. In the clamping position, it is located below the fixing member 21 and close to the fixing member 21 for clamping. The gripper drive assembly 32 is used to drive the movable claw 31 to move in the horizontal and vertical directions. After the adhesion assembly adheres the material, the gripper drive assembly 32 drives the movable claw 31 to move from the initial position under the material to the clamping position to achieve clamping of the material.

[0081] In this embodiment, by incorporating an adhesion component in the fixed gripper mechanism to adhere materials, stacked materials can be separated without the need for rigid grippers. The movable claw 31 then moves to the clamping position to engage with the fixing member 21, thus clamping the materials. The gripping device in this embodiment can accurately separate stacked materials into individual layers and stably clamp and fix the separated individual layers, achieving efficient material gripping. A pressing member 224, movable between the adhesion and release positions, moves the adhesive member 225 towards the release position when releasing the flexible sheet material, causing the adhesive member 225 to detach from the flexible sheet material, preventing interference with material release. Furthermore, the adhesive member 225 and the pressing member 224 are separate components, facilitating the replacement of the adhesive member 225 to maintain adhesion.

[0082] In some embodiments of the present invention, the gripping device can be used to grip flexible sheet materials, such as fabric, but is not limited thereto. In some applications, the gripping device can be used in the garment industry to grip fabric pieces to be sewn, such as trouser fabric pieces (also called trouser material, back piece, etc.) and pocket fabric pieces, but is not limited thereto.

[0083] In some embodiments of the present invention, the adhesiveness of the adhesive component can be achieved in various ways, such as by using adhesive, strip adhesive, etc. to provide adhesiveness, or by coating the workpiece surface with liquid or paste adhesive substances (such as self-adhesive or glue), or by using electrostatic devices to produce a similar adhesive effect. However, it is not limited to these methods, as long as the adhesive component can obtain the adhesiveness to adhere to the material.

[0084] In some embodiments of the present invention, "the initial position avoids the fixing member 21 in the vertical direction" means that the initial position does not overlap with the fixing member 21 in the vertical direction. Further, in one configuration, the initial position is set to the side of the fixing member 21.

[0085] In some embodiments of the present invention, the height of the detachment position relative to the adhesion position can be determined based on a variety of factors, such as the adhesive strength of the adhesive component 225, the elasticity of the material, and the interference between the internal and external components of the gripping device. However, it is not limited to these factors, and those skilled in the art can set it according to actual needs.

[0086] In some embodiments of the present invention, such as Figure 1 , Figure 2 As shown, the movable claw 31 includes a first movable claw 311 and a second movable claw 312, which are located on adjacent sides of the fixing member 21 in the horizontal direction; the gripper drive assembly 32 includes a first gripper drive assembly and a second gripper drive assembly, which is used to drive the first movable claw 311 and the second gripper drive assembly is used to drive the second movable claw 312.

[0087] In some embodiments of the present invention, a first movable claw 311 and a second movable claw 312 are provided, and the first movable claw 311 and the second movable claw 312 are respectively provided on two adjacent sides in the horizontal direction of the fixing member 21. When gripping materials, the materials can be gripped from two directions as needed, which improves the applicability of the gripping device to materials and working scenarios.

[0088] In some embodiments of the present invention, such as Figure 2 As shown in the figure, the positions of the first moving claw 311 and the second moving claw 312 can be used as the initial positions.

[0089] In some embodiments of the present invention, such as Figure 1 , Figure 2As shown, there are a first direction and a second direction that are perpendicular to each other in the horizontal direction; the first moving claw 311 and the second moving claw 312 both extend in the first direction. If the first moving claw 311 and the second moving claw 312 are in the initial position, the fixing member 21 is set in the extension path of the first moving claw 311, and the second moving claw 312 extends to the side of the fixing member 21; the first gripper drive assembly includes a first drive member 321 that extends and retracts in the first direction, and a second drive member 322 that extends and retracts in the vertical direction. The first drive member 321 and the second drive member 322 drive the first moving claw 311 to clamp or release relative to the fixing member 21; the second gripper drive assembly includes a third drive member 323 that extends and retracts in the second direction, and a fourth drive member 324 that extends and retracts in the vertical direction. The third drive member 323 and the fourth drive member 324 drive the second moving claw 312 to clamp or release relative to the fixing member 21.

[0090] In some embodiments of the present invention, the first movable claw 311 and the second movable claw 312 both extend along a first direction to facilitate connection and drive with the gripping device body. A first driving member 321 that extends and retracts along the first direction is provided for the first movable claw 311, and a third driving member 323 that extends and retracts along the second direction is provided for the second movable claw 312, so that the first movable claw 311 and the second movable claw 312 can respectively extend into the material from two directions to cooperate with the fixing member 21 for gripping.

[0091] In some embodiments of the present invention, the first driving member 321, the second driving member 322, the third driving member 323, and the fourth driving member 324 may be cylinders or other structural forms capable of telescopic drive, such as lead screw 42, etc., and this disclosure does not limit them. The first driving member 321, the second driving member 322, the third driving member 323, and the fourth driving member 324 may adopt the same structure or different driving structures, and this disclosure does not limit them.

[0092] In some embodiments of the present invention, a first driving member 321 is disposed on the gripping device body and drives a second driving member 322. One end of the second driving member 322 is drivenly connected to the first driving member 321, and the other end drives the first moving claw 311 to move.

[0093] In some embodiments of the present invention, the third driving member 323 is disposed on the gripping device body and drives the fourth driving member 324. One end of the second driving member 322 is drivenly connected to the third driving member 323, and the other end drives the second moving claw 312 to move.

[0094] In some embodiments of the present invention, such as Figure 2 As shown, the second moving claw 312 has an end 313 that extends toward one side of the fixing member 21 and forms a bent end 313.

[0095] In some embodiments of the present invention, a bent end 313 is provided at the end of the second moving claw 312. This reduces the distance between the bent end 313 and the fixing member 21, allowing the third driving member 323 to switch the second moving claw 312 between the initial position and the clamping position with only a small movement distance. This helps to reduce the size of the third driving member 323 and shorten the movement time. Furthermore, there can be more space between the end of the second moving claw 312 opposite to the bent end 313 and the main body of the gripping device to accommodate the third driving member 323, the fourth driving member 324, and other components that may need to be located in this position.

[0096] Figure 3 This is a perspective view of a gripping device according to an embodiment of the present invention. In some embodiments of the present invention, such as... Figure 3 , Figure 4 As shown, the gripping device includes two gripping arms 1 and a telescopic mechanism 4. The two gripping arms 1 are respectively disposed at both ends of the telescopic mechanism 4, and the telescopic mechanism 4 is used to adjust the distance between the two gripping arms 1.

[0097] In some embodiments of the present invention, by providing two gripping arms 1, the material is gripped at two points, resulting in a more secure grip while maintaining the stability of the material's shape. For example, when gripping flexible materials (such as fabric), the fabric can be kept in an unfolded state, preventing it from curling. A telescopic mechanism 4 is provided to adjust the distance between the two gripping arms 1, which can be adjusted according to factors such as the width of the material to suit materials of different specifications.

[0098] In some embodiments of the present invention, the two gripping arms 1 may be completely symmetrical or not completely symmetrical, as long as they can cooperate with each other to achieve the gripping function.

[0099] In some embodiments of the present invention, such as Figure 2 , Figure 3 and Figure 4 As shown, the movable claw 31 includes a first movable claw 311 and a second movable claw 312. The first movable claw 311 and the second movable claw 312 are respectively located on adjacent sides of the fixing member 21 in the horizontal direction. The two fixing members 21 of the two gripping arms 1 are located between the initial positions of the two second movable claws 312, and the two first movable claws 311 of the two gripping arms 1 are disposed between the two second movable claws 312.

[0100] In some embodiments of the present invention, the second movable claw 312 is disposed on the outside of the fixing member 21. When gripping, the first movable claw 311 of the two gripping arms 1 can grip the material from the same edge, while the second movable claw 312 of the two gripping arms 1 can grip the material from the opposite two edges, which can be applied to different material characteristics and usage scenarios.

[0101] In some embodiments of the present invention, such as Figure 3 , Figure 4 As shown, the telescopic mechanism 4 includes a rotary drive 41, a lead screw 42, and two sliders 43. The rotary drive 41 is used to drive the lead screw 42 to rotate. The two ends of the lead screw 42 are provided with threads in opposite directions. The two sliders 43 are respectively threaded to the two ends of the lead screw 42 and respectively connected to the two gripping arms 1.

[0102] In some embodiments of the present invention, the telescopic structure uses a lead screw 42 to drive the extension and retraction of the two gripping arms 1, which allows for precise control of the extension and retraction amount. Furthermore, the two gripping arms 1 are driven by the same lead screw 42 structure, ensuring symmetrical extension and retraction movements of the two gripping arms 1 and improving the operational stability of the gripping device.

[0103] In some embodiments of the present invention, the telescopic structure may also use two lead screws 42 to drive the two gripping arms 1 respectively.

[0104] In some embodiments of the present invention, the telescopic structure may also use other structural forms to achieve telescopic movement, such as cylinder mechanisms, gear and rack structures, etc., and the present invention does not limit this.

[0105] In some embodiments of the present invention, such as Figure 4 As shown, the gripping device also includes a third sensor 44, which is mounted on the gripping device body or the rotary drive component 41. A reset detection element that cooperates with the third sensor 44 is mounted on the slider 43. If the telescopic mechanism 4 retracts to its minimum length, i.e., the two sliders 43 move towards each other to their travel limits, the reset detection element moves to the detection position of the third sensor 44 and is detected by the third sensor 44. The third sensor 44 can be selected from various types of sensors, such as photoelectric sensors, but is not limited to this.

[0106] In some embodiments of the present invention, the gripping device may be equipped with two third sensors 44, that is, one third sensor 44 is provided for each of the two gripping arms 1. The gripping device may also be equipped with one third sensor 44, that is, one third sensor 44 is provided for one of the gripping arms 1. This disclosure does not limit the number of third sensors 44.

[0107] In some embodiments of the present invention, such as Figure 1 , Figure 2 As shown, the gripping device also includes a fourth sensor 45, which is used to detect the area below the gripping device. By monitoring the area below the gripping device through the fourth sensor 45, it is determined whether the gripping device has moved to a gripping position where it can grip the material.

[0108] In some embodiments of the present invention, the fourth sensor 45 may be disposed on the gripping device body or on the gripping arm, and this disclosure does not limit it in this way.

[0109] In some embodiments of the present invention, such as Figure 1 As shown, there can be two fourth sensors 45, respectively disposed on both sides of the gripping device body, to accurately determine whether the gripping device has moved to the gripping position. Alternatively, the two fourth sensors 45 can be disposed on the two gripping arms respectively. This disclosure does not limit this to either.

[0110] In some embodiments of the present invention, the fourth sensor 45 may be selected from a variety of sensors, such as a laser sensor, but is not limited thereto.

[0111] In some embodiments of the present invention, such as Figure 2 As shown, the gripping device may also include a fifth sensor 46, which is used to detect the pressure between the gripping device and the material to avoid damage or failure to effectively adhere the material due to excessive pressure between the gripping device and the material.

[0112] In some embodiments of this disclosure, the fifth sensor 46 can be disposed on the gripping device body or on the gripping arm, as long as it can detect the pressure between the gripping device and the material.

[0113] Specifically, the fifth sensor 46 can detect the pressure between the fixing member and the material, as well as the pressure between the adhesion component and the material. The fifth sensor 46 can be positioned at the same or similar vertical height as the fixing member 21 to detect the aforementioned pressures.

[0114] Furthermore, the fifth sensor 46 can be fixedly disposed relative to the fixing member 21 to monitor the pressure between the fixing member 21 and the material. The fifth sensor 46 can also be fixedly disposed relative to the pressing member to monitor the pressure between the pressing member and the material.

[0115] In some embodiments of the present invention, the fifth sensor 46 may be a pressure sensor.

[0116] Figure 6 This is a perspective view of a gripping device according to an embodiment of the present invention. In some embodiments of this disclosure, such as... Figure 6 As shown, the gripping device may have a housing 5 to protect the other components of the gripping device.

[0117] The gripping device of this invention can sequentially grab stacked trouser fabrics and pockets and accurately place them to the target, thereby achieving automation in the garment industry.

[0118] Unless otherwise specified, the materials used in this invention generally refer to flexible sheet materials, such as fabrics.

[0119] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A gripping device for flexible sheet materials, characterized in that, include: A fixed gripper mechanism includes a fixing component and an adhesion component. The adhesion component includes a material conveying module and an adhesive component. The adhesive component is used to adhere materials, and the material conveying module is used to convey the adhesive component. A movable gripper mechanism includes a movable gripper and a gripper drive assembly, wherein the gripper drive assembly drives the movable gripper to cooperate with the fixing member to grip materials.

2. The gripping device for flexible sheet materials according to claim 1, characterized in that, The adhesive component is a strip-shaped adhesive component. The material conveying module includes a supply reel and a return reel. The strip-shaped adhesive component is conveyed from the supply reel to the return reel. The portion of the strip-shaped adhesive component located between the supply reel and the return reel is used to adhere material.

3. The gripping device for flexible sheet materials according to claim 2, characterized in that, The material conveying module also includes a pressing component, which presses the strip-shaped adhesive between the supply reel and the recovery reel onto the material surface to adhere the material. The pressing component has an adhesion position at the same height as the fixing component in the vertical direction and a detachment position higher than the fixing component. The adhesion assembly further includes an adhesion drive that drives the pressing member to move between the adhesion position and the detachment position, thereby driving the strip adhesive member to adhere to and detach from the material.

4. The gripping device for flexible sheet materials according to claim 3, characterized in that, The feeding reel and the recovery reel are respectively located on both sides of the section where the pressing component is located; The adhesion assembly further includes a tension roller, which is disposed between the pressing element and the feed reel and / or the recycling reel, and the tension roller moves synchronously with the pressing element.

5. The gripping device for flexible sheet materials according to claim 4, characterized in that, The adhesion assembly further includes: The grating rotates synchronously with the tensioning roller; The first sensor is used to detect the rotation of the grating.

6. The gripping device for flexible sheet materials according to claim 5, characterized in that, The grating has a hollow grid structure that is evenly distributed circumferentially.

7. The gripping device for flexible sheet materials according to claim 3, characterized in that, The adhesion assembly further includes a second sensor disposed on the tape adhesive conveying path between the supply reel and the return reel, the second sensor being used to detect whether the tape adhesive on the supply reel has been used up.

8. The gripping device for flexible sheet materials according to claim 7, characterized in that, The adhesion assembly further includes a tension roller, which is disposed between the pressing element and the feed reel and / or the recycling reel, and the tension roller moves synchronously with the pressing element; The second sensor is located between the pressure member and the tension roller.

9. The gripping device for flexible sheet materials according to claim 2, characterized in that, The adhesion assembly further includes a reel drive that is driven to the recycling reel to drive the recycling reel to wind the strip adhesive.

10. The gripping device for flexible sheet materials according to claim 9, characterized in that, The adhesion assembly also includes a braking element that is braked to the supply reel to brake or release the supply reel.

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