Mechanical hand clamp for roll of cloth

Abstract

The utility model discloses a roll cloth mechanical hand clamp relates to cloth conveying equipment technical field, including robot base, the upper surface symmetry fixed setting of robot base has two limit axle seat, two limit axle seat between through bearing rotatoryly provided with the rotary support rod, the surface sliding sleeve of rotary support rod has two cloth roll support arm, and the front end surface of cloth roll support arm is provided with cloth roll axle limit slot. Through adjusting component, the interval of two cloth roll support arms can be adjusted flexibly, and first electric telescopic link drives adjusting plate to drive cloth roll support arm to slide along rotary support rod, can adapt to different width specifications roll cloth, need not frequently change clamp, greatly promote the adaptive capacity of equipment to different production demand, reduce production preparation time and cost, and the second electric telescopic link in drive box passes through movable frame and drives drive connecting rod to rotate, and then makes rotary support rod rotate around limit axle seat, can adjust the angle and position of cloth roll support arm flexibly.

Description

Technical Field

[0001] This utility model relates to the field of fabric conveying equipment technology, and in particular to a robotic gripper for roll fabric. Background Technology

[0002] In the textile industry's production process, the transfer of rolled fabric is one of the key links. Traditionally, the transfer of rolled fabric relies on manual handling or simple mechanical auxiliary equipment.

[0003] However, existing simple roll fabric conveying equipment has the following technical limitations: On the one hand, the grippers of the equipment's robotic arms are mostly fixed structures, which can only adapt to roll fabrics of a single width. When dealing with rolls of different widths, the grippers need to be frequently disassembled and replaced, which also increases the difficulty of equipment debugging and maintenance costs. On the other hand, some equipment lacks stable limiting and anti-slip structures, which can easily cause the roll fabric to slide, deviate, or even fall off during the gripping, lifting, and transfer process, resulting in fabric damage and production delays.

[0004] To address this, we designed a robotic gripper for rolling fabric. Utility Model Content

[0005] This utility model discloses a robotic gripper for rolling fabric, which aims to solve the technical problems of existing fabric conveying equipment.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A roll fabric robotic gripper includes a robot base. Two limiting shaft seats are symmetrically fixed on the upper surface of the robot base. A rotating support rod is rotatably arranged between the two limiting shaft seats through a bearing. Two roll fabric support arms are slidably sleeved on the surface of the rotating support rod. A roll fabric support arm has a roll fabric shaft limiting groove on its front end surface. The surface of the rotating support rod is provided with an adjustment component, which is used to adjust the distance between the two fabric roll support arms. The adjustment component includes a mounting disc fixedly disposed on the side of the limiting shaft seat. A first electric telescopic rod is fixedly mounted on the side of the mounting disc. An adjustment plate is rotatably connected to the end of the fabric roll support arm away from the fabric roll shaft limiting groove. The telescopic end of the first electric telescopic rod is fixedly connected to the surface of the adjustment plate. An anti-detachment ring is rotatably connected to the side of the fabric roll support arm, a connecting rod is rotatably connected to the side of the adjusting plate, and a guide wheel is rotatably connected to the other end of the connecting rod. The guide wheel is in rolling connection with the back of the anti-detachment ring.

[0007] In a preferred embodiment, a limiting baffle is fixedly connected to the surface of the rotating support rod, and a guide limiting rod is fixedly connected between the limiting baffle and the mounting disc. The surface of the adjusting plate is provided with a limiting guide hole that matches the guide limiting rod, and the adjusting plate is slidably connected to the surface of the guide limiting rod through the limiting guide hole.

[0008] In a preferred embodiment, a torsion spring is provided between the anti-detachment ring and the fabric roll support arm, and an electric push rod is provided between the fabric roll support arm and the connecting rod.

[0009] In a preferred embodiment, drive boxes are fixedly installed on both the left and right sides of the robot base. The drive boxes are equipped with a second electric telescopic rod and a support side plate. The bottom end of the second electric telescopic rod is rotatably connected to the surface of the robot base. The support side plate is fixed to the surface of the robot base. The surface of the support side plate is rotatably connected to drive linkages via bearings. One end of each of the two drive linkages is fixedly connected to both ends of the rotating support rod.

[0010] In a preferred embodiment, a movable frame is fixedly connected to the surface of the drive linkage, and the telescopic end of the second electric telescopic rod is rotatably connected to the end of the movable frame via a rotating shaft.

[0011] In a preferred embodiment, the fabric roll spool limiting groove is semi-circular, and a rubber anti-slip pad is fixedly provided on the inner wall of the fabric roll spool limiting groove.

[0012] As can be seen from the above, the robotic gripper for rolling fabric provided by this utility model has the following technical effects.

[0013] Firstly, the distance between the two fabric roll support arms can be flexibly adjusted by adjusting the components. The first electric telescopic rod drives the adjusting plate to move the fabric roll support arm along the rotating support rod, which can adapt to rolls of fabric of different widths and specifications. There is no need to frequently change the clamps, which greatly improves the equipment's adaptability to different production needs and reduces production preparation time and costs.

[0014] Secondly, the fabric roll shaft limiting groove is designed in a semi-circular arc shape to fit the shape of the fabric roll shaft. Combined with the inner wall rubber anti-slip pad, it increases the friction with the fabric roll shaft. By setting an anti-detachment ring on the fabric roll support arm, when the fabric roll is lifted, the rotation of the fabric roll support arm will cause the connecting rod to push the anti-detachment ring to rotate, thereby holding the fabric roll shaft together with the fabric roll support arm and preventing the fabric roll from falling off during the transfer process. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the roll fabric robotic gripper proposed in this utility model.

[0016] Figure 2This is a three-dimensional structural diagram of the fabric roll support arm of the fabric roll manipulator proposed in this utility model.

[0017] Figure 3 This is a schematic diagram of the internal structure of the drive box of the fabric roll manipulator gripper proposed in this utility model.

[0018] In the attached diagram: 1. Robot base; 2. Limiting shaft seat; 3. Rotary support rod; 4. Fabric roll support arm; 5. Roll limit groove; 6. Adjustment assembly; 7. Electric push rod; 8. Guide wheel; 9. Drive box; 10. Second electric telescopic rod; 11. Support side plate; 12. Drive linkage; 13. Movable frame; 14. Rubber anti-slip pad; 15. Anti-detachment ring; 16. Connecting rod; 17. Torsion spring; 601. Mounting disc; 602. First electric telescopic rod; 603. Adjusting plate; 604. Limiting baffle; 605. Guide limiting rod. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Reference Figures 1-3 The fabric roll gripper includes a robot base 1. On the upper surface of the robot base 1, two limiting shaft seats 2 are symmetrically fixed along the longitudinal central axis. A rotating support rod 3 is rotatably connected between the two limiting shaft seats 2 via bearings. Two fabric roll support arms 4 are slidably sleeved on the surface of the rotating support rod 3. A fabric roll shaft limiting groove 5 is opened on the front end surface of the fabric roll support arm 4. The fabric roll shaft limiting groove 5 is semi-circular, and its curvature matches the outer curvature of the fabric roll shaft of common fabric rolls. The opening direction of the fabric roll shaft limiting groove 5 faces the side away from the rotating support rod 3, which facilitates the insertion and removal of the fabric roll shaft.

[0021] Meanwhile, a rubber anti-slip pad 14 is fixedly installed on the inner wall of the cloth roll limiting groove 5. The rubber anti-slip pad 14 can increase the friction with the cloth roll shaft, effectively preventing the cloth roll from sliding or falling off during the gripping and transfer process, improving the safety of operation and the integrity of the cloth, and reducing the risk of cloth damage.

[0022] Adjustment component 6 is installed on the surface of the rotating support rod 3 to flexibly adjust the distance between the two fabric roll support arms 4 to accommodate rolls of fabric with different widths. At each end of the rotating support rod 3, a mounting disc 601 is fixedly installed, with the center of the disc 601 coinciding with the axis of the rotating support rod 3. Two first electric telescopic rods 602 are fixedly installed on the side of each mounting disc 601 near the fabric roll support arm 4. The two first electric telescopic rods 602 are symmetrically distributed about the axis of the rotating support rod 3, and the extension and retraction directions of the first electric telescopic rods 602 are parallel to the axis of the rotating support rod 3, ensuring that the driving force is transmitted along the axis of the rotating support rod 3 and preventing the fabric roll support arm 4 from shifting under force.

[0023] Each fabric roll support arm 4 has an adjusting plate 603 fixedly connected to one end away from the fabric roll shaft limiting groove 5. The surface of the adjusting plate 603 is perpendicular to the axis of the rotating support rod 3. The telescopic end of the first electric telescopic rod 602 is fixedly connected to the surface of the adjusting plate 603 away from the fabric roll support arm 4. By telescoping the first electric telescopic rod 602, the adjusting plate 603 and the fabric roll support arm 4 can slide along the axis of the rotating support rod 3, thereby adjusting the distance between the two fabric roll support arms 4. This eliminates the need for frequent clamp replacements, significantly improves the equipment's adaptability to rolls of fabric of different widths, and reduces production preparation time and costs.

[0024] A rotatable anti-detachment ring 15 is rotatably connected to the side of the fabric roll support arm 4, and a connecting rod 16 is rotatably connected to the side of the adjusting plate 603. A guide wheel 8 is rotatably connected to the other end of the connecting rod 16. The guide wheel 8 is rolledly connected to the back of the anti-detachment ring 15. A torsion spring 17 is provided between the anti-detachment ring 15 and the fabric roll support arm 4. An electric push rod 7 is provided between the fabric roll support arm 4 and the connecting rod 16, and both ends of the electric push rod 7 are rotatably connected to the connecting rod 16 and the fabric roll support arm 4, respectively.

[0025] On the surface of the rotating support rod 3, between the two fabric roll support arms 4, two limiting baffles 604 are fixedly connected. Each limiting baffle 604 corresponds to one of the two fabric roll support arms 4, limiting the maximum approach distance of the fabric roll support arms 4 and preventing them from colliding and being damaged. Two guide limiting rods 605 are fixedly connected between each limiting baffle 604 and the corresponding mounting disc 601. The surface of the adjusting plate 603 has limiting guide holes that match the guide limiting rods 605. The guide limiting rods 605 pass through the limiting guide holes, allowing the adjusting plate 603 to slide along the guide limiting rods 605. The guide limiting rods 605 guide and limit the sliding of the adjusting plate 603.

[0026] On the left and right sides of the robot base 1, a drive box 9 is fixedly installed. The drive box 9 is rectangular and its inner sidewall is fixedly connected to the side of the robot base 1.

[0027] Inside each drive box 9, there is a second electric telescopic rod 10 and a support side plate 11. The support side plate 11 is rectangular, and its bottom is fixedly connected to the surface of the robot base 1. The height of the support side plate 11 is the same as the height of the drive box 9, and the surface of the support side plate 11 is perpendicular to the axis of the rotating support rod 3. A drive linkage 12 is rotatably connected to the surface of the support side plate 11 via a bearing.

[0028] The other end of the drive link 12 passes through the inner wall of the drive box 9 and is fixedly connected to the end of the rotating support rod 3. The axis of the drive link 12 coincides with the axis of the rotating support rod 3, ensuring that the rotation of the drive link 12 can synchronously drive the rotating support rod 3 to rotate. The bottom end of the second electric telescopic rod 10 is rotatably connected to the surface of the robot base 1 through a rotating shaft. The axis of the rotating shaft is parallel to the surface of the support side plate 11, allowing the second electric telescopic rod 10 to rotate around the bottom rotating shaft.

[0029] A movable frame 13 is fixedly connected to the surface of the drive linkage 12 near the support side plate 11. The telescopic end of the second electric telescopic rod 10 is rotatably connected to the end of the movable frame 13 via a rotating shaft, the axis of which is parallel to the surface of the support side plate 11. By extending and retracting the second electric telescopic rod 10, the movable frame 13 and the drive linkage 12 can be pushed to rotate around the bearing on the support side plate 11, thereby driving the rotating support rod 3 to rotate around the axis between the limiting shaft seats 2. This allows for flexible adjustment of the angle and position of the fabric roll support arm 4 and the fabric roll shaft limiting groove 5, facilitating precise operations such as gripping, transferring, and placing rolled fabric, adapting to different production scenarios and workstation requirements.

[0030] Working principle: First, based on the width of the fabric roll to be grasped, the first electric telescopic rod 602 in the adjustment assembly 6 is activated. The first electric telescopic rod 602 drives the adjustment plate 603 to slide along the axis of the guide limit rod 605 and the rotating support rod 3, thereby adjusting the distance between the two fabric roll support arms 4 so that the distance matches the width of the fabric roll. During the adjustment process, the limit baffle 604 can prevent the two fabric roll support arms 4 from colliding too closely. After the distance adjustment is completed, the second electric telescopic rod 10 in the drive box 9 is activated. The second electric telescopic rod 10 extends, pushing the movable frame 13 and the drive connecting rod 12 to rotate upward around the bearing on the support side plate 11. The drive connecting rod 12 drives the rotating support rod 3 to rotate upward around the axis between the limit shaft seats 2, so that the fabric roll shaft limit groove 5 at the front end of the fabric roll support arm 4 is raised to a position that matches the height of the fabric roll shaft. At this time, the anti-detachment ring 15, pushed by the connecting rod 16, slowly engages above the fabric roll, preventing the fabric roll from detaching from the fabric roll limiting groove 5. Subsequently, the robot base 1 drives the entire clamp to move, locking the fabric roll into the fabric roll limiting grooves 5 of the two fabric roll support arms 4. After the fabric roll is fixed, the second electric telescopic rod 10 is activated again. The second electric telescopic rod 10 retracts, pulling the movable frame 13 and the drive linkage 12 downward, causing the rotating support rod 3, the fabric roll support arm 4, and the fabric roll to rotate downward together to a suitable transfer angle. Finally, the movement of the robot base 1 transfers the fabric roll to the target position.

[0031] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the protection scope of this utility model.

Claims

1. A robotic gripper for rolling fabric, comprising a robot base (1), characterized in that, Two limiting shaft seats (2) are symmetrically fixed on the upper surface of the robot base (1). A rotating support rod (3) is rotatably arranged between the two limiting shaft seats (2) through a bearing. Two cloth roll support arms (4) are slidably sleeved on the surface of the rotating support rod (3). A cloth roll shaft limiting groove (5) is opened on the front end surface of the cloth roll support arm (4). The surface of the rotating support rod (3) is provided with an adjustment component (6), which is used to adjust the distance between the two fabric roll support arms (4). The adjustment component (6) includes a mounting disc (601) fixedly mounted on the side of the limiting shaft seat (2). A first electric telescopic rod (602) is fixedly mounted on the side of the mounting disc (601). An adjustment plate (603) is rotatably connected to one end of the fabric roll support arm (4) away from the fabric roll shaft limiting groove (5). The telescopic end of the first electric telescopic rod (602) is fixedly connected to the surface of the adjustment plate (603). The side of the cloth roll support arm (4) is rotatably connected to an anti-detachment ring (15), the side of the adjusting plate (603) is rotatably connected to a connecting rod (16), the other end of the connecting rod (16) is rotatably connected to a guide wheel (8), and the guide wheel (8) is rollingly connected to the back of the anti-detachment ring (15).

2. The fabric roll gripper according to claim 1, characterized in that, A limiting baffle (604) is fixedly connected to the surface of the rotating support rod (3). A guide limiting rod (605) is fixedly connected between the limiting baffle (604) and the mounting disc (601). A limiting guide hole matching the guide limiting rod (605) is opened on the surface of the adjusting plate (603). The adjusting plate (603) is slidably connected to the surface of the guide limiting rod (605) through the limiting guide hole.

3. The fabric roll gripper according to claim 2, characterized in that, A torsion spring (17) is provided between the anti-detachment ring (15) and the cloth roll support arm (4), and an electric push rod (7) is provided between the cloth roll support arm (4) and the connecting rod (16).

4. The fabric roll gripper according to claim 3, characterized in that, A drive box (9) is fixedly installed on both the left and right sides of the robot base (1). The drive box (9) is equipped with a second electric telescopic rod (10) and a support side plate (11). The bottom end of the second electric telescopic rod (10) is rotatably connected to the surface of the robot base (1). The support side plate (11) is fixed on the surface of the robot base (1). The surface of the support side plate (11) is rotatably connected to a drive link (12) through a bearing. One end of each of the two drive links (12) is fixedly connected to both ends of the rotating support rod (3).

5. The roll fabric robotic gripper according to claim 4, characterized in that, The surface of the drive link (12) is fixedly connected to the movable frame (13), and the telescopic end of the second electric telescopic rod (10) is rotatably connected to the end of the movable frame (13) through a rotating shaft.

6. The fabric roll gripper according to claim 1, characterized in that, The cloth roll shaft limiting groove (5) is semi-circular, and a rubber anti-slip pad (14) is fixedly provided on the inner wall of the cloth roll shaft limiting groove (5).

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