Electromagnetic matrix adsorption type clothing mechanical arm end effector

Abstract

The utility model provides a kind of electromagnetic matrix adsorption type clothing mechanical arm end effector, including bottom plate, which is covered with cover body above the bottom plate, gas nozzle and connecting seat are equipped on the cover body, and the gas nozzle and connecting seat are connected with air pump and mechanical arm respectively;Several adsorption components are embedded on the bottom plate, the bottom of the adsorption component penetrates the bottom plate, and the top is located inside the cover body, airflow passage is equipped in the adsorption component, and the adsorption component is controlled to open and close by electromagnetic switch.The utility model opens corresponding area adsorption component according to the shape of cloth, so as to realize the accurate control of adsorption area, on the one hand, the adsorption force is guaranteed, and the adsorption force is not lost due to the opening of redundant adsorption components, on the other hand, the adsorption area is limited, and the adjacent material is not affected, and the opening and closing of the adsorption component is controlled by using electromagnetic principle, the control response speed is fast, the production efficiency is effectively improved, and the automatic accurate grabbing of cloth is realized after being installed on the mechanical arm.

Description

Technical Field

[0001] This utility model relates to a fabric gripping device, and more particularly to an electromagnetic matrix adsorption type garment robotic arm end effector. Background Technology

[0002] Fabric suction cups are used in automatic sewing machines to attract and transfer single-layer fabric laterally or longitudinally. Traditional suction cups are controlled by a single on / off switch, resulting in inconsistent suction power for fabrics of different sizes. Some matrix-type suction cups, such as the novel matrix suction cup disclosed in CN119527883A, employ electric control. Compared to traditional suction cups, this structure is simpler, allowing for individual control of each suction cup component, enabling single-hole or multi-hole combinations. A single suction cup can attract workpieces of any size and shape with high accuracy, avoiding accidental suction. The entire process utilizes negative pressure created by reducing local air pressure to achieve strong suction force, allowing for flexible adjustment to objects of different weights, significantly improving the gripping rate and enhancing operational flexibility and adaptability. However, each component in this solution uses an air pump, leading to high manufacturing costs and slow response times, impacting production efficiency. Utility Model Content

[0003] (a) Technical problems to be solved The purpose of this utility model is to provide an electromagnetic matrix adsorption-type end effector for garment robotic arms, which has the function of precisely adsorbing fabric. To achieve the above objective, this utility model adopts the following technical solution: (II) Technical Solution An electromagnetic matrix adsorption type garment robotic arm end effector includes a base plate, a cover is provided on the base plate, an air nozzle and a connecting seat are provided on the cover, and the air nozzle and the connecting seat are respectively connected to an air pump and a robotic arm. The base plate is embedded with several adsorption components. The bottom of the adsorption component penetrates the base plate and the top is located inside the cover. The adsorption component has an airflow channel inside and is controlled to open and close by an electromagnetic switch.

[0004] Furthermore, the adsorption assembly includes an adsorption column, a coil is wound around the outer wall of the middle part of the adsorption column, the coil is electrically connected to an external controller through a wire, and a hollow fixing screw is threaded to the bottom of the adsorption column. The adsorption column is equipped with an iron core and a spring. The spring abuts against the top of the iron core, and the bottom of the iron core forms a sealing contact surface with the top of the fixing screw.

[0005] Furthermore, the adsorption column is hollow and has a core sleeve. The space between the outer wall of the core sleeve and the inner wall of the adsorption column forms an air passage, and the iron core and spring are placed inside the core sleeve.

[0006] Furthermore, the adsorption column is a barrel-shaped structure with an open bottom, and its bottom sidewall has several air inlets.

[0007] Furthermore, the adsorption column is fitted with a sleeve, and the space between the inner wall of the sleeve and the outer wall of the adsorption column forms an air passage, which is connected to the air inlet.

[0008] Furthermore, a power supply board is provided between the top of the adsorption column and the top wall of the inner shroud. The power supply board has several ventilation holes and plugs corresponding to the adsorption column. The top of the adsorption column has a socket adapted to the plug. The socket is plugged into the plug and electrically connected to the coil through a wire. Each plug is electrically connected to an external controller through a wire.

[0009] Furthermore, the bottom end of the iron core is enlarged, and the contact surfaces between the iron core and the fixing screw are both conical.

[0010] Furthermore, a leather cup is fitted onto the portion of the bottom of the fixing screw located on the outer side of the base plate.

[0011] Furthermore, the bottom of the leather cup is a flat surface with several through holes, and its side has a vent hole.

[0012] Furthermore, when the bottom of the iron core contacts the top of the fixing screw, the top of the iron core does not exceed the middle of the coil.

[0013] (III) Beneficial Effects This utility model has significant advantages and beneficial effects compared with the prior art, specifically: 1. The control center uses a robotic arm to move the device according to the position of the fabric to be adsorbed. Then, according to the shape of the fabric, the corresponding area adsorption components are activated, thereby achieving precise control of the adsorption area. On the one hand, this ensures the adsorption force and avoids the loss of adsorption force due to the activation of unnecessary adsorption components. On the other hand, the adsorption area is restricted to avoid affecting nearby materials.

[0014] 2. The adsorption component has a simple structure and low cost; 3. The opening and closing of the adsorption components are controlled by electromagnetic principles, resulting in fast control response and effectively improving production efficiency. Attached Figure Description

[0015] The present invention will now be further described with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the external shape of the adsorption surface of this utility model; Figure 2 This is a schematic diagram of the external shape of the connection surface between this utility model and the robotic arm; Figure 3This is a schematic diagram of the external shape of the adsorption component in Example 1; Figure 4 This is an exploded view of the adsorption component in Example 1; Figure 5 This is a cross-sectional schematic diagram of the adsorption component in the closed state in Example 1; Figure 6 This is a partial cross-sectional enlarged schematic diagram of the adsorption component in the open state in Example 1; Figure 7 This is a partially enlarged cross-sectional view of the adsorption component in the closed state in Example 1; Figure 8 This is a cross-sectional schematic diagram of the adsorption component in the open state in Example 2; Figure 9 yes Figure 8 A magnified view of a portion of point I; Figure 10 This is a partial enlarged cross-sectional view of the adsorption component in the closed state in Example 2; Figure 11 This is a cross-sectional schematic diagram of the adsorption component in the open state in Example 3; Figure 12 Figure 11 A magnified view of the central area.

[0017] Explanation of icon numbers: 22. Connecting seat; 23. Power supply board; 24. Plug; 25. Ventilation holes; 3. Adsorption components; 31. Adsorption column; 311. Air intake; 32. Core sleeve 33. Iron core; 34. Spring; 35. Fixing screws; 36. Sleeve; 37. Coil; 38. Airway; 39. Socket; 4. Airflow direction; 5. Leather bowl. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1 and Figure 2 This embodiment discloses an electromagnetic matrix adsorption type garment robotic arm end effector, which includes a base plate 1, a cover 2 covering the base plate 1, an air nozzle 21 and a connecting seat 22 on the cover 2, the air nozzle 21 and the connecting seat 22 are respectively connected to an air pump and a robotic arm (not shown in the figure), wherein the air pump is used to maintain a negative pressure state inside the cover 2, and the robotic arm controls the movement and rotation of this actuator; The base plate 1 is embedded with several adsorption components 3. The bottom of the adsorption component 3 penetrates through the base plate 1 and the top is located inside the cover 2. The adsorption component 3 has an airflow channel inside and is controlled to open and close by an electromagnetic switch. Thus, the controller opens the adsorption component 3 in the corresponding area according to the shape of the fabric, thereby achieving precise control of the adsorption area.

[0024] The specific structure of the actuator described above will be further described below through an embodiment:

Example 1

[0025] The operation process of this embodiment is as follows: 1. Preparation: The air pump puts the inside of the cover 2 under negative pressure. At this time, the spring 34 presses the iron core 33 downward, so that the bottom of the iron core 33 is tightly fitted with the fixing screw 35 to form a seal. 2. Positioning: When preparing to adsorb the fabric, the external CCD vision inspection device judges the shape and position of the fabric, and then the robotic arm moves the actuator above the fabric and makes the adsorption component 3 press the fabric down. 3. Adsorption: After the adsorption component 3 presses down on the fabric, the controller energizes the coil 37 of the adsorption component 3 at the corresponding position according to the shape of the fabric. After the coil 37 is energized, it will attract the iron core 33 upward, so that the bottom of the iron core 33 no longer contacts the top of the fixing screw 35. At this time, a negative pressure will also be formed inside the fixing screw 35, which will firmly adsorb the fabric. 4. Release: After the fabric is adsorbed, the robotic arm drives this actuator to move the fabric to the designated position. The air pump generates positive pressure inside the cover 2 (the airflow direction can be changed by an electromagnetic three-way valve, which is a conventional method and will not be described in detail), causing the fabric to detach and completing the entire gripping process.

[0026] The above process is repeated cyclically, thus enabling the continuous operation of this actuator and effectively improving the fabric gripping effect and efficiency. To ensure long-term operation of the device, the fixing screws 35 allow for the replaceability of each adsorption component 3. During assembly, first place the spring 34 and the iron core 33 into the adsorption column 31 in sequence. Then, insert the adsorption column 31 into the pre-set hole in the base plate 1 from above. Next, screw the fixing screw 35 onto the adsorption column 31 from below the base plate 1. This clamps the base plate 1 with the fixing screw 35 and the adsorption column 31, thus achieving the installation and fixation of the adsorption assembly 3. Then, wire each adsorption assembly 3 separately, and finally put on the cover 2 to complete the assembly of this actuator.

[0027] When a faulty adsorption component 3 needs to be replaced, first remove the cover 2, and then replace the faulty adsorption component 3.

[0028] It is worth mentioning that in actual use, the adsorption components 3 are numerous and closely arranged, so the adsorption effect will only be affected when multiple adsorption components 3 malfunction, and therefore the frequency of replacement is not high.

[0029] To improve sealing, the bottom end of the iron core 33 is enlarged, and the contact surfaces between the iron core 33 and the fixing screw 35 are both tapered. Additionally, a sealing ring is provided in the contact area between the fixing screw 35 and the base plate 1.

[0030] Understandably, the bottom of the fixing screw 35 is fitted with a leather cup 5, which can improve the fit between the adsorption component 3 and the fabric; furthermore, the bottom of the leather cup 5 is a flat surface with several through holes, thereby preventing debris from clogging the fixing screw 35.

[0031] It should be added that, such as Figure 3 The leather cup 5 has vent holes on its side to prevent the problem of adsorbing excess fabric or fabric that cannot fall off after being adsorbed when adsorbing poorly breathable fabrics such as leather. This is because the airflow channel of the corresponding adsorption component 3 is not opened, and the leather cup 5 deforms and generates negative pressure due to its own elasticity.

[0032] Preferably, when the bottom of the iron core 33 contacts the top of the fixing screw 35 (i.e., the adsorption assembly 3 is in the closed state), the top of the iron core 33 does not exceed the middle of the coil 37, so as to ensure that the coil 37 generates sufficient attraction to the iron core 33.

[0033]

Example 2

[0034] By setting a core sleeve 32 inside the adsorption column 31, the airflow flows from the inside of the adsorption column 31 to its top, thereby avoiding interference between the airflow of multiple adsorption components 3, which is beneficial to improving the adsorption effect and response speed.

[0035] like Figure 6 and Figure 7 The diagrams show the adsorption column 31 in open and closed states, respectively. When open, the iron core 33 moves upward. 4 in the diagram indicates the airflow direction. After the air flows out from each adsorption component 3, it enters the space of the cover 2 together and is sucked away by the air pump. In this scheme, the airflow of each adsorption component 3 flows independently and will not interfere with each other.

[0036]

Example 3

[0037] The above scheme also achieves independent airflow for each adsorption component 3.

[0038] like Figure 9 and Figure 10The diagrams show the open and closed states of the adsorption column 31. When open, the iron core 33 moves upward. 4 in the diagram indicates the airflow direction. After the air flows out from the air inlet 311 in each adsorption component 3, it passes through the space between the inner wall of the sleeve 36 and the outer wall of the adsorption column 31 to form an air passage 38 and enters the space of the cover 2, where it is sucked away by the air pump. In this scheme, the airflow of each adsorption component 3 flows independently and will not interfere with each other.

[0039] It is understandable that the sleeve 36 can be pre-fixed on the base plate 1 or on the adsorption column 31 (an air passage 38 needs to be left between the two).

[0040] It should be noted that if the sleeve 36 is pre-fixed on the base plate 1, it is inconvenient to screw the adsorption column 31 from above the base plate 1. Therefore, a threaded groove is provided in the fixing screw 35. The adsorption column 31 is fixedly connected to the fixing screw 35 through the threaded groove, and then the fixing screw 35 is fixedly connected to the base plate 1 through the thread on the outer wall.

[0041]

Example 4

[0042] The above technical solution utilizes connectors to power the coil 37, avoiding excessive wires inside the housing 2 that could affect airflow. It also eliminates the need for separate wiring, greatly improving assembly efficiency and reducing maintenance difficulty.

[0043] It should be noted that, to further improve assembly efficiency and reduce maintenance difficulty, a threaded groove is provided inside the fixing screw 35. The adsorption column 31 is fixedly connected to the fixing screw 35 through this threaded groove, and then the fixing screw 35 is fixedly connected to the base plate 1 through the threads on its outer wall. During disassembly and assembly, it is only necessary to unscrew the fixing screw 35 from the base plate 1, which greatly improves efficiency.

[0044] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An electromagnetic matrix adsorption-type end effector for garment robotic arms, characterized in that: Includes a base plate (1), on which a cover (2) is provided, and the cover (2) is provided with an air nozzle (21) and a connecting seat (22), the air nozzle (21) and the connecting seat (22) being connected to an air pump and a robotic arm respectively; The base plate (1) is embedded with several adsorption components (3). The bottom of the adsorption component (3) penetrates the base plate (1) and the top is located inside the cover (2). The adsorption component (3) has an airflow channel inside and is controlled to open and close by an electromagnetic switch.

2. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 1, characterized in that: The adsorption assembly (3) includes an adsorption column (31), with a coil (37) wound around the outer wall of the middle part of the adsorption column (31). The coil (37) is electrically connected to an external controller through a wire, and a hollow fixing screw (35) is threaded to the bottom of the adsorption column (31). The adsorption column (31) is provided with an iron core (33) and a spring (34). The spring (34) abuts against the top of the iron core (33), and the bottom of the iron core (33) forms a sealing contact surface with the top of the fixing screw (35).

3. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 2, characterized in that: The adsorption column (31) is hollow and has a core sleeve (32). The space between the outer wall of the core sleeve (32) and the inner wall of the adsorption column (31) forms an air passage (38), and the iron core (33) and the spring (34) are placed inside the core sleeve (32).

4. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 2, characterized in that: The adsorption column (31) is a barrel-shaped structure with an open bottom, and its bottom sidewall has several air inlets (311).

5. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 4, characterized in that: The adsorption column (31) is covered with a sleeve (36), and the space between the inner wall of the sleeve (36) and the outer wall of the adsorption column (31) forms an air passage (38), which is connected to the air inlet (311).

6. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 4, characterized in that: A power supply board (23) is provided between the top of the adsorption column (31) and the inner top wall of the cover (2). The power supply board (23) has several ventilation holes and plugs (24) corresponding to the adsorption column (31). The top of the adsorption column (31) is provided with a socket (39) that is compatible with the plug (24). The socket (39) is plugged into the plug (24) and electrically connected to the coil (37) through a wire. Each plug (24) is electrically connected to an external controller through a wire.

7. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 2, characterized in that: The bottom end of the iron core (33) is enlarged, and the contact surfaces of the iron core (33) and the fixing screw (35) are both conical.

8. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 2, characterized in that: The bottom of the fixing screw (35) located on the outside of the base plate (1) is fitted with a leather cup (5).

9. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 8, characterized in that: The bottom of the leather cup (5) is a flat surface with several through holes, and its side has a vent hole.

10. The electromagnetic matrix adsorption type garment robotic arm end effector according to claim 2, characterized in that: When the bottom of the iron core (33) contacts the top of the fixing screw (35), the top of the iron core (33) does not exceed the middle of the coil (37).

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