阅读说明：本技术 用于缝制设备的抓取装置 (Gripping device for sewing equipment ) 是由 王卫芳 于 2019-12-10 设计创作，主要内容包括：本发明涉及一种用于缝制设备的抓取装置,它包括工作台、安装在工作台上的机器人手臂和安装在机器人手臂上的抓手装置本体,机器人手臂为关节型机器人手臂,且支座、大臂和小臂之间包括带动大臂或小臂摆动的摆动连接及带动大臂和或小臂转动的转动连接,手腕上转动安装有抓手装置本体,抓手装置本体在机器人手臂带动下按压并在工作台上移动布料,抓手装置本体包括至少一个抓手机构,且机器人手臂带动抓手机构运动,抓手机构能够保持在布料上的按压面积不变。通过实施本发明,压料件和伸缩装置之间设置气垫,有缓冲作用,并可改变力的作用方向,减小伸缩装置所受的径向力,将多个气垫之间连通使压料件的压力一致,避免按压的力不一影响平稳运送。(The invention relates to a gripping device for sewing equipment, which comprises a workbench, a robot arm arranged on the workbench and a gripping device body arranged on the robot arm, wherein the robot arm is an articulated robot arm, a support, a large arm and a small arm comprise a swinging connection for driving the large arm or the small arm to swing and a rotating connection for driving the large arm or the small arm to rotate, a gripping device body is rotatably arranged on a wrist, the gripping device body is driven by the robot arm to press and move cloth on the workbench, the gripping device body comprises at least one gripping mechanism, the robot arm drives the gripping mechanism to move, and the gripping mechanism can keep the pressing area on the cloth unchanged. By implementing the invention, the air cushions are arranged between the material pressing piece and the telescopic device, have buffering function, can change the action direction of force, reduce the radial force borne by the telescopic device, communicate a plurality of air cushions to ensure that the pressure of the material pressing piece is consistent, and avoid the influence of inconsistent pressing force on stable conveying.)

1. A gripping device for a sewing apparatus, characterized in that: it includes workstation (03), installs robot arm (02) on workstation (03) and installs tongs device body (01) on robot arm (02), robot arm (02) are joint type robot arm, and including driving big arm or the wobbling swing of forearm and drive big arm andor forearm pivoted rotation connection between support, big arm and the forearm, rotate on the wrist and install tongs device body (01), tongs device body (01) are pressed and are moved the cloth on workstation (03) under robot arm (02) drives, tongs device body (01) include at least one tongs mechanism (1), and robot arm (02) drive tongs mechanism (1) motion, and tongs mechanism (1) can keep the area of pressing on the cloth unchangeable.

2. The grasping device for a sewing apparatus according to claim 1, wherein: tongs mechanism (1) is including pressing material (11), flexible device (12) and telescoping device (13), the one end fixed mounting of telescoping device (13) is on robot arm (02), and the other end of telescoping device (13) is flexible end, and flexible end one side is provided with flexible device (12), still be provided with on flexible device (12) and press material (11), telescoping device (13) drive flexible device (12) and press material (11) to be reciprocating motion simultaneously, the bottom surface less than or equal to of flexible device (12) presses material (11) top surface area, and flexible device (12) can produce deformation under the effect of telescoping device (13) and material (11).

3. The grasping device for a sewing apparatus according to claim 2, wherein: the flexible device (12) is a flexible air cushion.

4. The grasping device for a sewing apparatus according to claim 3, wherein: the number of the gripper mechanisms (1) provided with the flexible devices (12) is more than or equal to 2, and the flexible devices (12) are communicated with each other through a pipeline.

5. The grasping apparatus for a sewing machine according to any one of claim 2, wherein: the material pressing piece (11) is of a bottom surface structure, the bottom surface of the material pressing piece (11) is a plane, and the area of the bottom surface of the material pressing piece (11) is 80-200mm²。

6. The grasping device for a sewing apparatus according to claim 2, wherein: the telescopic device (13) comprises a first fixing seat (131) and a first air cylinder (132), wherein the first air cylinder (132) is fixedly connected to the robot arm (02) through the first fixing seat (131), and the end part of a telescopic rod of the first air cylinder (132) is fixedly connected with the flexible device (12).

7. The grasping device for a sewing apparatus according to claim 1, wherein: the gripper device body (01) further comprises a second telescopic device (2), the gripper mechanism (1) is installed on the robot arm (02) through the second telescopic device (2), the gripper mechanism (1) is driven by the second telescopic device (2) to perform telescopic motion, the second telescopic device (2) comprises a first linear slider sliding rail mechanism (21), a first rack gear mechanism (22) and a first servo motor (23), a slider in the first linear slider sliding rail mechanism (21) is fixedly or slidably installed on the robot arm (02), the sliding rail and the slider can move relatively, a first fixing seat (131) of a first telescopic device (13) is fixedly connected to the end portion of the sliding rail, the first servo motor (23) is fixedly installed on the robot arm (02), a shaft of the first servo motor (23) is fixedly connected with a gear of the rack gear mechanism (22), a rack of the rack gear mechanism (22) is fixedly connected to the sliding rail of the first linear slider sliding rail mechanism (21), the servo motor I (23) sequentially drives the gear, the rack, the sliding rail and the telescopic device I (13) to do linear telescopic motion.

8. The grasping device for a sewing apparatus according to claim 7, wherein: the sliding block sliding device is characterized in that a sliding block in the linear sliding block sliding rail mechanism I (21) is installed on a robot arm (02) in a sliding mode, the second telescopic device (2) further comprises a shaft I (24) with a non-circular cross section, the shaft I (24) is coaxially and fixedly connected to a power output shaft of a servo motor I (23), a gear of the gear rack mechanism (22) is sleeved on the shaft I (24) in a sliding mode, limiting strips (221) are arranged on two sides of a rack, the limiting strips (221) and a rack face form a groove-shaped structure in a surrounding mode, and the gear is located in the groove-shaped structure and is in meshed transmission with the.

9. The grasping device for a sewing apparatus according to claim 8, wherein: the gripper device body (01) further comprises an arm flange (3), the arm flange (3) is used for installing a linear slide block sliding rail mechanism I (21) on the robot arm (02), and the slide block of the linear slide block sliding rail mechanism I (21) is connected with the arm flange (3) in a sliding mode.

10. The grasping device for a sewing apparatus according to claim 9, wherein: the gripper device body (01) further comprises a fixing device (5), the fixing device (5) comprises a third fixing seat (51), a third air cylinder (52) and a tooth block (53), the third fixed seat (51) is connected to a slide block in the first linear slide block slide rail mechanism (21), a third cylinder (52) is fixedly arranged on the third fixed seat (51), a tooth block (53) is fixedly connected on a telescopic rod of the third cylinder (52), the tooth block (53) is provided with a matching surface (531) with a tooth-shaped concave-convex structure, the arm flange (3) is provided with a matching piece (31), the mating piece (31) is a rack matched with the tooth shape of the mating surface (531), and the matching surface (531) is arranged opposite to the rack surface of the matching piece (31), the cylinder III (52) extends out, the matching surface (531) is abutted against the rack surface of the matching piece (31), and the linear slide block slide rail mechanism I (21) is limited to move on the arm flange (3).

Technical Field

The invention relates to the field of automatic equipment, in particular to a gripping device for sewing equipment.

Background

Along with the progress of science and technology, the automation degree of various equipment is higher and higher, the popularization of the automation equipment reduces the number of workers, the labor cost is greatly saved, the automation equipment also has the characteristics of high working efficiency and stable work, and the automation equipment has better and more accurate completion degree than the workers for repeated work; to the extracting device who is arranged in making up equipment among the prior art, there is not a very perfect automation equipment, owing to be difficult for snatching under the condition that keeps leveling, snatch easily to produce the fold by force to dragging the in-process cloth obscission can appear, be unfavorable for follow-up making, how to realize that mechanization snatchs the cloth and guarantee the continuity of fortune material process and guarantee that the planarization of cloth in the snatching process is waited for a long time to solve.

Disclosure of Invention

In order to solve the technical problem, the invention discloses a gripping device for sewing equipment.

A gripping device for a sewing apparatus, characterized in that: it includes the workstation, installs the robot arm on the workstation and installs the grabbing hand device body on the robot arm, the robot arm is articulated robot arm, and including driving big arm or forearm wobbling swing connection and drive big arm andor forearm pivoted rotation connection between support, big arm and the forearm, rotates on the wrist and installs the grabbing hand device body, the grabbing hand device body is pressed and is moved the cloth on the workstation under the robot arm drives, grabbing hand device body includes at least one tongs mechanism, and robot arm drives the motion of grabbing hand mechanism, and grabbing hand mechanism can keep the area of pressing on the cloth unchangeable.

Furthermore, the gripper mechanism comprises a pressing part, a flexible device and a telescopic device, one end of the telescopic device is fixedly mounted on the robot arm, the other end of the telescopic device is a telescopic end, the flexible device is arranged on one side of the telescopic end, the pressing part is further arranged on the flexible device, the flexible device and the pressing part are driven by the telescopic device to do reciprocating motion, the bottom surface of the flexible device is smaller than or equal to the top surface area of the pressing part, and the flexible device can deform under the action of the telescopic device and the pressing part.

Further, the flexible device is a flexible air cushion.

Furthermore, the number of the gripper mechanisms provided with the flexible devices is more than or equal to 2, and the flexible devices are mutually communicated through pipelines.

Furthermore, the pressing part is provided with a bottom surface structure, the bottom surface of the pressing part is a plane, and the area of the bottom surface of the pressing part is 80-200mm²。

Furthermore, the telescopic device comprises a first fixing seat and a first air cylinder, the first air cylinder is fixedly connected to the robot arm through the first fixing seat, and the end part of the telescopic rod of the first air cylinder is fixedly connected to the flexible device.

Further, the gripper body also comprises a second telescopic device, the gripper mechanism is arranged on the robot arm through the second telescopic device, the gripper mechanism is driven by a second telescopic device to perform telescopic motion, the second telescopic device comprises a first linear slide block slide rail mechanism, a first gear rack mechanism and a first servo motor, a slide block in the first linear slide block slide rail mechanism is fixedly or slidably arranged on a robot arm, the slide rail and the slide block can move relatively, the end part of the slide rail is fixedly connected with a first fixed seat of a first telescopic device, the first servo motor is fixedly arranged on the robot arm, and a shaft of the first servo motor is fixedly connected with a gear of the rack and pinion mechanism, a rack of the rack and pinion mechanism is fixedly connected on a slide rail of the linear slide block slide rail mechanism, and the first servo motor drives the gear, the rack, the slide rail and the first expansion device to do linear expansion motion in sequence.

Furthermore, a sliding block in the first linear sliding block sliding rail mechanism is slidably mounted on an arm of the robot, the second telescopic device further comprises a first shaft with a non-circular cross section, the first shaft is coaxially and fixedly connected to a power output shaft of the first servo motor, a gear of the gear rack mechanism is slidably sleeved on the first shaft, limiting strips are arranged on two sides of the rack, the limiting strips and a rack surface form a groove-shaped structure in a surrounding mode, and the gear is located in the groove-shaped structure and is in meshed transmission with the rack.

Further, the gripper device body further comprises an arm flange, the arm flange is used for installing the first linear slider sliding rail mechanism on the robot arm, and a slider of the first linear slider sliding rail mechanism is connected with the arm flange in a sliding mode.

Further, the gripper device body further comprises a fixing device, the fixing device comprises a third fixing seat, a third air cylinder and a toothed block, the third fixing seat is connected to a sliding block in the first linear sliding block sliding rail mechanism, the third air cylinder is fixedly arranged on the third fixing seat, the toothed block is fixedly connected to a telescopic rod of the third air cylinder and is provided with a matching surface of a toothed concave-convex structure, a matching piece is arranged on the arm flange and is a rack matched with the toothed shape of the matching surface, the matching surface is opposite to the rack surface of the matching piece, the third air cylinder extends out, the matching surface is abutted to the rack surface of the matching piece, and displacement of the first linear sliding block sliding rail mechanism on the arm flange is limited.

Advantageous effects

The invention discloses a gripping device for sewing equipment, which can obtain the following advantages and effects:

1. the device has a certain buffering effect by arranging the air cushion between the material pressing part and the telescopic device, and the flexible device has good deformability and can change the acting direction in the device, so that the radial force applied to the telescopic device is reduced.

2. Pressure-equalizing, the air cushion can accomplish to cooperate a whole set of grabbing device to realize adjusting the angle of pressing to communicate the pressure that can make a plurality of pressure material spare unanimous between a plurality of air cushions, can not cause the big frictional force of pressure to influence steadily to transport because of certain clamp plate pressure is too big.

3. The edge of the cloth can be controlled when the cloth is grabbed, and meanwhile, the unstable material conveying phenomenon is not generated.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a gripper body according to the present invention;

fig. 3 is a schematic structural diagram of the fixing device of the present invention.

Legend: 01. a gripper body; 02. a robot arm; 03. a work table; 1. a gripper mechanism; 11. pressing the material; 12. a flexible device; 13. a telescoping device; 131. a first fixed seat; 132. a first cylinder; 2. a second expansion device; 21. a linear slider slide rail mechanism; 22. a first gear rack mechanism; 23. a first servo motor; 24. a first shaft; 221. a limiting strip; 3. an arm flange; 31. a mating member; 4. a linear slide block sliding rail; 5. a fixing device; 51. a third fixed seat; 52. a third air cylinder; 53. a tooth block; 531. a mating surface.

Detailed Description

The present invention is further illustrated by the following examples, but is not limited to the details of the description.

Referring to fig. 1 and 2, the grasping apparatus for a sewing machine includes a table 03, a robot arm 02 mounted on the table 03, and a grasping apparatus body 01 mounted on the robot arm 02, the robot arm 02 being an articulated robot arm, the support, the large arm and the small arm comprise swing connection for driving the large arm or the small arm to swing and rotation connection for driving the large arm and/or the small arm to rotate, a gripper device body 01 is rotatably arranged on the wrist, the gripper device body 01 is pressed and moves cloth on the workbench 03 under the driving of a robot arm 02, the gripper device body 01 comprises at least one gripper mechanism 1, and robot arm 02 drives gripper mechanism 1 to move, and gripper mechanism 1 can keep the area of pressing on the cloth unchangeable, and gripper mechanism 1 passes through the deformation of flexible device and warp, can change the effect direction of power to reduce the radial force that the telescoping device received.

Specifically, the gripper mechanism 1 includes a material pressing part 11, a flexible device 12 and a telescopic device 13, one end of the telescopic device 13 is fixedly mounted on the robot arm 02, the other end of the telescopic device 13 is a telescopic end, the flexible device 12 is arranged on one side of the telescopic end, the material pressing part 11 is further arranged on the flexible device 12, the telescopic device 13 simultaneously drives the flexible device 12 and the material pressing part 11 to reciprocate, the bottom surface of the flexible device 12 is less than or equal to the top surface area of the material pressing part 11, the flexible device 12 can deform under the action of the telescopic device 13 and the material pressing part 11, an elastic pressing effect can be provided during use, the radial force borne by the telescopic device 13 is reduced, the specific flexible device 13 can select a spring or an air cushion, preferably, the flexible device 12 is a flexible air cushion, the spring can only play a pressing buffering role, and the radial force borne by the telescopic device 13 cannot be reduced when the direction of the telescopic device 13 and the included angle of the material pressing part are changed, and flexible air cushion not only can play the effect of slowly pressing but also can reduce the radial force of telescoping device 13 through gas compression and air cushion deformation, extension telescoping device's life, more importantly the air cushion can guarantee to press material 11 and cloth laminating state and the even unanimity of size of the effort of material 11 on the cloth, and is concrete, telescoping device 13 includes fixing base 131 and cylinder 132, cylinder 132 passes through fixing base 131 rigid coupling on robot arm 02, and cylinder 132's telescopic link tip rigid coupling flexible device 12.

When the number of the gripping mechanisms 1 provided with the flexible devices 12, namely the air cushions is more than or equal to 2, the flexible devices 12 are communicated with each other through pipelines. Such setting, when tongs mechanism sets up a plurality of pressure material spares, can exert an influence to the effect of fortune cloth when the pressure to the cloth is different, for example the pressure of certain pressure material spare is too big can cause the big frictional force of pressure to influence steadily to be transported, with a plurality of air cushions intercommunication, realize through the intercommunication air cushion that the pressure of the same like this air cushion in each air cushion is also unanimous to the pressure of pressure material spare to a plurality of pressure material spares are also more stable when pressing the cloth.

The material pressing part 11 has a bottom structure, the bottom of the material pressing part 11 is a plane, and the area of the bottom of the material pressing part 11 is 80-200mm²Too large area affects the control of the cloth edge, and too small area can cause unstable material transportation.

The gripper device body 01 further comprises a second telescopic device 2, the gripper mechanism 1 is mounted on the robot arm 02 through the second telescopic device 2, the gripper mechanism 1 is driven by the second telescopic device 2 to perform telescopic motion, the second telescopic device 2 comprises a first linear slider sliding rail mechanism 21, a first rack and pinion mechanism 22 and a first servo motor 23, a slider in the first linear slider sliding rail mechanism 21 is fixedly or slidably mounted on the robot arm 02, the sliding rail and the slider can move relatively, a first fixed seat 131 of a first telescopic device 13 is fixedly connected to the end portion of the sliding rail, the first servo motor 23 is fixedly mounted on the robot arm 02, a shaft of the first servo motor 23 is fixedly connected with a gear of the rack and pinion mechanism 22, a rack of the rack and pinion mechanism 22 is fixedly connected to the sliding rail of the first linear slider sliding rail mechanism 21, and the first servo motor 23 sequentially drives the gear, the rack, the sliding rail and the first telescopic device 13 to perform linear telescopic motion, the pressing position of the pressing piece can be adjusted by arranging the first telescopic device, and the pressing pieces can be adjusted according to the shape of the cloth strip sewing edge when the pressing pieces are arranged, so that a better pressing effect is achieved.

The sliding block in the linear sliding block sliding rail mechanism I21 is slidably mounted on the robot arm 02, the second telescopic device 2 further comprises a first shaft 24 with a non-circular cross section, the first shaft 24 is coaxially and fixedly connected to a power output shaft of the first servo motor 23, a gear of the gear rack mechanism 22 is slidably sleeved on the first shaft 24, limiting strips 221 are arranged on two sides of the rack, the limiting strips 221 and the rack face form a groove-shaped structure in a surrounding mode, the gear is located in the groove-shaped structure and is in meshed transmission with the rack, the non-circular first shaft can enable the gear to slide on the shaft and drive the gear to rotate together to drive the rack to do linear motion, the limiting strips are arranged on two sides of the rack and can prevent the gear from being separated from the rack, and the meshed transmission of the gear and the rack is guaranteed, so.

As shown in fig. 3, the gripper body 01 further includes an arm flange 3, the arm flange 3 mounts the first linear slider sliding rail mechanism 21 on the robot arm 02, and the slider of the first linear slider sliding rail mechanism 21 is slidably connected with the arm flange 3, specifically, the arm flange 3 is mounted with a second linear slider sliding rail 4, the sliding rail is fixedly connected with the arm flange, the slider moves relative to the sliding rail, and the slider of the first linear slider sliding rail mechanism 21 is fixedly connected with the second linear slider sliding rail 4.

The gripper body 01 further comprises a fixing device 5, the fixing device 5 comprises a third fixing seat 51, a third air cylinder 52 and a tooth block 53, the third fixing seat 51 is connected to a slide block in the first linear slide block slide rail mechanism 21, and particularly can be fixedly connected to a slide block of the second linear slide block slide rail mechanism 4, so that the fixing device 5 and the first linear slide block slide rail mechanism 21 can move along the second linear slide block slide rail mechanism 4 together, the third air cylinder 52 is fixedly arranged on the third fixing seat 51, the tooth block 53 is fixedly connected to a telescopic rod of the third air cylinder 52, the tooth block 53 is provided with a matching surface 531 with a toothed concave-convex structure, the arm flange 3 is provided with a matching piece 31, the matching piece 31 is a rack matched with the tooth shape of the matching surface 531, the matching surface 531 is arranged opposite to the rack surface of the matching piece 31, the third air cylinder 52 extends out, the matching surface 531 is abutted to the rack surface of, the robot arm, the air inlet valve of the air cylinder and the motor are respectively connected with a control system through signals, corresponding adjustment control is realized through the control system, and the control system can select a PLC (programmable logic controller) to control a Siemens PLC (programmable logic controller) system.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.