A socks taking device

Abstract

The present invention provides a sock-taking device, comprising a sock supply assembly, a sock-taking camera, a sock-taking manipulator and a clamp, wherein the clamp comprises a connecting seat, a first suction pipe fixedly connected to the connecting seat, a swing arm rotatably connected to the connecting seat, a sock-taking cylinder for driving the swing arm to rotate, and a second suction pipe fixedly connected to the swing arm, wherein the first suction pipe is located on the rotation plane of the swing arm or the first suction pipe is arranged parallel to the rotation plane of the swing arm, and the second suction pipe is located on the rotation plane of the swing arm or the second suction pipe is arranged parallel to the rotation plane of the swing arm. By arranging a clamp having two suction pipes at the end of the manipulator, and one of the suction pipes is connected to the swing arm, the socks can be straightened by using the second suction pipe after the socks are adsorbed by the first suction pipe, thereby realizing automatic picking of the socks, and the socks can also be placed flat on the table, which helps to improve the sock production efficiency.

Description

Technical Field

[0001] The invention relates to socks production equipment, in particular to a socks taking device. Background Art

[0002] In the production process of socks, it is inevitable to pick up socks, for example, to pick up socks in order to put on socks, etc. Since socks are flexible items, they are picked up by traditional robotic arms. Even if the socks are barely picked up by the robotic arm, it is difficult to place the socks flat on the table. Therefore, manual labor is used to pick up socks in current production. This is also a technical problem that is difficult to break through in the automation of sock production in the industry, which seriously restricts the production efficiency of socks.

[0003] In view of this, the present applicant conducted an in-depth study on the structure of the sock taking device, which resulted in this case. Summary of the invention

[0004] The object of the present invention is to provide a sock taking device which helps to improve the sock production efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A sock taking device comprises a sock supply assembly, a sock taking camera located above the sock supply assembly, a sock taking robot located next to the sock supply assembly and a clamp installed at the end of the sock taking robot, the clamp comprising a connecting seat fixedly connected to the sock taking robot, a first suction pipe fixedly connected to the connecting seat, a swing arm rotatably connected to the connecting seat, a sock taking cylinder for driving the swing arm to rotate and a second suction pipe fixedly connected to the swing arm, the first suction pipe is located on the rotation plane of the swing arm or the first suction pipe is arranged parallel to the rotation plane of the swing arm, and the second suction pipe is located on the rotation plane of the swing arm or the second suction pipe is arranged parallel to the rotation plane of the swing arm.

[0007] As an improvement of the present invention, a mounting base which is detachably fixedly connected to the swing rod is fixedly connected to the second straw.

[0008] As an improvement of the present invention, a driving gear is rotatably connected to the connecting seat, a driven gear meshing with the driving gear is fixedly connected to the rocker arm, the rotating connecting shaft between the rocker arm and the connecting seat is coaxially arranged with the central axis of the driven gear, the cylinder body of the sock taking cylinder is rotatably connected to the connecting seat, the piston rod of the sock taking cylinder is rotatably connected to the driving gear, and the rotating connecting shaft between the piston rod of the sock taking cylinder and the driving gear is staggered with the central axis of the driving gear.

[0009] As an improvement of the present invention, the sock taking robot is a multi-joint robot.

[0010] As an improvement of the present invention, a sock recovery frame or a sock recovery conveyor is arranged next to the sock taking robot.

[0011] As an improvement of the present invention, the sock supply assembly includes a sock supply bracket, a flip frame rotatably connected to the sock supply bracket, and a flip driving device for driving the flip frame to rotate relative to the sock supply bracket, the flip frame includes a first frame body and a second frame body that cooperate with each other, the first frame body is rotatably connected to the sock supply bracket, one side of the second frame body is rotatably connected to one side of the first frame body, the first frame body has a first cavity, the second frame body has a second cavity, when the first frame body is rotated to a position facing and fitting with the second frame body, the first cavity and the second cavity jointly form a closed sock flip cavity, and the flip frame also includes an opening and closing driving device for driving the second frame body to rotate relative to the first frame body.

[0012] By adopting the above scheme, the present invention has the following beneficial effects:

[0013] 1. By setting a clamp with two straws at the end of the robot, and one of the straws is connected to the swing rod, the socks can be straightened by using the second straw after the socks are adsorbed by the first straw, thereby realizing automatic picking of the socks and placing the socks flat on the table, which helps to improve the production efficiency of socks.

[0014] 2. The sock supply assembly provided by the present invention can utilize a flipping method to make the sock opening of at least one sock be in a state that can be sucked by a straw. When in use, the knitted socks can be directly poured from the sock collection box of the sock machine into the flip frame without the need for manual sorting, thereby further improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a sock-taking and putting-on board device in an embodiment;

[0016] Figure 2 for Figure 1 A partial enlarged view of the position A in the middle;

[0017] Figure 3 It is a structural schematic diagram of a sock supply assembly in an embodiment;

[0018] Figure 4 is a structural schematic diagram of the sock supply assembly from another perspective in the embodiment;

[0019] Figure 5 It is a structural schematic diagram of the clamp in the embodiment;

[0020] Figure 6 Schematic diagram of the structure of the sock opening pressing device in the embodiment;

[0021] Figure 7 for Figure 1 A partial enlarged view of position B in the middle;

[0022] Figure 8 It is a structural schematic diagram of a sock-wearing device in an embodiment;

[0023] Fig. 9 is a structural schematic diagram of the sock-wearing device from another perspective in the embodiment;

[0024] Fig.10 for Figure 8 A partial enlargement of the position C in the middle;

[0025] Fig.11 Schematic diagram of the structure of the sock collecting device in the embodiment.

[0026] Some parts are omitted in the above figure, and the corresponding markings in the figure are as follows:

[0027] 100- rack; 110- indexing plate;

[0028] 120-socks holder; 121-flat plate;

[0029] 122-perforation; 123-material guide strip;

[0030] 130-sock suction device; 131-lifting cylinder;

[0031] 132-suction cup; 200-sock taking device;

[0032] 210-sock supply assembly; 211-sock supply bracket;

[0033] 212-first frame; 213-second frame;

[0034] 214-frame; 215-fixing plate;

[0035] 216-first rotating shaft; 217-first rotating gear;

[0036] 218-first cylinder; 219-first sliding block;

[0037] 220 - socks taking camera; 221 - first rack;

[0038] 222-support shaft; 223-support bearing;

[0039] 224-a second rotating shaft; 225-a second rotating gear;

[0040] 226-second cylinder; 227-second rack;

[0041] 230-socks taking robot; 231-socks recycling conveyor;

[0042] 240-clamp; 241-connecting seat;

[0043] 242-first straw; 243-swing rod;

[0044] 244-sock taking cylinder; 245-second straw;

[0045] 246-mounting seat; 247-driving gear;

[0046] 248-driven gear; 300-sock opening pressing device;

[0047] 310-upper support plate; 311-downward pressure cylinder;

[0048] 312-lifting plate; 313-pressing plate;

[0049] 314-positioning cylinder; 320-lower support plate;

[0050] 321-support cylinder; 322-back plate;

[0051] 400- identification device; 500- gripping device;

[0052] 510-sliding seat; 520-sliding cylinder;

[0053] 530-lifting cylinder; 540-finger cylinder;

[0054] 550-Splint;

[0055] 600-sock-wearing device; 610-sock-opening device;

[0056] 611-first bracket; 612-first cylinder;

[0057] 613-lower adsorption head; 614-second cylinder;

[0058] 615-upper adsorption head; 616-sock-wearing slide seat;

[0059] 617-sock-wearing cylinder; 618-third cylinder;

[0060] 619-lifting plate; 620-board supply assembly;

[0061] 621-board support; 622-storage board;

[0062] 623-track plate; 624-board supply slide;

[0063] 625-board supply motor; 626-board slide;

[0064] 627-board supply cylinder; 628-guide slide;

[0065] 629-guide rod; 630-guide rail;

[0066] 631-first sock slide; 632-second sock slide;

[0067] 633-first support rod; 634-fourth cylinder;

[0068] 635 - second support rod; 636 - fifth cylinder;

[0069] 637-first sock pressing block; 638-second sock pressing block;

[0070] 639-sixth cylinder; 640-seventh cylinder;

[0071] 641-guide wheel; 642-upper slide seat;

[0072] 643-eighth cylinder; 650-clamping mechanism;

[0073] 651-fixed plate; 652-clamping slide;

[0074] 653-gripping claw; 654-clamping cylinder;

[0075] 655-clamping limit plate; 660-support plate;

[0076] 661-limiting frame; 662-supporting plate;

[0077] 663-support rod; 664-support motor;

[0078] 665-screw rod; 666-handle;

[0079] 700-sock collecting device; 710-sock collecting support;

[0080] 720- receiving plate; 730- sliding frame;

[0081] 740- Material receiving motor; 750- Material receiving cylinder. DETAILED DESCRIPTION

[0082] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0083] like Figure 1-Figure 11As shown, the present embodiment provides a sock removing and plate threading device, including a frame 100, on which a horizontally arranged dividing plate 110 is rotatably connected, and a rotating driving device (not shown in the figure) for driving the dividing plate 110 to rotate is provided on the frame 100. The rotating driving device is a conventional device, such as a motor, etc., and the specific transmission connection structure between the rotating driving device and the dividing plate 110 is also a conventional structure, such as being connected through a reducer or a coupling, etc., which is not the focus of the present embodiment and will not be described in detail here.

[0084] At least six sock placing seats 120 are evenly distributed around the axis of the dividing plate 110 , and in this embodiment, six sock placing seats 120 are used as an example for description. The sock holder 120 includes a flat plate 121 which is horizontally arranged and fixed relative to the dividing plate 110. A through hole 122 is provided at one end of the flat plate 121, and the through hole 122 is staggered with the dividing plate 110. Specifically, one end of the flat plate 121 extends from a position corresponding to the dividing plate 110 to the outside of the dividing plate 110 along the radial direction of the dividing plate 110, and the through hole 122 is located in the portion where the flat plate 121 extends out of the dividing plate 110. The upper side surface of the flat plate 121 is fixedly connected with guide strips 123 at positions on both sides of the through hole 122, and a space for placing the sock body of the sock is formed between the two guide strips 123. When in use, the sock is laid flat on the flat plate 121, and its sock body is located between the two guide strips 123 and covers the through hole 122, and its sock opening faces the direction away from the axis of the dividing plate 110.

[0085] Beside the dividing plate 110, there are provided a sock taking device 200, a sock opening pressing device 300, an identification device 400, a clamping device 500, a sock putting on station and a sock collecting device 700, which are arranged in sequence along the rotation direction of the dividing plate 110 and the spacing between them matches the spacing between two adjacent sock placing seats 120. Among them, the sock putting on station can be a manually operated station, and the sock putting on action is realized manually. In the present embodiment, the sock putting on station is provided with a sock putting on device 600 so as to realize fully automatic production without manual intervention.

[0086] The frame 100 has a sock suction device 130 that cooperates with the perforation 122 at a position corresponding to the sock taking device 200. The sock suction device 130 includes a lifting cylinder 131 fixedly connected to the frame 100 and arranged with the piston rod facing upward, and a suction cup 132 fixedly connected to the upper end of the piston rod of the lifting cylinder 131. When the sock placement seat 120 moves to a position corresponding to the sock taking device 200, the suction cup 132 is located directly below the corresponding perforation 122. Of course, the two can be arranged coaxially. When in use, when the sock taking device 200 places the socks flat on the sock placement seat 120, the lifting cylinder 131 drives the suction cup 132 to pass through the corresponding perforation 122 so that the upper end surface of the suction cup 132 is flush with the upper end surface of the flat plate 121, and the suction cup 132 is used to absorb the socks to ensure that the socks are stably placed on the flat plate. Of course, before use, the suction cup 132 needs to be connected to a vacuum device, which is not a part of the sock-removing and board-threading device provided in this embodiment and needs to be configured separately when in use.

[0087] The sock-taking device 200 includes a sock-supplying assembly 210, a sock-taking camera 220 located above the sock-supplying assembly 210, a sock-taking robot 230 located next to the sock-supplying assembly 210, and a clamp 240 installed at the end of the sock-taking robot 230, wherein the sock-taking robot 230 can be a conventional robot, such as a multi-joint robot, a parallel robot, or a connecting rod robot that can be directly purchased from the market. In this embodiment, the sock-taking robot 230 is a multi-joint robot. It should be noted that the sock-taking device 200 can be used in conjunction with the dividing plate 110, or it can be used independently in other processes of sock production, that is, this embodiment substantially discloses a sock-taking device.

[0088] The sock supply assembly 210 may be a workbench, on which manually pre-stacked socks are placed so that they can be clamped by the clamp 240; the sock supply assembly 210 may also be a belt conveyor, on which manually stacked socks are placed so that they can be clamped by the clamp 240. Figure 3 and Figure 4 As shown, in this embodiment, the sock supply assembly 210 includes a sock supply bracket 211 fixedly arranged relative to the frame 100, a flip frame rotatably connected to the sock supply bracket 211, and a flip driving device for driving the flip frame to rotate relative to the sock supply bracket 211. The sock supply bracket 211 includes a square frame body 214, and two oppositely arranged fixing plates 215 are integrally formed on the frame body 214, and the flip frame is located between the two fixing plates 215. The sock taking camera 220 is located directly above the flip frame and its lens faces the flip frame.

[0089] The flip frame includes a first frame body 212 and a second frame body 213 that cooperate with each other. The outer contour diameters of the first frame body 212 and the second frame body 213 are the same. The first frame body 212 is rotatably connected to the sock supply bracket 211. One side of the second frame body 213 is rotatably connected to one side of the first frame body 212. The first frame body 212 has a first cavity, and the second frame body 213 has a second cavity. When the first frame body 212 rotates to a position facing and fitting with the second frame body 213, the first cavity and the second cavity together form a closed sock flip cavity for placing socks. In addition, the flip frame also includes an opening and closing driving device for driving the second frame body 213 to rotate relative to the first frame body 212.

[0090] A first rotating shaft 216 located in the radial direction of the first frame body 212 is fixedly connected or integrally connected to the outer wall of the first frame body 212 , that is, one end of the first rotating shaft 216 is fixedly connected to the outer wall of the first frame body 212 . The first rotating shaft 216 is fixedly connected to the first rotating gear 217 at one end away from the first frame 212, a first through hole for the first rotating shaft 216 to pass through is opened on one of the fixed plates 215, and a first bearing is arranged in the first through hole, and the first rotating shaft 216 indirectly passes through the first through hole by inserting on the first bearing, and the flip driving device includes a first sliding block 219 slidably connected to the sock supply bracket 211, a first rack 221 fixedly connected to the first sliding block 219, and a first motor or a first cylinder 218 for driving the first sliding block 219 to slide. In this embodiment, the first cylinder 218 driving the first sliding block 219 is used as an example for explanation. Of course, the first motor can also be used instead of the above-mentioned first cylinder. Secondly, the first motor can be a push rod motor, the length direction of the push rod is the same as the sliding direction of the first slider 219 and is directly connected to the first slider 219, and the second motor can also be a conventional stepping motor, and its output shaft is transmission-connected to the first slider 219 through a conventional screw assembly. The length direction of the first rack 221 is the same as the sliding direction of the first sliding block 219 and is perpendicular to the length direction of the first rotating shaft 216. The first rack 221 is meshed with the first rotating gear 217. In this way, the movement of the first rack 221 can drive the first rotating gear 217 to rotate, thereby driving the flip frame to rotate and realize flipping.

[0091] Preferably, a support shaft 222 is fixedly connected or integrally connected to the outer wall of the first frame 212, the support shaft 222 is coaxially arranged with the first rotating shaft 216 and is located on the side of the first frame 212 away from the first rotating shaft 216, and a support bearing 223 is provided on the sock support bracket 211. The support bearing 223 of this embodiment is arranged on the fixing plate 215 at the corresponding position, and the end of the support shaft 222 away from the first frame 212 is inserted into the support bearing 223. By arranging the support bearing 223 and the support shaft 222 in coordination, the flipping of the flip frame can be made more stable.

[0092] The flip frame also includes a second rotating shaft 224, a first connecting piece is fixedly connected to the first frame body 212, a second connecting piece is fixedly connected to the second frame body 213, the first connecting piece is fixedly connected to the second rotating shaft 224, and the second connecting piece is rotatably connected to the second rotating shaft 224. When the first frame body 212 rotates to a position where it is in contact with the second frame body 213, the first connecting piece and the second connecting piece are in contact with each other, and a second rotating gear 225 is fixedly connected to the second rotating shaft 224. The opening and closing driving device includes a rack connecting block that can move relative to the first frame body 212, and a second gear 225 fixedly connected to the rack connecting block. The rack 227 and the second motor or the second cylinder 226 for driving the rack connecting block to slide, that is, the rack connecting block can be slidably connected to the first frame 212, or can be independently arranged relative to the first frame 212, but the rack connecting block can be moved relative to the first frame 212 under the drive of the second cylinder 226. In this embodiment, the second cylinder 226 is used to drive the rack connecting block to slide as an example for explanation. It should be noted that when the second motor is used, the specific transmission connection structure between the second motor and the rack connecting block can be the same as the transmission connection structure between the first motor and the first sliding block 219. The length direction of the second rack 227 is the same as the sliding direction of the rack connecting block and is perpendicular to the length direction of the second rotating shaft 224, and the second rack 227 is meshed with the second rotating gear 225. In this way, the movement of the second rack 227 can drive the second rotating gear 225 to rotate, thereby driving the second frame 213 to rotate, and realizing the closing or opening between the two frames.

[0093] When in use, the knitted socks are placed in the turning cavity of the turning frame, and the sock taking camera 220 is used to identify whether there are socks with the sock opening facing upwards (i.e., socks that can be clamped by the clamp 240) in the turning frame. If so, the socks are picked up by the cooperation of the sock taking robot 230 and the clamp 240. Otherwise, the two frames are closed and the turning frame is turned over at least one circle. The placement position of the socks in the turning cavity is changed by rotating the turning frame on the sock supply bracket 211, and then the two frames are opened, and the above identification action is repeated until there are socks that can be clamped.

[0094] like Figure 5As shown, and with reference to other figures, the clamp 240 includes a connecting seat 241 fixedly connected to the sock taking robot 230, a first suction pipe 242 fixedly connected to the connecting seat 241, a rocker arm 243 rotatably connected to the connecting seat 241, a sock taking cylinder 244 for driving the rocker arm 243 to rotate, and a second suction pipe 245 fixedly connected to the rocker arm 243, wherein the first suction pipe 242 is located on the rotation plane of the rocker arm 243 or the first suction pipe 242 is arranged parallel to the rotation plane of the rocker arm 243, and the second suction pipe 245 is located on the rotation plane of the rocker arm 243 or the second suction pipe 245 is arranged parallel to the rotation plane of the rocker arm 243. Before use, the first suction pipe 242 and the second suction pipe 245 need to be connected to the vacuum device respectively. The vacuum device is not a part of the sock taking and board wearing device provided in this embodiment and needs to be configured separately when in use. When in use, under the control of the sock taking robot 230, the first suction pipe 242 presses against the middle position of the sock opening from top to bottom and absorbs the sock. Then the sock taking robot 230 controls the first suction pipe 242 to move up so that the sock is stood up. In this process, the first suction pipe 242 continuously pumps air to extract the gas inside the sock, so that the side walls of the inner cavity of the sock are relatively pressed against each other and are substantially perpendicular to the rotation plane of the swing rod 243. Then the sock taking cylinder 244 drives the swing rod 243 to rotate so that the second suction pipe 245 It presses against the body of the sock and absorbs the sock, then keeps the relative positions of the first suction tube 242 and the second suction tube 245 unchanged, and uses the sock taking robot 230 to control the first suction tube 242 to move to the sock placing seat 120 corresponding to the position of the sock taking device 200, and at the same time, the first suction tube 242 gradually swings in the horizontal direction, so that the sock is placed on the corresponding flat plate 121, and then the first suction tube 242 drives the placement to be pulled to the space formed between the two corresponding material guide strips 123, and the sock body is absorbed by the sock suction device 130, then, the first suction tube 242 and the second suction tube 245 stop absorbing the sock and reset, and finally the sock suction device 130 completes the entire action of taking the sock and placing the sock on the sock placing seat 120.

[0095] The specific transmission connection structure between the sock taking cylinder 244 and the swing rod 243 can be a conventional structure. For example, the sock taking cylinder 244 adopts a rotating cylinder, and the sock taking cylinder 244 and the swing rod 243 are directly connected. In this embodiment, a driving gear 247 is rotatably connected to the connecting seat 241, and a driven gear 248 meshing with the driving gear 247 is fixedly connected to the swing rod 243. The rotating connection shaft between the swing rod 243 and the connecting seat 241 is coaxially arranged with the central axis of the driven gear 248. The cylinder body of the sock taking cylinder 244 is rotatably connected to the connecting seat 241, and the piston rod of the sock taking cylinder 244 is rotatably connected to the driving gear 247. The rotating connection shaft between the piston rod of the sock taking cylinder 244 and the driving gear 247 is staggered with the central axis of the driving gear 247, and together constitute a crank-connecting rod mechanism. In this way, the driving gear 247 can be driven to rotate by the telescopic action of the piston rod of the sock taking cylinder 244, and then the swing rod 243 can be driven to swing by the driven gear 247.

[0096] Preferably, the second suction pipe 245 is fixedly connected with a mounting seat 246 which is detachably fixedly connected to the swing rod 243, so that the relative position relationship between the second suction pipe 245 and the swing rod 243 can be adjusted to accommodate socks of different lengths. The specific detachable connection structure between the mounting seat 246 and the swing rod 243 can be a conventional structure, such as a bolt connection or a buckle connection, which will not be described in detail here. In addition, in this embodiment, a sock recovery frame or a sock recovery conveyor 231 is provided next to the sock taking manipulator 230, so that after the first suction cup 242 clamps the socks, if it is found that the second suction cup 245 cannot smoothly absorb the socks (judged by detecting the exhaust pressure, the specific judgment method is a conventional method, which is not the focus of this embodiment and will not be described in detail here), the socks can be dropped on the sock recovery frame or the sock recovery conveyor 231.

[0097] like Figure 1 and Figure 6As shown, the sock opening pressing device 300 includes an upper support plate 310 and a lower support plate 320 respectively fixedly connected to the frame 100, the upper support plate 310 is fixedly connected with a downward pressing cylinder 311 with a piston rod arranged in a direction thereof, the piston rod of the downward pressing cylinder 311 is fixedly connected with a horizontally arranged lifting plate 312, the lower side surface of the lifting plate 312 is provided with a pressing plate 313 directly or indirectly connected to the lifting plate 312 for sliding movement and a positioning cylinder 314 for driving the pressing plate 313 to slide. Specifically in this embodiment, the cylinder body of the positioning cylinder 314 is horizontally connected to the lower side surface of the lifting plate 312 for sliding movement, and the pressing plate 313 is fixedly connected to the positioning cylinder 314 through the cylinder body of the positioning cylinder 314. The lower side surface of the cylinder body of the cylinder 314 is indirectly slidably connected to the lifting plate 312, the piston rod of the positioning cylinder 314 is fixedly connected to the lifting plate 312, and the sliding direction of the pressing plate 313 is the same as the length direction of the material guide strip on the sock placing seat 120 located at the position corresponding to the sock pressing device 300; a supporting cylinder 321 with a piston rod facing upward is fixedly connected to the lower support plate 320, and a supporting plate 322 located below the pressing plate 313 is fixedly connected to the piston rod of the supporting cylinder 321; when the sock placing seat 120 moves to the position corresponding to the sock pressing device 300, the corresponding flat plate 121 is located between the pressing plate 313 and the supporting plate 322. When in use, the supporting cylinder 321 is used to lift the back plate 322 so that it is tightly attached to the lower side of the corresponding flat plate 121, and then the pressing plate 313 is moved to the position corresponding to the sock opening of the foreign capital located on the sock seat 120 by the adjusting cylinder 314, and then the pressing cylinder 311 is used to drive the pressing plate 313 to press on the sock opening of the sock, thereby realizing the action of pressing the sock opening.

[0098] like Figure 1 As shown, the identification device 400 includes an identification camera installed on the frame 100 and located above the dividing plate 110. When the sock placement seat 120 moves to a position corresponding to the identification device 400, the corresponding flat plate 121 is located within the photographing range of the identification camera, so that it is possible to confirm by photographing whether the placement state of the socks is suitable for the sock wearing version. If not, the socks are removed from the corresponding sock placement seat 120 by using the clamping device 500. When the removed sock placement seat 120 moves to a position corresponding to the sock wearing version device 600 and the sock collecting device 700, the sock wearing version device 600 and the sock collecting device 700 do not operate; if it is confirmed by photographing that the state of the socks is suitable for the sock wearing version, when the corresponding sock placement seat 120 moves to a position corresponding to the clamping device 500, the clamping device 500 does not operate.

[0099] like Figure 1 and Figure 7As shown, the clamping device 500 includes a slide 510 horizontally slidably connected to the frame 100, a sliding cylinder 520 for driving the slide 510 to slide, a lifting cylinder 530 fixedly connected to the slide 510 with the piston rod arranged downward, a finger cylinder 540 fixedly connected to the piston rod of the lifting cylinder 530, clamps 550 respectively fixedly connected to the finger rods of the finger cylinder 540, and a sock recovery conveyor 231 located below the dividing plate 110, and the two clamps 550 are arranged parallel to each other. When the socks need to be removed from the corresponding sock placement seat 120, the sliding cylinder 520 moves the slide seat 510 to the top of the corresponding sock placement seat 120, and the lifting cylinder 530 drives the finger cylinder 540 to move downward so that the clamping plate 550 is against the corresponding flat plate 121 and is located on both sides of the socks, and then the finger cylinder 540 drives the two clamping plates 550 to move toward each other to clamp the socks, and then the lifting cylinder 530 is reset, and the sliding cylinder 520 moves the slide seat 510 to the top of the feed end of the sock recovery conveyor 231, and the finger cylinder 540 drives the two clamping plates 550 to move away from each other, so that the socks fall into the feed end of the sock recovery conveyor 231.

[0100] like Figure 1 as well as Figure 8-Figure 10 As shown, the sock-wearing device 600 includes a sock-stretching assembly 610 for pulling open the sock opening and a plate supply assembly 620 for inserting the sock plate into the sock. The sock-wearing device 600 can be used in conjunction with the dividing plate 110, and can also be used independently in other types of sock production lines. That is, this embodiment essentially discloses a sock-wearing device. It should be noted that when the sock-wearing device 600 is used independently, it is also necessary to include a sock placement seat 120 for placing socks, and the sock placement seat 120 can be fixed on a workbench.

[0101] The sock-putting assembly 610 includes a first bracket 611 fixedly arranged relative to the frame 100, a first cylinder 612 fixedly connected to the first bracket 611 and arranged with a piston rod facing upward, a lower suction head 613 fixedly connected to the piston rod of the first cylinder 612, a second cylinder 614 directly or indirectly installed on the first bracket 611 and arranged with a piston rod facing downward, an upper suction head 615 fixedly connected to the piston rod of the second cylinder 614, a sock-putting slide 616 horizontally slidably connected to the first bracket 611, a sock-putting cylinder 617 for driving the sock-putting slide 616 to slide, a third cylinder 618 fixedly connected to the sock-putting slide 616 and arranged with a piston rod facing upward, a lifting plate 619 fixedly connected to the piston rod of the third cylinder 618, a guide rail 630 horizontally fixedly connected to the lifting plate 619 and arranged with a length direction perpendicular to the sliding direction of the sock-putting slide 616, and a first sock-putting slide 631 and a second sock-putting slide 631 respectively slidably connected to the guide rail 630. 2. A first sock support rod 633 and a fourth cylinder 634 respectively connected to the first sock slide 631, a second sock support rod 635 and a fifth cylinder 636 respectively connected to the second sock slide 632, a first sock pressing block 637 fixedly connected to the piston rod of the fourth cylinder 634, a second sock pressing block 638 fixedly connected to the piston rod of the fifth cylinder 636, a sixth cylinder 639 for driving the first sock slide 631 to slide, and a sixth cylinder 639 for driving the second sock slide 632 to slide. 2 sliding seventh cylinder 640, wherein the lower suction head 613 is arranged corresponding to the perforation 122 on the sock placing seat 120 moved to correspond to the sock wearing plate device 600, the sliding direction of the sock wearing slide 616 is located in the radial direction of the indexing plate 110, the fourth cylinder 634 and the fifth cylinder 636 are arranged opposite to each other, and the first sock pressing block 637, the first sock supporting rod 633, the second sock supporting rod 635 and the second sock pressing block 638 are arranged in sequence in a horizontal straight line, and the straight line is arranged parallel to the guide rail 630. It should be noted that there can be only one sixth cylinder 639 and one seventh cylinder 640 respectively. In this case, both the sixth cylinder 639 and the seventh cylinder 640 are double-chamber cylinders, and the extension and retraction actions of their piston rods have driving force. The sixth cylinder 639 and the seventh cylinder 640 can also be set in pairs. In this case, both the sixth cylinder 639 and the seventh cylinder 640 are single-chamber cylinders, one of the sixth cylinder 639 and the seventh cylinder 640 is responsible for driving the two sock opening slides to move towards each other, and the other sixth cylinder 639 and the seventh cylinder 640 is responsible for driving the two sock opening slides to move away from each other.

[0102] Before use, the lower suction head 613 and the upper suction head 615 are respectively connected to the vacuum device, which is not a part of the sock taking and board wearing equipment provided in this embodiment and needs to be configured separately when in use; when in use, the two material guide strips 123 moved to the sock placing seat 120 corresponding to the sock wearing device 600 are both located between the first sock pressing block 637 and the second sock pressing block 638, and the first cylinder 612 and the second cylinder 614 act simultaneously, so that the lower suction head 613 and the upper suction head 615 respectively press against the upper and lower sides of the sock and adsorb the sock, and then the lower suction head 613 and the upper suction head 615 move back to back under the drive of the corresponding cylinders, so that the sock opening of the sock is opened, and at the same time, the piston rod of the third cylinder 618 extends to drive the lifting plate 619 to move upward, so that the first sock support rod 633 and the second sock support rod 635 move When it reaches the position corresponding to the sock opening of the sock, the sock wearing cylinder 617 drives the sock wearing slide 616 to move, driving the first sock support rod 633 and the second sock support rod 635 to penetrate into the sock opening of the sock. In this process, the first sock pressing block 637 and the second sock pressing block 638 are synchronously moved to both sides of the sock. Then the sixth cylinder 639 and the seventh cylinder 640 drive the first sock slide 631 and the second sock seat 632 to move back to back, driving the first sock support rod 633 and the second sock support rod 635 to open the sock opening of the sock. At the same time, the piston rods of the fourth cylinder 634 and the fifth cylinder 636 move toward each other, so that the first sock pressing block 637 and the second sock pressing block 638 press the sock tightly on the corresponding sock support rod to prevent the sock from popping out of the sock support rod. At this time, the sock plate can be inserted into the sock. After the plate wearing action is completed, the components of the sock opening assembly 610 are reset.

[0103] Preferably, the lifting plate 619 is rotatably connected with at least one guide wheel 641 arranged parallel to the guide rail 630, and there may be multiple guide wheels 641, and the upper vertices of the multiple guide wheels 641 are located on the same plane as the upper side surfaces of the first sock support rod 633 and the second sock support rod 635, so that the socks to be inserted into the socks can be supported to ensure the accuracy of the insertion position of the inserted socks. In addition, the sock stretching assembly 610 also includes an upper slide 642 horizontally slidably connected to the sock stretching bracket 611 and an eighth cylinder 643 for driving the upper slide 642 to slide, and the cylinder body of the second cylinder 614 is fixedly connected to the upper slide 642. In this way, when the sock stretching assembly 610 is not needed to perform an action, the eighth cylinder 643 can be used to move the second cylinder 614 away, so that the sock wearing station has a larger operating space or observation field.

[0104] The supply plate assembly 620 includes a supply plate bracket 621 fixedly arranged relative to the stocking bracket 611, a storage plate 622 and a track plate 623 horizontally arranged and fixedly connected to the supply plate bracket 621, a supply plate slide 624 horizontally slidably connected to the supply plate bracket 621, a supply plate motor 625 for driving the supply plate slide 624 to slide, a clamping plate slide 626 horizontally slidably connected to the supply plate slide 624, a supply plate cylinder 627 installed on the clamping plate slide 626 with the piston rod arranged downward, and a clamping mechanism 650 fixedly connected to the piston rod of the supply plate cylinder 627, wherein the specific transmission connection structure between the supply plate motor 625 and the supply plate slide 624 is a conventional structure, for example, the transmission connection is achieved through a belt assembly or a chain assembly. The track plate 623 is located at the upper end of the supply plate bracket 621, the supply plate slide 624 is located directly below the track plate 623, and the placement plate 622 is located directly below the sliding stroke of the supply plate slide 624. The sliding direction of the supply plate slide 624 is perpendicular to the sliding direction of the clamping plate slide 626. One end of the sliding track of the sliding direction of the supply plate slide 624 is directed toward the sock placing seat 120 that moves to the sock putting-on station.

[0105] The track plate 623 is provided with a guide slot 628, and the specific path of the guide slot 628 needs to be adjusted according to the type, size and shape of the socks or socks to ensure that the socks can be inserted into the socks at the correct angle to avoid damaging the socks and to ensure that the socks are properly inserted. The clamping plate slide 624 is fixedly connected with a guide rod 629 inserted in the guide slot 628, and the guide rod 629 is preferably provided with a pulley or bearing located in the guide slot 628 to reduce friction. Preferably, a support plate 660 is placed on the upper side of the storage plate 622, and a plurality of limit frames 661 are fixedly connected to the periphery of the support plate 660. The limit frames 661 and the support plate 660 together surround and form a storage space for placing the socks. Of course, the cross-sectional shape of the storage space needs to match the shape of the socks. In addition, support holes are provided on the support plate 660, and the storage plate 622 is provided with through holes at positions corresponding to the support holes, and a support plate 662 vertically slidably connected to the plate support bracket 621 is provided below the storage plate 622. The plate 662 and the storage plate 622 are arranged in parallel, and the upper side of the support plate 662 is fixedly connected with a vertically arranged support rod 663, and the support rod 663 is inserted in the through hole. At the same time, the supply plate bracket 621 is also provided with a support motor 664 for driving the support plate 662 to slide. Specifically, a vertically arranged screw rod 665 is rotatably connected between the storage plate 622 and the supply plate bracket 621, and a screw rod nut fixedly connected to the support plate 662 is sleeved on the screw rod 665. The support motor 664 and the screw rod 665 are connected by a belt assembly.

[0106] Before use, the socks are stacked in the storage space of the socks, and the support rod 663 is pressed against the socks located at the bottom of the storage space; when in use, the plate supply slide 624 slides to a position away from the side of the indexing plate 110, and the plate supply cylinder 627 drives the clamping mechanism 650 to move down to the socks located at the top of the storage space, and uses the clamping mechanism 650 to clamp the end of the bent plate, and then the plate supply slide 624 slowly slides toward the indexing plate 110, driving the socks to penetrate into the socks. In this process, the clamping slide 626 will slide down driven by the guide rod 629 so that the clamping mechanism The structure 650 swings on a horizontal plane perpendicular to the sliding direction of the supply plate slide 624 to adjust the insertion angle of the socks. After completing the insertion of the socks, the supply plate slide 624, the supply plate cylinder 627 and the clamping mechanism 650 are reset and wait for the next action. At the same time, the supporting motor 664 drives the supporting plate 662 to move up a distance of the thickness of the sock through the screw rod 665, so that the supporting rod 663 lifts up the socks in the accommodating space, so that the downward movement stroke of the piston rod of the supply plate cylinder 627 can be kept consistent each time the action is performed, which is convenient for controlling the working sequence.

[0107] The clamping mechanism 650 can adopt a conventional mechanism. Preferably, in this embodiment, the clamping mechanism 650 includes a fixed plate 651 arranged horizontally and fixedly connected to the lower end of the piston rod of the plate supply cylinder 627, two clamping slides 652 respectively connected horizontally and slidingly to the fixed plate 651 and located below the fixed plate 651, clamping claws 653 respectively fixedly connected to the lower ends of the clamping slides 652, and clamping cylinders 654 respectively matched with the two clamping slides 652 one-to-one, wherein the bottom of the clamping claw preferably has a hook to prevent the socks from falling during the clamping process. The two clamping claws 653 are arranged facing each other, and a clamping limit plate 655 fixedly connected to the fixed plate 651 is provided between the two clamping claws 653. When in use, the two clamping cylinders 654 are used to control the two clamping claws 653 to move toward or away from each other, thereby achieving the action of clamping or loosening. In addition, the fixing plate 651 is provided with a positioning hole or a positioning column, so that the positioning column or the locking positioning hole provided on the sock plate can cooperate with it to ensure the accuracy of the clamping position.

[0108] like Figure 1 and Fig.11 As shown, and refer to Figure 8-Figure 10 As shown, the sock collecting device 700 is mainly used to take the socks with the socks on the sock plate from the sock placing seat 120 and stack them up so as to send them to the shaping frame for shaping processing, and a conventional stacking robot can be used. The sock collecting device 700 in this embodiment does not use a conventional stacking robot, but uses a sock collecting device 700 that can better cooperate with the sock plate. The sock collecting device can also be used independently in other types of sock production lines, that is, this embodiment substantially discloses a sock collecting device.

[0109] Specifically, in the present embodiment, the sock collecting device 700 includes a sock collecting bracket 710, a receiving plate 720 arranged horizontally and fixedly connected to the sock collecting bracket 710, a sliding frame 730 horizontally slidably connected to the sock collecting bracket 710, a material receiving motor 740 for driving the sliding frame 730 to slide, a material receiving cylinder 750 installed on the sliding frame 730 with the piston rod arranged downward, and a clamping mechanism 650 fixedly connected to the piston rod of the material receiving cylinder 750, wherein the specific transmission connection structure between the material receiving motor 740 and the sliding frame 730 can be a conventional structure, such as realizing transmission connection through a chain assembly or a belt assembly, etc., and the structure of the clamping mechanism 650 is the same as the structure of the clamping mechanism 650 in the supply plate assembly 620, the only difference is that the fixed plate 651 is changed from being fixedly connected to the lower end of the piston rod of the supply plate cylinder 627 to being fixedly connected to the lower end of the piston rod of the material receiving cylinder 750, which will not be repeated here.

[0110] The receiving plate 720 is located directly below the sliding stroke of the sliding frame 730, and one end of the sliding track of the sliding frame 730 moves toward the sock placing seat 120 corresponding to the position of the sock collecting device 700. A support plate 660 is placed on the upper side of the receiving plate 720, and the connection structure of the support plate 660 is the same as the structure of the supply plate assembly 620, that is, a plurality of limit frames 661 are fixedly connected to the periphery of the support plate 660, and each limit frame 661 and the support plate 660 together surround and form a storage space for placing a sock plate with socks on it, and the support plate 660 is provided with a support hole, and the receiving plate 720 is provided with a through hole at a position corresponding to the support hole, and a support plate 662 vertically slidably connected to the supply plate bracket 621 is provided below the receiving plate 720, and the support plate 662 is vertically slidably connected to the supply plate bracket 621. The plate 662 and the receiving plate 720 are arranged in parallel, and the upper side of the supporting plate 662 is fixedly connected with a vertically arranged supporting rod 663, and the supporting rod 663 is inserted in the through hole. At the same time, the sock collecting bracket 710 is also provided with a supporting motor 664 for driving the supporting plate 662 to slide. Specifically, a vertically arranged screw rod 665 is rotatably connected between the receiving plate 720 and the supply plate bracket 621, and a screw rod nut fixedly connected to the supporting plate 662 is sleeved on the screw rod 665, and a belt assembly is used to realize transmission connection between the supporting motor 664 and the screw rod 665.

[0111] Preferably, in order to facilitate the removal of the socks with the socks, a lifting handle 666 is fixedly connected to the support plate 660. In addition, in order to avoid damaging the socks on the socks, the upper end of the support rod 663 is fixedly connected with an elastic block.

[0112] Before use, the support rod 663 moves up to a position close to the upper opening of the accommodating space; when in use, the sliding frame 730 slides to a position close to the dividing plate 110, and the clamping mechanism 650 is used to clamp the end of the bent plate, and then the sliding frame 730 slides in the opposite direction to the extreme position away from the dividing plate 110, and then the material receiving cylinder 750 drives the clamping mechanism 650 to move down so that the sock plate abuts against the support rod 663, and then the clamping mechanism 650 releases the sock plate, and the material receiving cylinder 750 is reset to complete the sock taking action. At the same time, the supporting motor 664 drives the supporting plate 662 to move down a distance of the sock plate thickness through the screw rod 665, so that the support rod 663 moves the sock plate located in the accommodating space downward, so that the downward movement stroke of the piston rod of the material receiving cylinder 750 can be kept consistent each time the action is performed, which is convenient for controlling the working sequence.

[0113] The sock-removing and plate-threading equipment provided in this embodiment can replace manual work to complete all the sock-removing and plate-threading actions, and personnel do not need to work for a long time in a high-temperature environment.

[0114] The present invention is described in detail above with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the above embodiments. Those skilled in the art can make various changes and applications to the present invention based on the prior art, which all belong to the protection scope of the present invention.

Claims

1. A sock taking device, characterized in that: The invention comprises a sock supply assembly, a sock taking camera located above the sock supply assembly, a sock taking robot located beside the sock supply assembly and a clamp installed at the end of the sock taking robot, wherein the clamp comprises a connecting seat fixedly connected to the sock taking robot, a first suction pipe fixedly connected to the connecting seat, a swing rod rotatably connected to the connecting seat, a sock taking cylinder for driving the swing rod to rotate and a second suction pipe fixedly connected to the swing rod, wherein the first suction pipe is located on the rotation plane of the swing rod or the first suction pipe is arranged parallel to the rotation plane of the swing rod, and the second suction pipe is located on the rotation plane of the swing rod or the second suction pipe is arranged parallel to the rotation plane of the swing rod; The second straw is fixedly connected with a mounting seat which is detachably fixedly connected to the swing rod; The connecting seat is rotatably connected to a driving gear, the swing arm is fixedly connected to a driven gear meshing with the driving gear, the rotating connecting shaft between the swing arm and the connecting seat is coaxially arranged with the central axis of the driven gear, the cylinder body of the sock taking cylinder is rotatably connected to the connecting seat, the piston rod of the sock taking cylinder is rotatably connected to the driving gear, and the rotating connecting shaft between the piston rod of the sock taking cylinder and the driving gear is staggered with the central axis of the driving gear; The sock supply assembly includes a sock supply bracket, a flip frame rotatably connected to the sock supply bracket, and a flip driving device for driving the flip frame to rotate relative to the sock supply bracket. The flip frame includes a first frame body and a second frame body that cooperate with each other. The first frame body is rotatably connected to the sock supply bracket, and one side of the second frame body is rotatably connected to one side of the first frame body. The first frame body has a first cavity, and the second frame body has a second cavity. When the first frame body is rotated to a position where it is in contact with the second frame body, the first cavity and the second cavity together form a closed sock flip cavity. The flip frame also includes an opening and closing driving device for driving the second frame body to rotate relative to the first frame body.

2. The sock taking device according to claim 1, characterized in that: The sock taking robot is a multi-joint robot.

3. The sock taking device according to claim 1, characterized in that: A socks recovery frame or a socks recovery conveyor is arranged beside the socks taking robot.

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