A sock mouth gripping device

Abstract

The present invention discloses a sock mouth grasping device, comprising: an opening sock supporting device for opening the sock cuff, including: an upper gear assembly; an upper suction air pipe (14) with one end fixed to the upper gear assembly; a lower gear assembly; a lower suction air pipe (12) with one end fixed to the lower gear assembly; when the upper gear assembly and the lower gear assembly mesh and swing, the upper suction air pipe (14) and the lower suction air pipe (12) open or close; a sock grasping device for enlarging the sock cuff, including: a grasping main body (19) having a first side surface, a second side surface and a third side surface; a grasping rod (26) located on the first side surface of the grasping main body (19); a main disk rotating ring (31) located on the second side surface of the grasping main body (19); wherein, when the main disk rotating ring (31) is rotated, it drives the grasping rod (26) to move so as to enlarge the sock cuff. The device of the present invention can conveniently open and enlarge the sock cuff and can adapt to sock products of different lengths.

Description

Technical Field

[0001] The present invention relates to a sock mouth grasping device, and more specifically to a device for turning socks and grasping the mouth of cotton silk knitted socks. Background Art

[0002] Knitted products such as socks belong to flexible objects, and their automatic grasping method has always been a world problem, restricting the automation level of replacing manual labor with machinery in the textile industry. Currently, in the textile industry, the finishing work after traditional fabric production still relies on manual labor. The research on flexible grasping of socks has fallen behind the requirements of intelligent development, seriously affecting its production efficiency.

[0003] In the textile and garment manufacturing industry, many production processes rely on manual operations to complete, such as automatic cutting, automatic piece matching, automatic grasping, garment hanging systems, etc. Especially for the automatic grasping link of manipulators, there is little research at home and abroad, resulting in an incomplete intelligent manufacturing chain for textile and garments. The current mainstream research directions are robot fabric grasping systems based on vision and robot fabric grasping systems based on Kinect. By using Kinect sensors to obtain fabric images and applying the CamShift algorithm to find the target fabric, etc. Such research does not have mature technologies, and the costs are high. It is too early to apply it to the textile industry at this stage.

[0004] Regarding the current moving control mechanism for turning the sock tube down in a knitting, sewing, and turning integrated machine. For long stockings, a longer displacement is required, and the existing sock knitting machines often have quality problems or production efficiency problems during turning. Summary of the Invention

[0005] In order to improve the automation level of the textile and garment manufacturing industry and overcome the deficiencies of the prior art, the present invention provides a sock mouth grasping device, including: an opening sock supporting device for opening the sock mouth, including: an upper gear assembly; an upper suction air pipe, one end of which is fixed on the upper gear assembly; a lower gear assembly; a lower suction air pipe, one end of which is fixed on the lower gear assembly; when the upper gear assembly and the lower gear assembly mesh and swing, the upper suction air pipe and the lower suction air pipe open or close;

[0006] A sock grasping device for enlarging the sock mouth, including: a grasping main body having a first side, a second side, and a third side; a grasping rod located on the first side of the grasping main body; a main disk rotating ring located on the second side of the grasping main body; wherein, when the main disk rotating ring is rotated, it drives the grasping rod to move so as to enlarge the sock mouth sleeved on the grasping rod.

[0007] Optionally, the upper gear assembly has upper special-shaped teeth, the lower gear assembly has lower special-shaped teeth, and the upper special-shaped teeth and the lower special-shaped teeth mesh with each other up and down.

[0008] Optionally, the upper special-shaped teeth have perforations, and the lower half has teeth; the lower special-shaped teeth have perforations, and the upper half has teeth.

[0009] Optionally, the upper gear assembly includes: an upper gear base having two support arms with perforations thereon; an upper bushing passing through the two support arms of the upper gear base, with the first end of the upper bushing connected to the upper suction air duct, and the upper bushing being able to rotate within the perforations of the two support arms of the upper gear base; wherein, the upper special-shaped teeth are fastened on the upper bushing and are located between the two support arms of the upper gear base.

[0010] The lower gear assembly includes: a lower gear base having two support arms with perforations thereon; a lower bushing passing through the two support arms of the lower gear base, with the first end of the lower bushing connected to the lower suction air duct, and the lower bushing being able to rotate within the perforations of the two support arms of the lower gear base; wherein, the lower special-shaped teeth are fastened on the lower bushing and are located between the two support arms of the lower gear base.

[0011] Optionally, the opening stocking device further includes: a bottom gear having a vertical hole for the upper special-shaped teeth to swing back and forth through, wherein the upper gear base is fixed on the bottom gear; a stocking mounting base having a vertical hole for the lower special-shaped teeth to swing back and forth through.

[0012] Optionally, the opening stocking device further includes: a transmission gear driven by a motor, the transmission gear meshing with one of the upper special-shaped teeth and the lower special-shaped teeth; a transmission pinion driven by a motor, the transmission pinion meshing with the teeth on the upper end face of the bottom gear, and the transmission pinion being able to drive the bottom gear to swing.

[0013] Optionally, the sock grasping device further includes: a pressure rod rotatably fixed on the third side of the grasping body; a swivel stop block mounted on the main disk swivel, with the extension rod of the swivel stop block extending out through the notch on the third side of the grasping body; when the pressure rod swings back and forth, it drives the swivel stop block to swing back and forth to drive the main disk swivel to rotate back and forth.

[0014] Optionally, the sock grasping device further includes: a chuck disk stop block fixed on the first side of the grasping body, which can come into contact with the end of the chuck disk stop block when the grasping rod opens.

[0015] Optionally, the sock grasping device further includes: a tension spring seat provided on the second side of the grasping body; a tension spring connecting the tension spring seat and the grasping rod movable stop block; a pushing block provided on the main disk swivel; wherein when the main disk swivel rotates, the pushing block pushes the grasping rod movable stop block to rotate, and the tension of the tension spring causes the grasping rod movable stop block to reset.

[0016] Optionally, the sock mouth gripping device further includes a pressure rod device, which includes: a pressure rod base having a through hole; a small pressure rod bevel gear driven by a motor; a pressure rod axle pin; a large pressure rod bevel gear meshing with the small pressure rod bevel gear, and the large pressure rod bevel gear is fixed to the pressure rod base through one end of the pressure rod axle pin and a bearing; a pressure rod clamp fixed to the other end of the pressure rod axle pin, and the pressure rod clamp acts on the pressure rod of the gripping device through a pin shaft and a bearing. The bearing on the pressure rod clamp swings back and forth to control the movement of the pressure rod of the gripping device, thereby driving the rotational movement of the main disk ring.

[0017] The device of the present invention has good reliability, is durable, and can adapt to sock products of different lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To make it easier to understand the present invention, the present invention will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. These drawings only depict typical embodiments of the present invention and should not be considered as limiting the scope of protection of the present invention.

[0019] Figure 1 is a closed three-dimensional view of the sock mouth gripping device of the present invention.

[0020] Figure 2 is an open three-dimensional view of the sock mouth gripping device of the present invention.

[0021] Figure 3 is an exploded structural schematic diagram of the open sock stretching device of the device of the present invention.

[0022] Figure 4 is a three-dimensional view of an angle of the open sock stretching device of the device of the present invention when closing the opening.

[0023] Figure 5 is a three-dimensional view of another angle of the open sock stretching device of the device of the present invention when closing the opening.

[0024] Figure 6 is a three-dimensional view of another angle of the open sock stretching device of the device of the present invention when closing the opening.

[0025] Figure 7 is a three-dimensional view of an angle of the gripping device of the device of the present invention.

[0026] Figure 8 is a three-dimensional view of another angle of the gripping device of the device of the present invention.

[0027] Figure 9 is an exploded structural schematic diagram of the pressure rod device of the device of the present invention.

[0028] Figure 10 is a three-dimensional view of an angle of the pressure rod device of the device of the present invention.

[0029] Reference Signs:

[0030] 1 - Sock support installation base; 2 - Bearing; 3 - Suction air joint; 4 - Transmission gear; 5 - Motor mounting base; 6 - Motor; 7 - Rotating pin; 8 - Upper gear base; 9 - Upper bushing; 10 - Upper gear hoop; 11 - Upper special-shaped tooth; 12 - Lower suction air pipe; 13 - Suction air baffle; 14 - Upper suction air pipe; 15 - Bottom gear; 16 - Small motor; 17 - Motor mounting base; 18 - Transmission small gear; 19 - Grabbing main body; 20 - Locking swing rod; 21 - Bearing; 22 - Pressing rod; 23 - Main body fixing rod; 24 - Chuck block; 25 - Pin; 26 - Grabbing rod; 27 - Rubber; 28 - Swing rod pin; 29 - Swivel ring block; 30 - Pin shaft; 31 - Main disk swivel ring; 32 - Pull spring seat; 33 - Grabbing rod movable block; 34 - Pull spring; 35 - Compression spring; 36 - Pushing block; 45 - Pressing rod base; 46 - Pressing rod large bevel gear; 47 - Cover plate; 48 - Bearing; 49 - Pressing rod shaft pin; 50 - Motor; 51 - Pressing rod small bevel gear; 52 - Bearing; 53 - Pin shaft; 54 - Pressing rod hoop; 55 - Main disk swivel ring pressing block; 56 - Socks with closed cuff; 57 - Socks with open cuff; 59 - Fiber optic sensor; 61 - Lower gear base; 62 - Lower bushing; 63 - Lower gear hoop; 64 - Lower special-shaped tooth. Detailed implementation manners

[0031] The implementation manners of the present invention will be described below with reference to the accompanying drawings so that those skilled in the art can better understand the present invention and be able to implement it. However, the listed embodiments do not limit the present invention. Without conflict, the following embodiments and the technical features in the embodiments can be combined with each other, and the same components are denoted by the same reference numerals.

[0032] Figure 1-2 The sock cuff grabbing device of the present invention is shown, which includes: an opening sock support device, a grabbing device, and a pressing rod device. A sock feeding device is installed at the front ends of the opening sock support device and the grabbing device. During the process of the sock being fed forward by the sock feeding device, the upper suction air pipe of the opening sock support device presses down, and the cuff is opened by negative pressure. A special-shaped gear is installed at the bottom of the suction air pipe and is driven by the motor gear to rotate the suction air pipe by 90 degrees, sending the sock with the opened cuff to the grabbing device. The grabbing rods of the grabbing device are initially in a closed state. When the sock enters the grabbing rods, the bearings of the pressing rod hoop press down, acting on the connecting rod on the side of the chuck device, driving the main disk swivel ring to rotate, causing the grabbing rods to move the sock cuff away from the center of the circle. After reaching the specified position, the chuck lock enters the working state, and at the same time, the grabbing block and the grabbing rods are in close contact, firmly fixing the sock cuff.

[0033] Figure 3Shows an exploded structural schematic diagram of the opening sock stretching device. The opening sock stretching device mainly involves the coordinated movement of the upper suction air duct and the lower suction air duct. When the sock feeding device delivers the sock between the upper and lower suction air ducts, the driving small gear rotates with the small motor to drive the bottom gear. The gear base of the upper suction air duct is installed on the plane of the bottom gear. The swing of the bottom gear causes the upper suction air duct to move downward, and the inside of the suction air duct is filled with negative pressure, acting on the sock mouth. After the upper and lower suction air ducts suck the sock mouth, the upper suction air duct swings back, and as a result, the closed sock mouth is stretched and adsorbed on the upper and lower suction air ducts respectively.

[0034] The opening sock stretching device includes: an upper suction air duct 14 and a lower suction air duct 12. At the end of the upper suction air duct 14, an upper gear assembly is fixed. The upper gear assembly includes: an upper special-shaped tooth 11, an upper gear hoop 10, an upper shaft sleeve 9, a bearing 2, and an upper gear base 8. The upper special-shaped tooth 11 has a generally semi-circular gear with a hole in the center. The upper shaft sleeve 9 is a circular tube shape and has an extended retaining plate at one end. The upper gear base 8 has arms extending outward parallel from the main body, and the arms have holes.

[0035] As Figure 4 shown, the upper special-shaped tooth 11 is fixed to the upper gear base 8 through the upper gear hoop 10, the upper shaft sleeve 9, and the bearing 2. Specifically: the upper shaft sleeve 9 passes through the holes of the two arms of the gear base 8. One end of the upper shaft sleeve 9 is fixed to the end of the upper suction air duct 14, and the other end is installed in the hole of an arm of the gear base 8 through the bearing 2. The upper special-shaped tooth 11 is sleeved on the upper shaft sleeve 9, and the upper special-shaped tooth 11 is tightly fixed to the upper shaft sleeve 9 through the upper gear hoop 10. The upper special-shaped tooth 11 is rotatably fixed within the two arms of the upper gear seat 8.

[0036] The upper gear base 8 is connected to the bottom gear 15 through bottom screw holes. The bottom gear 15 is flat-shaped and has teeth on the top, and these teeth mesh with the driving small gear 18. A vertical hole is opened on the flat plate of the bottom gear 15, and this vertical hole is used to accommodate the upper special-shaped tooth 11. The upper special-shaped tooth 11 can swing left and right through this hole, which is equivalent to swinging back and forth through the bottom gear 15. The driving small gear 18 is driven by a small motor 16 installed on the motor mounting base 17. The driving small gear 18 drives the bottom gear 15 to achieve directional swing (swing in the direction indicated by the F arrow in Figure 3 ), and the bottom gear 15 is fixed on the sock stretching mounting base 1. When the bottom gear 15 swings, it drives the upper and lower air ducts 14 to swing.

[0037] The structure of the lower air intake duct 12 is identical to that of the upper air intake duct 14. A lower gear assembly is connected to the end of the lower air intake duct 12. The lower gear assembly comprises a lower shaped tooth 64, a lower gear clamp 63, a lower shaft sleeve 62, a bearing 2, and a lower gear base 61. Its structure and connection method are identical to those of the upper gear assembly. The lower shaped tooth 64 is mounted at the end of the lower air intake duct 12 and secured to the lower gear base 61 via the lower gear clamp 63, the lower shaft sleeve 62, and the bearing 2.

[0038] The lower gear assembly is fixed to the lower part of the sock mounting base 1. The lower part of the sock mounting base 1 has a vertical hole, so that the lower special-shaped teeth 64 can swing back and forth through the vertical hole. The bottom gear 15 is installed to the upper part of the sock mounting base 1 so that the upper special-shaped teeth 11 and the lower special-shaped teeth 64 are engaged, as shown in FIG. Figure 4 shown.

[0039] The open stocking support device includes a transmission gear 4, which is engaged with the lower special-shaped teeth 64. The transmission gear 4 is driven by a motor 6 mounted on a motor mounting base 5. Figure 4 The position relationship shown in the figure is described as follows: when the transmission gear 4 rotates counterclockwise, it drives the lower special-shaped gear 64 to rotate clockwise, the lower special-shaped gear 64 drives the lower shaft sleeve 62 to rotate clockwise, and the lower shaft sleeve 62 drives the lower air suction pipe 12 to turn outward. Correspondingly, the lower special-shaped gear 64 drives the upper special-shaped gear 11 to rotate counterclockwise, the upper special-shaped gear 11 drives the upper shaft sleeve 9 to rotate counterclockwise, and the upper shaft sleeve 9 drives the upper air suction pipe 14 to turn outward, and finally the upper air suction pipe 14 is turned outward. Figure 6 In the state shown in the figure, the socks are flipped 90 degrees and the socks with the cuffs opened are delivered to the grabbing device. When the lower suction pipe 12 and the upper suction pipe 14 need to be returned to their positions, the transmission gear 4 rotates in the opposite direction.

[0040] A sock feeding mechanism is installed at the front end of the open sock stretching device. When the feeding mechanism feeds a sock between the upper and lower suction tubes (the tubes are aligned, but separated by a gap to allow the sock feeding mechanism to insert the sock), the transmission pinion 18 rotates with the small motor 16, driving the bottom gear 15 to swing. This swinging of the bottom gear 15 causes the upper suction tube 14 to move downward. Negative pressure fills the upper and lower suction tubes 14, 12, acting on the sock cuff. After the upper and lower suction tubes have attracted the cuff, the upper suction tube 14 swings back, causing the closed cuff to open and become adsorbed between the upper and lower suction tubes 14, 12.

[0041] The upper suction pipe 14 and the lower suction pipe 12 are respectively connected to respective suction joints, which are connected to suction fans to maintain a certain negative pressure in the upper suction pipe 14 and the lower suction pipe 12 .

[0042] Preferably, suction baffles 13 are welded at the suction ports of the upper suction pipe 14 and the lower suction pipe 12, and the suction baffles 13 can effectively prevent socks from entering the suction pipe.

[0043] Preferably, optical fiber sensors 59 are provided inside the upper air suction pipe 14 and the lower air suction pipe 12 to sense whether the sock cuff enters between the upper air suction pipe 14 and the lower air suction pipe 12.

[0044] Preferably, the height position of the lower air suction pipe 12 is fixed, and the opening and closing distance between the upper air suction pipe 14 and the lower air suction pipe 12 is adjusted by the number of pulses of the signal of the motor 16, so as to better adapt to the opening effect of socks with different thicknesses.

[0045] In Figure 1 the opening sock stretching device is in a closed state, and at this time the upper air suction pipe 14 and the lower air suction pipe 12 are in alignment. In Figure 2 the opening sock stretching device is in an open state, and at this time both the upper air suction pipe 14 and the lower air suction pipe 12 have rotated 90 degrees.

[0046] Preferably, optical fiber sensors are fixed inside the upper air suction pipe 14 and the lower air suction pipe 12. When the optical fiber sensors in the air suction pipes sense that the socks enter the air suction pipe area, the upper air suction pipe moves upward through the motor and the gear mechanism, and at the same time, in cooperation with the lower air suction pipe, the closed sock cuff is stretched open and adsorbed on the upper and lower air suction pipes respectively. After the sock cuff is adsorbed on the upper and lower air suction pipes, the upper and lower air suction pipes are rotated 90 degrees through auxiliary mechanisms such as the motor to send the sock with the stretched cuff to the grasping device.

[0047] In summary, in the opening sock stretching device of the present invention, after the sock cuff is adsorbed on the upper and lower air suction pipes, the large motor drives the special-shaped gear to rotate, and the special-shaped gear transmits the rotation to the upper and lower air suction pipes through the hoop, the shaft sleeve and the bearing, so that it rotates 90 degrees. The purpose is to send the sock with the stretched cuff to the grasping device. Subsequently, after the grasping device grasps the opened sock, the opening sock stretching device returns to the initial state and waits for the entry of the second sock.

[0048] In the opening sock stretching device of the present invention, through the small motor and the motor mounting base at the top of the mounting base, the driving small gear and the bottom gear are meshed and driven, and the upper air suction pipe is driven to swing up and down through mechanisms such as the gear base and the special-shaped gear. The height position of the lower air suction pipe is fixed, and the opening and closing distance between the upper air suction pipe and the lower air suction pipe is adjusted by the number of pulses of the motor signal, so as to better adapt to the opening effect of socks with different thicknesses.

[0049] In the opening sock stretching device of the present invention, air suction baffle plates are welded at the air suction openings of the upper air suction pipe and the lower air suction pipe, effectively preventing the socks from entering the air suction pipes. The upper air suction pipe and the lower air suction pipe are communicated with the air suction joint, and the air suction joint is connected to the air suction fan to keep a certain negative pressure inside the air suction pipes.

[0050] Next, after the open sock stretching device stretches the sock cuff, the upper and lower suction pipes rotate 90 degrees to send the socks with stretched cuffs into the grabbing device. The grabbing rod is closed by default. When the socks are sensed to enter, the pressure rod device causes the pressure rod to act on the swivel block through the rotation of the motor. The swivel block is fixed on the main disk swivel, and the main disk swivel is controlled to rotate through the pin fixed on the disk surface, driving the movable block of the grabbing rod to move in the direction away from the lock swing rod, so that the grabbing rod gradually leaves the center of the circle and finally contacts the grabbing disk block, so that the socks sent by the open sock stretching device gradually expand from the center of the cuff, and finally firmly fixed between the grabbing rod and the grabbing disk block, completing the grabbing of the sock cuff.

[0051] Specifically, Figure 7-8 A structural diagram of a gripping device of the present invention is shown. The gripping device includes a gripping body 19. The gripping body 19 is shown in the figure as an annular shape. The gripping body 19 has a first side surface (front side), a second side surface (back side), and a third side surface (annular outer contour surface).

[0052] The grabbing device includes a main body fixing rod 23 , which is fixed on the third side surface of the grabbing main body 19 .

[0053] The gripping device includes a plurality of gripping disc blocks 24 (preferably evenly spaced, Figure 7 The gripping plate block 24 is secured to the gripping body 19 via a pin 25 located on the annular inner wall of the gripping body 19. The gripping plate block 24 extends outward perpendicularly to the first side surface of the gripping body 19. A rubber member 27 is incorporated into the inner side of the distal end of the gripping plate block 24. The rubber member 27 is located within a groove within the distal end of the gripping plate block 24. The soft rubber member 27 effectively protects the integrity of the sock cuff. A compression spring 35 is interposed between the gripping plate block 24 and the gripping body 19 to cushion the pressure between the gripping rod 26 and the gripping plate block 24.

[0054] like Figure 8 As shown, the gripping device also includes a main disc rotating ring 31, which is located in a groove on the second side of the gripping body 19. The annular side wall of the main disc rotating ring 31 is attached to the annular inner wall of the gripping body 19. The bottom annular surface of the main disc rotating ring 31 is placed in the groove on the second side of the gripping body 19. The annular bottom surface does not completely cover the groove on the second side of the gripping body 19 (located on the outer ring of the groove). A plurality of main disc rotating ring pressure blocks 55 are installed on the inner ring portion of the groove. The main disc rotating ring pressure blocks 55 control the main disc rotating ring 31 to always be in the gripping body 19 and prevent it from falling out of the groove. The main disc rotating ring 31 can rotate relative to the gripping body 19. A rotating ring stopper 29 is provided on the second side of the gripping body 19 to limit the rotational travel of the main disc rotating ring 31.

[0055] The grasping device includes a latch swing rod 20. The first end of the latch swing rod 20 is installed on the groove (inner ring) of the second side surface of the grasping main body 19 through a swing rod pin 28. The latch swing rod 20 passes through a notch on the annular wall of the grasping main body 19 and extends from the second side surface of the grasping main body 19 to the first side surface of the grasping main body 19. A bearing 21 is installed at the second end of the latch swing rod 20. The latch swing rod 20 is used to limit the swing stroke of the pressure lever 22, that is, it also limits the rotation stroke of the main disk swivel 31.

[0056] The grasping device further includes a swivel block 29. The main body of the swivel block 29 is fixed on the annular inner wall of the main disk swivel 31 and can rotate with the main disk swivel 31. The extension rod of the swivel block 29 extends from the second side surface of the grasping main body 19 to the first side surface of the grasping main body 19 along the said notch on the annular wall of the grasping main body 19. The main disk swivel 31 rotates within the said notch of the grasping main body 19.

[0057] The grasping device further includes a pressure lever 22. The shape of the pressure lever 22 is bent. The bent part of the pressure lever 22 is fixed on the grasping main body 19 (on the third side surface) through a pin shaft. The end of the pressure lever 22 can contact the extension rod of the swivel block 29. That is, when the pressure lever 22 is rotated, the end of the pressure lever 22 pushes the extension rod of the swivel block 29 to rotate, and the swivel block 29 rotates within the said notch of the grasping main body 19, pushing the main disk swivel 31 to rotate within the said notch of the grasping main body 19. According to the grasping device of the present invention, the pressure lever 22 controls the rotation of the main disk swivel through the swivel block 29. The starting position of the rotation is determined by the stroke of the pressure lever 22, and the ending position is determined by the latch swing rod 20 clamping the main disk swivel 31.

[0058] The grasping device further includes a grasping rod 26. The grasping rod 26 is located on the first side surface of the grasping main body 19. The grasping rod 26 has a grasping rod movable block 33. The grasping rod movable block 33 is located on the groove (inner circle of the groove) of the second side surface of the grasping main body 19. When the end of the grasping rod movable block 33 is rotated, the grasping rod movable block 33 rotates, driving the rotation of the grasping rod 26. A tension spring seat 32 is fixed beside each grasping rod movable block 33 (within the inner circle of the groove on the second side surface of the grasping main body 19). A tension spring 34 is connected to the tension spring seat 32, and the other end of the tension spring 34 is fixed on the grasping rod movable block 33. A plurality of pushing blocks 36 are provided on the main disk swivel 31 (one for each grasping rod movable block 33). When the main disk swivel 31 rotates, it pushes the grasping rod movable block 33 to rotate, and the tension spring 34 is stretched. The grasping rod movable block 33 rotates, driving the rotation of the grasping rod 26, and the grasping rod 26 opens. When the main disk swivel 31 is released, the tension spring seat 32 and the tension spring 34 enable the grasping rod 26 to reset after rotation.

[0059] Through the cooperative movement of the swivel stop block 29 and the pressure rod 22, the position requirement of the main disk swivel 31 is achieved. After the grasping rod 26 and the grasping rod movable stop block 33 are adjusted to the proper positions, they move in a coordinated and linked manner, so that the four grasping rods 26 always maintain the same angle and synchronous trajectory, thereby effectively improving the success rate of grasping the sock cuff.

[0060] The cooperation process of the grasping rod 26 and the grasping disk stop block 24 is as follows: The main disk swivel 31 is rotated by the pin shaft 30 fixed on the second side surface of the grasping main body 19, driving the grasping rod movable stop block 33 to move in the direction away from the lock swing rod 20, so that the grasping rod 26 gradually moves away from the center of the grasping main body 19 and finally contacts the grasping disk stop block 24, causing the sock sent by the opening and sock-supporting device to gradually expand from the center of the cuff and finally be firmly fixed between the grasping rod 26 and the grasping disk stop block 24, completing the grasping of the sock cuff. After the first sock cuff is grasped, the sock after the grasped cuff is sent out through a special device, the lock swing rod 20 is reset, and the grasping rod completes the reset work through the cooperation of the spring seat 32 and the spring 34 fixed on the grasping main body.

[0061] The grasping rod 26 of the grasping device is initially in a closed state. When the optical fiber sensor 59 senses that the sock cuff enters between the upper air suction pipe 14 and the lower air suction pipe 12, as Figure 7-8 shown, the rotation of the motor 50 (described below) causes the pressure rod 22 to act on the swivel stop block 29, and the pressure rod 22 pushes the swivel stop block 29 to rotate. The swivel stop block 29 pushes the pin shaft 30 fixed on the main disk swivel 31, controls the rotation of the main disk swivel 31, pushes the movable stop block 33 to rotate, and the movable stop block 33 drives the grasping rod 26 to move in the direction close to the lock swing rod 24, so that the grasping rod 26 gradually moves away from the center and finally contacts the grasping disk stop block 27, causing the sock sent by the opening and sock-supporting device to gradually expand from the center of the cuff and finally be firmly fixed between the grasping rod 26 and the grasping disk stop block 27, completing the grasping of the sock cuff. Release the connecting rod 22, and the main disk swivel 31 rotates back under the pulling force of the spring seat 32.

[0062] As Figure 9 、 10 shown, the grasping device of the present invention further includes a pressure rod device, and the pressure rod device includes a pressure rod base 45, a pressure rod large bevel gear 46, a pressure rod small bevel gear 51 and a pressure rod pin 49. The pressure rod base 45 has a through hole, the pressure rod large bevel gear 46 is fixed to the pressure rod base 45 through the pressure rod pin 49 and the bearing 48, the pressure rod small bevel gear 51 acts on the pressure rod large bevel gear 46 through the transmission of the motor 50, the pressure rod clamp 54 is fixed to the other end of the pressure rod pin 49, and acts on the pressure rod 22 of the grasping device through the pin shaft 53 and the bearing 52 fixed on the pressure rod clamp 54. The forward and reverse rotation of the motor 50 of the pressure rod device, through the meshing of the pressure rod large bevel gear 46 and the pressure rod small bevel gear 51, causes the bearing 52 on the pressure rod clamp 54 to swing back and forth to control the up and down movement of the pressure rod 22 of the grasping device (Figure 7 in the direction of arrow G therein), thereby driving the rotational movement of the main disk turntable 31. The forward and reverse rotation of the lever device motor causes the bearing on the lever clamp to swing back and forth to control the up and down movement of the lever of the grasping device, improving the automation degree of the whole device.

[0063] The above-described embodiments are only relatively preferred specific embodiments of the present invention. The present specification uses phrases such as "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments", which may all refer to one or more of the same or different embodiments according to the present disclosure. Ordinary variations and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included within the protection scope of the present invention.

Claims

1. A sock mouth gripping device, characterized in that, Comprising: An opening and sock stretching device for opening the sock cuff, comprising: an upper gear assembly; an upper suction air pipe (14) with one end fixed to the upper gear assembly; a lower gear assembly; a lower suction air pipe (12) with one end fixed to the lower gear assembly; when the upper gear assembly and the lower gear assembly mesh and swing, the upper suction air pipe (14) and the lower suction air pipe (12) open or close; A sock grasping device for stretching the sock cuff, comprising: a grasping main body (19) having a first side, a second side and a third side; a grasping rod (26) located on the first side of the grasping main body (19); a main disk rotating ring (31) located on the second side of the grasping main body (19); wherein, when the main disk rotating ring (31) is rotated, it drives the grasping rod (26) to move so as to stretch the sock cuff sleeved on the grasping rod (26); The driving grasping rod (26) has a grasping rod movable stop block (33); The upper gear assembly includes: an upper gear base (8) having two support arms with perforations on the support arms; an upper shaft sleeve (9) passing through the two support arms of the upper gear base (8), the first end of the upper shaft sleeve (9) being connected to the upper suction air pipe (14), and the upper shaft sleeve (9) being able to rotate within the perforations of the two support arms of the upper gear base (8); wherein, an upper special-shaped tooth (11) is fastened to the upper shaft sleeve (9) and is located between the two support arms of the upper gear base (8); The upper gear assembly has an upper special-shaped tooth (11), and the lower gear assembly has a lower special-shaped tooth (64), and the upper special-shaped tooth (11) and the lower special-shaped tooth (64) mesh with each other up and down; The upper special-shaped tooth (11) has a perforation and teeth on the lower half; the lower special-shaped tooth (64) has a perforation and teeth on the upper half; The lower gear assembly includes: a lower gear base (61) having two support arms with perforations on the support arms; a lower shaft sleeve (62) passing through the two support arms of the lower gear base (61), the first end of the lower shaft sleeve (62) being connected to the lower suction air pipe (12), and the lower shaft sleeve (62) being able to rotate within the perforations of the two support arms of the lower gear base (61); wherein, a lower special-shaped tooth (64) is fastened to the lower shaft sleeve (62) and is located between the two support arms of the lower gear base (61); A pressure rod (22) rotatably fixed to the third side of the grasping main body (19); A rotating ring stop block (29) installed on the main disk rotating ring (31), and the extension rod of the rotating ring stop block (29) extends out through a notch on the third side of the grasping main body (19); When the pressure rod (22) swings back and forth, it drives the rotating ring stop block (29) to swing back and forth to drive the main disk rotating ring (31) to rotate back and forth.

2. The sock mouth gripping device according to claim 1, wherein The opening and sock stretching device further includes: A bottom gear (15) having a vertical hole for the upper special-shaped tooth (11) to pass through when swinging back and forth, wherein the upper gear base (8) is fixed to the bottom gear (15); A sock stretching mounting base (1) having a vertical hole for the lower special-shaped tooth (64) to pass through when swinging back and forth.

3. The sock mouth gripping device according to claim 2, characterized in that, The opening and sock stretching device further includes: A transmission gear (4) driven by a motor, and the transmission gear (4) meshes with one of the upper special-shaped tooth (11) and the lower special-shaped tooth (64); A transmission pinion (18) driven by a motor, the transmission pinion (18) meshing with the teeth on the upper end face of the bottom gear (15), and the transmission pinion (18) being capable of driving the bottom gear (15) to swing.

4. The sock mouth grasping device according to claim 3, characterized in that, The sock grasping device further includes: A chuck stop block (24) fixed on the first side surface of the grasping body (19), and when the grasping rod (26) is opened, it can contact the end of the chuck stop block (24).

5. The sock mouth grasping device according to claim 3, characterized in that, The sock grasping device further includes: A tension spring seat (32) provided on the second side surface of the grasping body (19); A tension spring (34) connected between the tension spring seat (32) and the grasping rod movable stop block (33); A push block (36) provided on the main disk swivel ring (31); Wherein when the main disk swivel ring (31) rotates, the push block (36) pushes the grasping rod movable stop block (33) to rotate, and the pulling force of the tension spring (34) causes the grasping rod movable stop block (33) to reset.

6. The sock mouth grasping device according to claim 3, wherein It further includes a pressure rod device, and the pressure rod device includes: A pressure rod base (45) having a through hole; A pressure rod small bevel gear (51) driven by a motor; A pressure rod axle pin (49); A pressure rod large bevel gear (46) meshing with the pressure rod small bevel gear (51), and the pressure rod large bevel gear (46) is fixed to the pressure rod base (45) through one end of the pressure rod axle pin (49) and a bearing (48); A pressure rod clamp (54) fixed to the other end of the pressure rod axle pin (49), the pressure rod clamp (54) acts on the pressure rod (22) of the grasping device through a pin shaft (53) and a bearing (52), and the bearing (52) on the pressure rod clamp (54) swings back and forth to control the movement of the pressure rod (22) of the grasping device, thereby driving the rotational movement of the main disk swivel ring (31).

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