Sock taking device

Abstract

The application provides a sock taking device and relates to the technical field of sock manufacturing technology. The device comprises a mechanical arm, the mechanical arm comprises a limiting piece and two clamping arms, the side of each of the clamping arms that is close to each other is respectively provided with a first limiting wheel and an eccentric wheel, an installation groove is formed in each of the clamping arms, and the eccentric wheel rotates in the installation groove. Through the arrangement of the first limiting wheel and the eccentric wheel, the problem that in the prior art, the mechanical claw drives the socks on the sock plate to move upwards, at this time, the socks that are separated from the sock plate have a small sock tube gap and a large gap between the mechanical claw and the outer side wall of the socks, so that the force of the mechanical claw on the socks is reduced, and the efficient sock taking operation of the mechanical claw is inconvenient.

Description

Technical Field

[0001] This invention relates to the field of hosiery manufacturing technology, specifically to a hosiery taking device. Background Technology

[0002] During the sock shaping process, a sock board combined with a shaping machine is needed to shape the socks. After the shaping machine completes the shaping of the socks, the socks that have been shaped on the shaping board need to be removed to complete the sock removal operation.

[0003] In existing technologies, mechanical grippers are often used to remove socks after they have been shaped on a sock board during the sock-removal process. However, because the sock board has a certain thickness, when the mechanical gripper moves the socks on the upper part of the board upwards, it also moves the socks on the board upwards. At this point, the socks that have detached from the board have smaller gaps in the sock cuff, and larger gaps between the mechanical gripper and the outer wall of the sock. This reduces the force with which the mechanical gripper grasps the socks, making it difficult for the mechanical gripper to remove socks efficiently.

[0004] Among them, Chinese patent application CN107513837A discloses a fully automatic sock removal device, including a box, a sock collection box, and at least one sock remover. The sock remover includes a sock removal rod and a positioning rod. The positioning rod is set on the center line of the box. The sock removal rod includes a left sock removal rod and a right sock removal rod, which are symmetrically arranged on both sides of the positioning rod. A left sock removal plate is set at the end of the left sock removal rod, and a right sock removal plate is set at the end of the right sock removal rod. The elasticity of the variable rubber blocks on the left and right sock removal plates is used to change the gap after the sock remover pulls the sock off the sock plate, so that the sock remover can clamp the sock off the sock plate. However, the variable rubber blocks are prone to aging and are not suitable for long-term repeated use. In addition, the variable rubber blocks have poor high temperature and low temperature resistance. When the sock removal device is used to remove socks after shaping, the sock plate with socks is cooled before the sock removal operation is carried out. At this time, the variable rubber blocks cannot be used in this scenario. Therefore, a sock removal device is proposed. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a sock-retrieving device that solves the problem that when socks detach from the sock board, the gap in the sock cuff becomes smaller, and the gap between the mechanical claw and the outer wall of the sock increases, resulting in a decrease in the force exerted by the mechanical claw in grasping the sock.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: The present invention includes a robotic arm, which includes a limiting member and two gripping arms. Each gripping arm is provided with a first limiting wheel and an eccentric wheel on its side that is close to each other. The gripping arms are provided with mounting grooves, and the eccentric wheels rotate inside the mounting grooves.

[0007] Furthermore, this invention also includes a second limiting wheel, wherein the eccentric wheel is located between the first limiting wheel and the second limiting wheel.

[0008] In this invention, the eccentric wheel is rotatably connected to the gripping arm via a torsion spring. A first magnet is provided on the side of each of the two eccentric wheels that are close to each other. The first magnet is attached to the outer surface of the corresponding eccentric wheel. A second magnet is provided above the sock plate. The magnetic poles of the second magnet and the first magnet are the same on the side that are close to each other, and the magnetic poles of the two first magnets are opposite on the side that are close to each other.

[0009] In this invention, the two gripping arms are slidably connected to the limiting member through the limiting groove, and the gripping arms are driven by the cylinder. The mechanical arm is an axisymmetric component, and the sides of the two gripping arms that are close to each other are arranged parallel to the vertical center line.

[0010] Furthermore, the present invention also includes a rotating wheel, which is rotatably connected to the gripping arm, and the extended line of the edge point of the rotating wheel is parallel to the extended line of the edge point of the first limiting wheel. A deburring component is installed on the outer surface of the rotating wheel.

[0011] Furthermore, this invention also includes a sock support component, which includes a sock plate and a support component. The sock plate has two first through slots, which are symmetrically arranged about the vertical line of the sock plate. The support component has two collars rotatably sleeved on it, and a push plate is fixedly connected to the outer wall of the collar. The push plate is arranged in a one-to-one correspondence with the corresponding first through slot.

[0012] Furthermore, in this invention, hooks are fixedly connected to the sides of the gripping arms that are far apart from each other, and the hooks are offset from the two push plates.

[0013] Furthermore, in this invention, a second motor is installed inside the support member.

[0014] In this invention, the eccentric wheel is further driven by a first motor.

[0015] (III) Beneficial Effects This invention provides a sock-retrieving device. Compared with the prior art, it has the following advantages: 1. By setting the first limiting wheel and the eccentric wheel, the problem in the prior art is solved: when the mechanical claw moves the sock on the sock board upward, the sock that is detached from the sock board will have a smaller gap in the sock tube and a larger gap between the mechanical claw and the outer wall of the sock. This results in a decrease in the force of the mechanical claw to grasp the sock, which makes it difficult for the mechanical claw to efficiently pick up the sock. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a sock-retrieving device.

[0018] Figure 2 This is a 3D diagram of a sock board.

[0019] Figure 3 for Figure 2 A schematic diagram of the side view structure.

[0020] Figure 4 This is a schematic diagram of the sock-retrieving device during the sock-retrieving process.

[0021] Figure 5 for Figure 4 A schematic diagram of the state structure during the clamping process.

[0022] Figure 6 This is a schematic diagram of the structure after further improvements to the sock-retrieving device.

[0023] Figure label: Figure: 10, limiting component; 101, limiting groove; 11, cylinder; 20, gripping arm; 21, first limiting wheel; 22, eccentric wheel; 221, mounting groove; 222, first magnet; 23, hook component; 24, second limiting wheel; 30, sock plate; 301, first through groove; 302, second magnet; 40, support component; 401, second through groove; 41, collar; 42, push plate; 421, connecting plate; 50, rotating wheel; 501, de-hairing component. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] This application provides a sock-retrieving device that solves the problem that the increased gap between the mechanical claw and the outer wall of the sock leads to a decrease in the force of the mechanical claw in grasping the sock, thus making it difficult for the mechanical claw to efficiently retrieve socks, thereby achieving the effect of efficient sock clamping.

[0026] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0027] Example 1: As Figure 1 As shown, a sock-retrieving device includes a robotic arm and a sock-supporting component. The robotic arm includes a limiting component 10 and two gripping arms 20. The two gripping arms 20 are slidably connected to the limiting component 10 through a limiting groove 101, and the gripping arms 20 are driven by a cylinder 11. The robotic arm is an axisymmetric component. The sides of the two gripping arms 20 that are close to each other are arranged parallel to the vertical center line. The sides of the gripping arms 20 that are close to each other are respectively provided with a first limiting wheel 21, an eccentric wheel 22, and a second limiting wheel 24. The eccentric wheel 22 is located between the first limiting wheel 21 and the second limiting wheel 24. The eccentric wheel 22 is driven by a first motor. The sides of the gripping arms 20 that are far apart from each other are respectively fixedly connected with hooks 23. The gripping arms 20 are provided with mounting grooves 221, and the eccentric wheels 22 rotate inside the mounting grooves 221.

[0028] like Figures 2-3 As shown, the sock support includes a sock plate 30 and a support member 40. The sock plate 30 and the support member 40 are fixedly connected. The sock plate 30 has two first through slots 301, which are symmetrically arranged about the vertical line of the sock plate 30. The support member 40 is rotatably fitted with two collars 41. A push plate 42 is fixedly connected to the outer wall of the collar 41. The push plate 42 is arranged in a one-to-one correspondence with the corresponding first through slot 301. A second motor is installed inside the support member 40.

[0029] It should be noted that, in order to avoid interference between the hook 23 and the push plate 42 during rotation, when the hook 23 on the gripping arm 20 hooks the sock, the hook 23 is located in the middle of the sock plate 30, so that the hook 23 and the two push plates 42 are misaligned, thereby facilitating the hook 23 to hook the sock.

[0030] When using the gripping assembly to grip the socks, the robotic arm needs to be in an open state under the action of cylinder 11. At this time, the gripping arm 20 on the robotic arm is in the following state: Figure 1 As shown, the gripping arm 20, in its open state, grips the socks on the sock plate 30. Initially, the state between the gripping arm 20 and the sock plate 30 is as follows: Figure 4 As shown, at this time, the second motor is used to rotate the two push plates 42 located inside the first through groove 301 of the sock plate 30 in opposite directions, and the state after rotation is as follows. Figure 3 As shown, at this time, the two sides of the socks fitted on the sock plate 30 are spread open under the push of the push plate 42. It should be noted that by setting the length of the sock plate 30, after the socks are fitted on the sock plate 30, the open end of the socks contacts the push plate 42, so that when the push plate 42 rotates, the push plate 42 can realize the operation of spreading the socks open.

[0031] The push plate 42 opens the sock opening until its width is greater than the distance between the two hooks 23. The robotic arm moves upward, allowing the hooks 23 to hook the sock opening. Then, the push plate 42 returns to its original position, facilitating the hooks 23's hooking operation on the sock. It should be noted that, through the configuration of the first limiting wheel 21, the hooks 23, and the second limiting wheel 24, as well as the opening degree of the push plate 42, when the hooks 23 hook the sock, the first and second limiting wheels 21 and 24 do not contact the sock on the sock plate 30. As the hooks 23 move upward and push the hooked sock, the state of the clamping component and the sock is as follows: Figure 5 As shown, at this time, the first limiting wheel 21 and the second limiting wheel 24 set on the gripping arm 20 limit the socks to prevent the socks from becoming messy or bouncing off due to their own elasticity, which would make it difficult to grip them later.

[0032] Finally, the rotation of the eccentric wheel 22 is controlled. At this time, the eccentric wheel 22 is positioned at the part where the sock is detached from the sock plate 30. During the rotation of the eccentric wheel 22, the sock is gripped, thereby realizing the sock retrieval operation. This solves the problem in the prior art where the mechanical claw drives the sock on the sock plate 30 to move upward. At this time, the sock detached from the sock plate 30 has a smaller gap in the sock cuff and a larger gap between the mechanical claw and the outer wall of the sock, resulting in a decrease in the force of the mechanical claw to grip the sock, which makes it difficult for the mechanical claw to efficiently retrieve the sock.

[0033] Example 2: Figure 6As shown, further, the eccentric wheel 22 is rotatably connected to the gripping arm 20 via a torsion spring. A first magnet 222 is provided on the side of each of the two eccentric wheels 22 that is close to each other. The first magnet 222 is fitted to the outer surface of the corresponding eccentric wheel 22. A second magnet 302 is provided above the sock plate 30. The second magnet 302 and the first magnet 222 have the same magnetic pole on the side that is close to each other, while the two first magnets 222 have opposite magnetic poles on the side that is close to each other. The rotation of the eccentric wheel 22 is achieved through the repulsive force between the first magnet 222 and the second magnet 302. This further optimizes the problem of the eccentric wheel 22 requiring a first motor for driving, which would otherwise result in wasted driving force.

[0034] When using the gripping assembly, firstly, both gripping arms 20 move downwards from the upper end of the sock plate 30. During this downward movement, the eccentric wheel 22 on the gripping arm 20 is in the state shown in Figure 7. As the eccentric wheel 22 approaches the sock plate 30, since the second magnet 302 on the sock plate 30 and the first magnet 222 on the eccentric wheel 22 have the same magnetism, the second magnet 302 generates a repulsive force on the first magnet 222 during the downward movement of the eccentric wheel 22. Under the action of the second magnet 302, the eccentric wheel 22 retracts into the mounting groove 221. Therefore, as the gripping arm 20 continues to move downwards, the eccentric wheel 22 does not interfere with the movement of the gripping arm 20. To prevent interference, similarly in Embodiment 1, the hook member 23 performs the hooking operation of the sock. At this time, the first limiting wheel 21 and the second limiting wheel 24 on the clamping arm 20 perform the clamping operation of the sock on the sock plate 30. As the clamping arm 20 moves upward along the vertical direction of the sock plate 30, when the eccentric wheel 22 disengages from the sock plate 30, the eccentric wheel 22 returns to its initial state under the action of its own torsion spring. At this time, the eccentric wheel 22 clamps the sock that has disengaged from the sock plate 30, which solves the problem in the prior art that the clamping arm 20 reduces the tightness of the sock after the sock is disengaged from the sock plate 30 due to the gap in the sock plate 30, which is not conducive to the transfer of the sock. The setting of the eccentric wheel 22 can realize the clamping operation of socks of different thicknesses.

[0035] At the same time, the two first magnets 222 have opposite magnetic properties at their close ends, generating an attraction, which further enhances the tightness and stability of the two oppositely arranged eccentric wheels 22 when clamping the socks.

[0036] Example 3: As Figure 6As shown, further, based on Embodiment 1, the second limiting wheel 24 on the gripping arm 20 is replaced with a rotating wheel 50. The rotating wheel 50 is rotatably connected to the gripping arm 20, and the extended line of the edge point of the rotating wheel 50 is parallel to the extended line of the edge point of the first limiting wheel 21. A depilatory component 501 is installed on the outer surface of the rotating wheel 50. It should be noted that the depilatory component 501 can be a depilator or a tape.

[0037] Based on Embodiment 1 or Embodiment 2, the operation process of the gripping arm 20 on the sock plate 30 is as follows: the gripping arm 20 moves downward from above the sock plate 30. When the gripping arm 20 moves downward, the rotating wheel 50 provided on the gripping arm 20 slides on the outer surface of the sock. At this time, the de-hairing component 501 provided on the outer surface of the rotating wheel 50 contacts the outer surface of the sock. When the de-hairing component 501 provided on the rotating wheel 50 rotates with the rotating wheel 50, the de-hairing component 501 completes the de-hairing operation of the sock. Similarly, at this time, the first limiting wheel 21 provided on the gripping arm 20 realizes the gripping operation of the sock and the limiting operation after the sock is removed from the sock plate 30.

[0038] In summary, compared with existing technologies, it has the following beneficial effects: 1. By setting the first limiting wheel 21 and the eccentric wheel 22, the problem in the prior art is solved: when the mechanical claw drives the socks on the sock plate 30 to move upward, the socks that are detached from the sock plate 30 have smaller gaps in the sock cuff and larger gaps between the mechanical claw and the outer wall of the sock, resulting in a decrease in the force of the mechanical claw to grasp the socks, which makes it difficult for the mechanical claw to efficiently pick up socks.

[0039] 2. Furthermore, by setting up the hook 23 and the push plate 42, the push plate 42 opens the sock opening to a width greater than the distance between the two hooks 23 at this time, controlling the robotic arm to move upward, so that the hook 23 can hook the sock opening. At the same time, the first limiting wheel 21 and the second limiting wheel 24 set on the gripping arm 20 limit the sock, preventing the sock from becoming messy or bouncing under its own elasticity, which would make it difficult to grip it later.

[0040] 3. Furthermore, the eccentric wheel 22 is rotatably connected to the gripping arm 20 via a torsion spring. A first magnet 222 is provided on the side of the two eccentric wheels 22 that are close to each other. The rotation of the eccentric wheel 22 is achieved by the repulsive force between the first magnet 222 and the second magnet 302. This further optimizes the problem that the eccentric wheel 22 needs to be driven by the first motor, which would otherwise result in wasted driving force.

[0041] 4. Further, the second limiting wheel 24 on the gripping arm 20 is replaced with a rotating wheel 50. The rotating wheel 50 is rotatably connected to the gripping arm 20, and the extended line of the edge point of the rotating wheel 50 is parallel to the extended line of the edge point of the first limiting wheel 21. A depilatory component 501 is installed on the outer surface of the rotating wheel 50. When the depilatory component 501 on the rotating wheel 50 rotates with the rotating wheel 50, the depilatory component 501 completes the depilation operation of the sock.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sock taking device comprising a robotic arm, characterised in that, The robotic arm includes a limiting member (10) and two gripping arms (20). Each gripping arm (20) is provided with a first limiting wheel (21) and an eccentric wheel (22) on the side of each other. The gripping arm (20) is provided with a mounting groove (221) and the eccentric wheel (22) rotates inside the mounting groove (221). The sock-retrieving device also includes a sock-supporting component. The eccentric wheel (22) is rotatably connected to the gripping arm (20) via a torsion spring. A first magnet (222) is provided on the side of the two eccentric wheels (22) that are close to each other. The first magnet (222) is attached to the outer surface of the corresponding eccentric wheel (22). A second magnet (302) is provided above the sock plate (30) of the sock-supporting component. The second magnet (302) and the first magnet (222) have the same magnetic pole on the side that are close to each other. The two first magnets (222) have opposite magnetic poles on the side that are close to each other.

2. The sock-retrieving device as described in claim 1, characterized in that, It also includes a second limiting wheel (24), the eccentric wheel (22) being located between the first limiting wheel (21) and the second limiting wheel (24).

3. The sock-retrieving device as described in claim 2, characterized in that, The two gripping arms (20) are slidably connected to the limiting member (10) through the limiting groove (101), and the gripping arms (20) are driven by the cylinder (11). The mechanical arm is an axisymmetric component, and the side of the two gripping arms (20) that are close to each other is set parallel to the vertical center line.

4. The sock-retrieving device as described in claim 1, characterized in that, It also includes a rotating wheel (50), which is rotatably connected to the gripping arm (20), and the extended line of the edge point of the rotating wheel (50) is parallel to the extended line of the edge point of the first limiting wheel (21). A deburring part (501) is installed on the outer surface of the rotating wheel (50).

5. A sock-retrieving device as described in claim 4, characterized in that, The sock support also includes a support member (40). The sock plate (30) has two first through grooves (301). The two first through grooves (301) are symmetrically arranged about the vertical line of the sock plate (30). The support member (40) is rotatably fitted with two collars (41). The outer side wall of the collar (41) is fixedly connected with a push plate (42). The push plate (42) is arranged in a one-to-one correspondence with the corresponding first through groove (301).

6. The sock-retrieving device as described in claim 5, characterized in that, Each of the gripping arms (20) is fixedly connected to a hook (23) on the side that is far apart from each other, and the hook (23) is offset from the two push plates (42).

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