Machine hand of digital weaving and sewing integrated machine

Abstract

The application provides a machine hand of a digital and intelligent weaving and sewing integrated machine, which solves the problems of easy deformation and folding during sock body transfer, and comprises a driving base installed on a sliding lead screw, an oscillating mechanism installed at the upper end of the driving base, a tensioning mechanism connected to the oscillating mechanism, and a sock pushing assembly provided with the tensioning mechanism. The application has the advantages of stable structure and good transfer effect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of integrated hosiery knitting machines, and particularly relates to a machine hand of a digital and intelligent knitting, sewing and turning integrated machine. BACKGROUND

[0002] The working principle of a hosiery knitting machine is to weave yarn into the shape of a sock through a series of mechanical devices and electronic control systems. In this process, the hosiery knitting machine needs to complete multiple steps, including yarn feeding, weaving, and edge closing. Through the coordinated action of these steps, the hosiery knitting machine can efficiently produce high-quality socks to meet different needs of people for socks. The existing sock machine usually uses a belt transmission method to transfer the sock body, which cannot guarantee the fixed orientation of the sock body during the transfer process. During the transfer process, the sock body is prone to misalignment, resulting in curling and folding, which affects the quality of subsequent folding and storage.

[0003] In order to solve the problems existing in the prior art, people have carried out long-term exploration and proposed various solutions. For example, Chinese patent document discloses an automatic sock packaging machine [201810439811.X], which comprises a machine mainboard, an A area paper card hook folding mechanism, a B area sock conveying mechanism, a C area paper card fixing mechanism, a D area labeling mechanism, an E area bag making and packaging mechanism, and an adapter module arranged in sequence on the machine mainboard. A hollow rotating mechanism is arranged on the machine mainboard, and a sock clamping gripper with a sock clamping manipulator is arranged on the hollow rotating mechanism. The sock clamping manipulator cooperates with the adapter module, the C area paper card fixing mechanism, the D area labeling mechanism, and the E area bag making and packaging mechanism.

[0004] The above-mentioned scheme solves the problem of sock packaging and storage to some extent, but the scheme still has many deficiencies, such as the sock body is prone to curling and folding during the transfer process. SUMMARY

[0005] The purpose of the present application is to solve the above-mentioned problems, and to provide a digital and intelligent knitting, sewing and turning integrated machine with a machine hand that is reasonably designed and ensures the integrity of the sock transfer.

[0006] In order to achieve the above-mentioned purpose, the following technical scheme is adopted: a digital and intelligent knitting, sewing and turning integrated machine, comprising a driving base mounted on a sliding lead screw, a swing mechanism mounted on the upper end of the driving base, a tensioning mechanism connected to the swing mechanism, and a sock pushing assembly provided with the tensioning mechanism.

[0007] In the above-mentioned machine hand of the digital and intelligent knitting, sewing and turning integrated machine, the sliding lead screw comprises a horizontally mounted sliding guide rail, the driving base is slidingly mounted on the sliding guide rail, the sliding guide rail is drivingly mounted with a driving lead screw threadedly connected with the driving base, the driving lead screw is drivingly connected with a driving motor fixed at the end of the sliding guide rail, and a linkage assembly is mounted between the driving base and the sliding guide rail.

[0008] In the machine hand of the digital weaving and sewing integrated machine, the linkage assembly comprises linkage gears independently rotatably installed in the sliding guide rail, the driving base is fixed with a linkage rack in meshing transmission with the linkage gears, the linkage gears are in transmission connection with the angle sensor through the speed change gear set, the linkage gears are respectively fixedly connected with locking ratchets, the locking ratchets are respectively in meshing transmission with locking pawls on both sides, the locking pawls on the same side of the locking ratchet are connected with a locking connecting rod, and the locking connecting rod is connected with the electric push rod.

[0009] In the machine hand of the digital weaving and sewing integrated machine, the swing mechanism comprises a swing arm rotatably connected with the driving base, the swing arm is provided with a swing groove extending in the axial direction, the sliding screw rod is provided with a swing column vertically arranged and in sliding connection with the swing groove, the swing arm is slidably installed with an extension arm, and the swing arm and the extension arm are provided with the telescopic assembly therebetween.

[0010] In the machine hand of the digital weaving and sewing integrated machine, the telescopic assembly comprises a telescopic rack slidably installed in the swing arm, the telescopic rack is fixed with a telescopic block at the end, the sliding screw rod has a telescopic groove in sliding connection with the telescopic block, the swing arm is rotatably installed with a reversing gear set in meshing transmission with the telescopic rack, and the reversing gear set is in meshing transmission with the extension arm.

[0011] In the machine hand of the digital weaving and sewing integrated machine, the tensioning mechanism comprises a tensioning base installed at the end of the extension arm, the tensioning base is installed with a sleeve through the lifting assembly, the sleeve has a double-layer structure of inside and outside and is left with a tensioning cavity therebetween, and the tensioning cavity is installed with tensioning clamping jaws extending to the lower end of the sleeve.

[0012] In the machine hand of the digital weaving and sewing integrated machine, the tensioning clamping jaws comprise a plurality of center-symmetrically rotatably installed split clamping jaws at the lower end of the sleeve, the split clamping jaws are fixedly provided with first clamping gear wheels at the rotatable connection with the sleeve, the first clamping gear wheels are in meshing transmission with second clamping gear wheels, the first clamping gear wheels and the second clamping gear wheels are bevel gears, the second clamping gear wheels are connected with a clamping shaft parallel to the central axis of the sleeve, the clamping shaft is fixedly provided with a tensioning gear wheel at the upper end, and the tensioning gear wheel is in transmission connection with a tensioning motor installed at the upper end of the sleeve through a planetary gear set.

[0013] In the machine hand of the digital weaving and sewing integrated machine, the split clamping jaws are hingedly connected with pull rods at the lower end, the pull rods at the end of each split clamping jaw are hingedly connected with movable joints, the split clamping jaws are covered with sliding sleeves outside the hinged connection with the pull rods, the movable joints are connected with a stop rod vertically arranged and extending to the inside of the sleeve, a stop head and a stop groove are arranged in mutual insertion between the central sun gear of the planetary gear set and the upper end of the stop rod, the stop head and the stop groove are in the shape of cross, rice or plum blossom, and the inside of the sleeve is provided with a stop cylinder limiting the activity track of the stop rod.

[0014] In the machine hand of the intelligent weaving and sewing integrated machine, the lifting assembly comprises a lifting groove spirally wound along the circumference of the sleeve, a lifting screw is rotatably installed in the tensioning base and engaged with the lifting groove for transmission, and the lifting screw is transmissionally connected with a lifting motor.

[0015] In the machine hand of the intelligent weaving and sewing integrated machine, the sock pushing assembly comprises a pushing sleeve slidingly connected with the outer side of the sleeve, a pressing push rod is installed between the pushing sleeve and the tensioning base, a limiting ring opposite to the bottom of the tensioning base is arranged on the outer side of the pushing sleeve, and the pressing push rod is arranged in the vertical direction and fixedly connected with the pushing sleeve at the telescopic end.

[0016] Compared with the prior art, the advantages of the present application are that the swing mechanism drives the tensioning mechanism to translate, the tensioning mechanism exerts tensioning force on the sock tube to ensure the flatness during the sock body conveying process, the linkage assembly is transmissionally connected with the sliding screw rod to play a better self-locking effect and stroke detection effect, to ensure that the swing mechanism and the driving base are accurately positioned, and to improve the subsequent processing precision, the tensioning mechanism is used to fix the sock body, and the sock body can be quickly separated by cooperating with the sock pushing assembly, and the overall processing efficiency of the sock machine is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the present application;

[0018] Figure 2 is a structural schematic view of another perspective of the present application;

[0019] Figure 3 is a structural sectional view of the linkage assembly of the present application;

[0020] Figure 4 is a partial sectional view of the swing arm of the present application;

[0021] Figure 5 is a structural sectional view of the tensioning mechanism of the present application;

[0022] Figure 6 is an external schematic view of the tensioning mechanism of the present application;

[0023] In the diagram, the components are: sliding screw 1, sliding guide rail 11, drive screw 12, drive motor 13, drive base 2, swing mechanism 3, swing arm 31, swing groove 32, swing column 33, extension arm 34, tensioning mechanism 4, tensioning base 41, sleeve 42, tensioning cavity 43, sock push assembly 5, push cylinder 51, pressing push rod 52, limit ring 53, linkage assembly 6, linkage gear 61, linkage rack 62, speed change gear set 63, locking ratchet 64, locking pawl 65, locking connecting rod 66, and electric push rod. 67. Telescopic assembly 7. Telescopic rack 71. Telescopic block 72. Telescopic groove 73. Reversing gear set 74. Lifting assembly 8. Lifting groove 81. Lifting screw 82. Lifting motor 83. Tensioning gripper 9. Dividing gripper 91. Pulling rod 911. Movable joint 912. Sliding sleeve 913. Stop rod 914. Stop head 915. Stop groove 916. Stop cylinder 917. First gripper gear 92. Second gripper gear 93. Gripper shaft 94. Tensioning gear 95. Planetary gear set 96. Tensioning motor 97. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] like Figures 1-2 As shown, a robotic arm of a digital knitting and sewing integrated machine typically works in conjunction with an integrated sock machine to assist in tasks such as turning and transferring socks. Specifically, it includes a drive base 2 mounted on a sliding screw 1, with a swing mechanism 3 installed on the upper end of the drive base 2. The swing mechanism 3 is linked to the sliding screw 1 to ensure that the drive base 2 moves along a fixed trajectory. A tensioning mechanism 4 is connected to the swing mechanism 3 and also moves along the fixed trajectory with the swing mechanism 3. The tensioning mechanism 4 is equipped with a sock-pushing component 5, which applies tension to the sock body. When the sock is transferred to a designated position, the component releases, causing the sock body to detach. Unlike conventional mechanical gripper structures, the tensioning mechanism 4 in this application can achieve uniform force distribution on the sock tube, ensuring the structural integrity of the sock after transfer.

[0027] Specifically, similar to conventional sliding structures, the sliding screw 1 in this application includes a horizontally mounted sliding guide rail 11. A drive base 2 is slidably mounted on the sliding guide rail 11. A drive screw 12, threadedly connected to the drive base 2, is driven on the sliding guide rail 11. The drive screw 12 is connected to a drive motor 13 fixed at the end of the sliding guide rail 11. Under the driving torque of the drive screw 12 and the drive motor 13, the drive base 2 reciprocates axially along the sliding guide rail 11. A linkage assembly 6 is installed between the drive base 2 and the sliding guide rail 11. The linkage assembly 6 limits the sliding movement of the drive base 2 and, in conjunction with the sensing element, improves its positioning accuracy.

[0028] As Figure 3 shown in FIG. 6, the linkage assembly 6 includes a plurality of linkage gears 61 rotatably mounted in the sliding guide 11, and the driving base 2 is fixed with a linkage rack 62 engaged with the linkage gears 61 for transmission, and when the driving base 2 moves axially along the sliding guide 11, the linkage rack 62 is engaged with the linkage gears 61 one by one for transmission. The linkage gears 61 are connected with the angle sensor through a gear set 63 for transmission, and the rotation angle of the linkage gears 61 and the moving stroke of the driving base 2 and the interval are monitored through the angle sensor. When the driving base 2 moves, the linkage gears 61 are prone to excessive rotation, and therefore the linkage gears 61 are respectively fixedly connected with locking ratchets 64, and the locking ratchets 64 are respectively engaged with locking pawls 65 on both sides for one-way or two-way locking of the locking ratchets 64. The locking pawls 65 on the same side of the locking ratchet 64 are connected with a locking connecting rod 66, and the locking connecting rod 66 is connected with an electric push rod 67. When the driving base 2 moves towards one end of the sliding guide 11, one of the electric push rods 67 drives a plurality of locking pawls 65 to separate from the locking ratchet 64, and the other locking pawl 65 is locked in one direction to prevent the driving base 2 from moving back unexpectedly.

[0029] As Figure 4 shown in FIG. 6, unlike the conventional sliding structure directly driving the driving base 2 to translate, the swing mechanism 3 in the present application includes a swing arm 31 rotatably connected with the driving base 2, the swing arm 31 is provided with a swing groove 32 extending in the axial direction, the sliding screw 1 is provided with a swing column 33 vertically arranged and slidably connected with the swing groove 32, and the swing arm 31 is slidably mounted with an extension arm 34, and the swing arm 31 and the extension arm 34 are provided with a telescopic assembly 7. When the swing arm 31 in the swing mechanism 3 rotates relative to the driving base 2, the swing column 33 remains fixed to limit the activity range of the swing arm 31. The extension arm 34 reciprocates along a fixed track at the end under the linkage action of the telescopic assembly 7.

[0030] The existing guide structure can usually only drive the clamping jaw to move linearly, and cannot meet the transfer requirements in the complex hosiery process, and the telescopic assembly 7 in the present application includes a telescopic rack 71 slidably mounted in the swing arm 31, and the telescopic rack 71 is fixed with a telescopic block 72 at the end, and the sliding screw 1 has a telescopic groove 73 slidably connected with the telescopic block 72, and the swing arm 31 is rotatably mounted with a reversing gear set 74 engaged with the telescopic rack 71 for transmission, and the reversing gear set 74 is engaged with the extension arm 34 for transmission. By adjusting the transmission ratio of the reversing gear set 74 and the telescopic rack 71, the extension arm 34 at the end of the extension arm 34 reciprocates along a linear or arcuate track.

[0031] Embodiment two

[0032] As Figures 5-6As shown, the structure, principle and specific implementation steps of the present embodiment are similar to those of Embodiment One, except that the present embodiment uses a tensioning mechanism 4 instead of a conventional jaw assembly. The tensioning mechanism 4 includes a tensioning base 41 mounted at the end of the extension arm 34, with a cavity inside for mounting a driving structure. The tensioning base 41 is mounted with a sleeve 42 through the lifting assembly 8, and the sleeve 42 slides up and down relative to the tensioning base 41. The sleeve 42 has a double-layer structure with a tensioning cavity 43 in between, and the tensioning jaw 9 is mounted in the tensioning cavity 43 and extends to the lower end of the sleeve 42. The tensioning jaw 9 is inserted into the sleeve and expands outward, and the hose barrel at the upper end of the hose is tightened against the outer side of the sleeve 42. During the transfer process, the hose always maintains a cylindrical three-dimensional structure.

[0033] Meanwhile, the tensioning jaw 9 includes a plurality of center-symmetrically rotatingly mounted sub-jaws 91 at the lower end of the sleeve 42. The sub-jaws 91 are fixed with a first jaw gear 92 at the rotating connection with the sleeve 42, the first jaw gear 92 is in meshing transmission with a second jaw gear 93, the first jaw gear 92 and the second jaw gear 93 are bevel gears, the second jaw gear 93 is connected with a jaw shaft 94 parallel to the central axis of the sleeve 42, the upper end of the jaw shaft 94 is fixed with a tensioning gear 95, and the tensioning gear 95 is in transmission connection with a tensioning motor 97 mounted at the upper end of the sleeve 42 through a planetary gear set 96. The tensioning motor 97 drives the planetary gear set 96 to synchronously rotate the jaw gears, and the sub-jaws 91 are flipped relative to the sleeve 42. At this time, the sub-jaws 91 can expand outward to apply tensioning force, and on the other hand, can be retracted to achieve a clamping effect.

[0034] Embodiment Three

[0035] The structure, principle and specific implementation steps of the embodiment are similar to those of Embodiment Two, and the difference lies in that, in order to further facilitate the extension of the tensioning mechanism 4 into the sock tube, the sub-claw 91 is hingedly connected with a pulling rod 911 at the lower end or the middle part, the end of the pulling rod 911 of each sub-claw 91 is hingedly connected with a movable joint 912, and the pulling rods 911 are centrally symmetrically arranged relative to the movable joint 912. The outer side of the hinged part of the sub-claw 91 and the pulling rod 911 is covered with a sliding sleeve 913 to play a protective role and reduce the sliding resistance of the joint with the inner side of the sock body. The movable joint 912 is connected with a stop rod 914 vertically arranged and extending to the inner side of the sleeve 42, a stop head 915 and a stop groove 916 are arranged between the upper end of the stop rod 914 and the center of the sun gear of the planetary gear set 96 to be inserted with each other, the stop head 915 and the stop groove 916 are in the shape of a cross, a rice character or a plum blossom, and the inner side of the sleeve 42 is provided with a stop cylinder 917 limiting the movement track of the stop rod 914. When the tensioning mechanism 4 is pressed downward as a whole, the sub-claw 91 is turned over to a specified angle, at this time the stop rod 914 rises and the stop head 915 and the stop groove 916 are inserted and locked with each other, and the planetary gear set 96 stops rotating to ensure that the sub-claw 91 is fixed. At the same time, the linkage structure composed of the sub-claw 91, the pulling rod 911 and the stop rod 914 can limit the descending distance of the tensioning mechanism 4, and plays an insurance protection role for the tensioning mechanism 4.

[0036] Obviously, the lifting assembly 8 adopts a screw driving lifting mode, which specifically includes a lifting groove 81 spirally wound along the circumference of the sleeve 42, a lifting screw 82 rotatably installed in the tensioning base 41 and engaged with the lifting groove 81 for transmission, and a lifting motor 83 connected with the lifting screw 82 for transmission. The lifting motor 83 drives the lifting screw 82 and the sleeve 42 to rotate, and the tensioning mechanism 4 is lifted up and down during rotation.

[0037] Preferably, the sock pushing assembly 5 is used to separate the sock body from the sleeve 42, which includes a pushing cylinder 51 slidingly connected with the outer side of the sleeve 42, and a pressing push rod 52 installed between the pushing cylinder 51 and the tensioning base 41 to apply a downward pushing torque to the pushing cylinder 51. The outer side of the pushing cylinder 51 is provided with a limiting ring 53 opposite to the bottom of the tensioning base 41, and the pressing push rod 52 is arranged in the vertical direction and fixedly connected with the pushing cylinder 51 at the telescopic end. The limiting ring 53 directly contacts with the cuff to ensure that the sock tube is completely separated from the sleeve 42, and the reciprocating movement of the pressing push rod 52 realizes the continuous transfer of the sock body.

[0038] In summary, the principle of the embodiment lies in that the sliding lead screw 1 and the swinging mechanism 3 drive the tensioning mechanism 4 to reciprocate along a fixed track, wherein the tensioning mechanism 4 can apply a tensioning force to the sock body to drive the continuous transfer of the sock body, and the complete separation of the sock body from the tensioning mechanism 4 is realized in cooperation with the sock pushing assembly 5, which effectively prevents the deformation and misplacement of the sock body during the transfer process.

[0039] The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or supplements, or the use of similar ways instead, can be made to the specific embodiments described by those skilled in the art in the field of the application, without deviating from the spirit of the application or exceeding the scope defined by the appended claims.

[0040] Although the terms such as sliding screw 1, sliding rail 11, driving screw 12, driving motor 13, driving base 2, swing mechanism 3, swing arm 31, swing groove 32, swing column 33, extension arm 34, tensioning mechanism 4, tensioning base 41, sleeve 42, tensioning cavity 43, sock pushing assembly 5, pushing sleeve 51, pressing push rod 52, limiting ring 53, linkage assembly 6, linkage gear 61, linkage rack 62, gear shift set 63, locking ratchet 64, locking pawl 65, locking connecting rod 66, electric push rod 67, telescopic assembly 7, telescopic rack 71, telescopic block 72, telescopic groove 73, reversing gear set 74, lifting assembly 8, lifting groove 81, lifting screw 82, lifting motor 83, tensioning clamping jaw 9, split clamping jaw 91, pulling rod 911, movable joint 912, sliding sleeve 913, stop rod 914, stop head 915, stop groove 916, stop sleeve 917, first clamping jaw gear 92, second clamping jaw gear 93, clamping jaw shaft 94, tensioning gear 95, planetary gear set 96, tensioning motor 97, etc. are used more frequently in the text, the possibility of using other terms is not excluded. The use of these terms is only to facilitate the description and explanation of the essence of the application; any kind of additional limitation is contrary to the spirit of the application.

Claims

1. A robotic arm for a digital knitting and sewing machine, comprising a drive base (2) mounted on a sliding lead screw (1), characterized in that, The drive base (2) is equipped with a swing mechanism (3) at its upper end. The swing mechanism (3) is connected to a tensioning mechanism (4). The tensioning mechanism (4) is equipped with a sock-pushing assembly (5). The sliding screw (1) includes a horizontally mounted sliding guide rail (11). The drive base (2) is slidably mounted on the sliding guide rail (11). The sliding guide rail (11) is driven by a drive screw (12) threadedly connected to the drive base (2). The drive screw (12) is driven by a drive motor (13) fixed at the end of the sliding guide rail (11). A linkage assembly is installed between the drive base (2) and the sliding guide rail (11). (6); The linkage component (6) includes several linkage gears (61) that are independently rotatably installed in the sliding guide rail (11). The drive base (2) is fixed with a linkage rack (62) that meshes with the linkage gears (61). The linkage gears (61) are connected to the angle sensor through a gear set (63). The linkage gears (61) are respectively fixedly connected with locking ratchet wheels (64). Locking pawls (65) are meshed on both sides of the locking ratchet wheels (64). Locking connecting rods (66) are connected between the locking pawls (65) on the same side of the locking ratchet wheels (64). The locking connecting rods (66) are connected to the electric push rod.

2. The robotic arm of the intelligent knitting and sewing machine according to claim 1, characterized in that, The swing mechanism (3) includes a swing arm (31) rotatably connected to the drive base (2), the swing arm (31) having a swing groove (32) extending axially, the sliding screw (1) being equipped with a vertically arranged swing column (33) slidably connected to the swing groove (32), an extension arm (34) being slidably installed inside the swing arm (31), and a telescopic assembly (7) being provided between the swing arm (31) and the extension arm (34).

3. The robotic arm of the intelligent knitting and sewing machine according to claim 2, characterized in that, The telescopic assembly (7) includes a telescopic rack (71) slidably mounted in the swing arm (31), a telescopic block (72) fixed at the end of the telescopic rack (71), a sliding screw (1) having a telescopic groove (73) slidably connected to the telescopic block (72), and a reversing gear set (74) rotatably mounted in the swing arm (31) and meshing with the telescopic rack (71), the reversing gear set (74) meshing with the extension arm (34).

4. The robotic arm of the intelligent knitting and sewing machine according to claim 2, characterized in that, The tensioning mechanism (4) includes a tensioning base (41) installed at the end of the extension arm (34). The tensioning base (41) is equipped with a sleeve (42) via a lifting assembly (8). The sleeve (42) has an inner and outer double-layer structure with a tensioning cavity (43) between them. The tensioning cavity (43) is equipped with a tensioning gripper that extends to the lower end of the sleeve (42).

5. The robotic arm of the intelligent knitting and sewing machine according to claim 4, characterized in that, The tensioning jaws include several centrally symmetrically rotatably mounted jaws (91) at the lower end of the sleeve (42). A first jaw gear (92) is fixed at the rotatable connection between the jaws (91) and the sleeve (42). The first jaw gear (92) meshes with a second jaw gear (93) for transmission. The first jaw gear (92) and the second jaw gear (93) are bevel gears. The second jaw gear (93) is connected to a jaw shaft (94) parallel to the central axis of the sleeve (42). A tensioning gear (95) is fixed at the upper end of the jaw shaft (94). The tensioning gear (95) is connected to a tensioning motor (97) mounted on the upper end of the sleeve (42) via a planetary gear set (96).

6. The robotic arm of the intelligent knitting and sewing machine according to claim 5, characterized in that, The lower end or middle of the gripper (91) is hinged with a pull rod (911). The end of the pull rod (911) of each gripper (91) is hinged to the movable joint (912). The outer side of the hinge point between the gripper (91) and the pull rod (911) is covered with a sliding sleeve (913). The movable joint (912) is connected to a stop rod (914) that is vertically set and extends to the inside of the sleeve (42). The upper end of the stop rod (914) and the center of the sun gear of the planetary gear set (96) are provided with a stop head (915) and a stop groove (916) that are inserted into each other. The stop head (915) and the stop groove (916) are in the shape of a cross, a star, or a plum blossom. The inside of the sleeve (42) is provided with a stop cylinder (917) that restricts the movement trajectory of the stop rod (914).

7. The robotic arm of the intelligent knitting and sewing machine according to claim 4, characterized in that, The lifting assembly (8) includes a lifting groove (81) spirally wound around the sleeve (42) in the circumference. A lifting screw (82) that meshes with the lifting groove (81) is rotatably installed in the tension base (41). The lifting screw (82) is connected to a lifting motor (83).

8. The robotic arm of the intelligent knitting and sewing machine according to claim 4, characterized in that, The sock push assembly (5) includes a push cylinder (51) that is slidably connected to the outside of the sleeve (42). A pressing push rod (52) is installed between the push cylinder (51) and the tension base (41). A limiting ring (53) is provided on the outside of the push cylinder (51) that is opposite to the bottom of the tension base (41). The pressing push rod (52) is arranged in the vertical direction and its telescopic end is fixedly connected to the push cylinder (51).

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