Industrial robot for woven fabric cleaning equipment

Abstract

The invention discloses an industrial robot for woven fabric cleaning equipment, and belongs to the technical field of woven fabric cleaning, the industrial robot comprises an operation end, the operation end comprises a moving seat and a clamping mechanism, the top of the moving seat is provided with a lifting seat, one side of the lifting seat is provided with a translation seat, and a monitoring mechanism is connected between the clamping mechanism and the translation seat; the clamping mechanism comprises a U-shaped frame and a clamping plate, the clamping plate is slidably mounted in the U-shaped frame, and the monitoring mechanism comprises a U-shaped plate, a connecting plate and a connecting frame; and a sliding frame is fixedly installed at the bottom of the moving seat, and the sliding frame is connected to the outer side of the ground rail in a sliding and sleeving mode. By means of the clamping mechanism and the monitoring mechanism, the cloth tightening force can be automatically monitored and adjusted, so that it is guaranteed that the cloth keeps reasonable tightening force in the cleaning process, the cleaning effect is guaranteed, meanwhile, damage to the cloth is avoided, the cloth can be automatically checked after cleaning is completed, and the cleaning efficiency is improved. And compared with manual detection, the accuracy is higher.

Description

Technical Field

[0001] The invention relates to the technical field of fabric cleaning, and in particular to an industrial robot for fabric cleaning equipment. Background Art

[0002] Fabric cleaning equipment is mainly used to clean fabrics, remove dirt, impurities, residual chemicals, etc. to ensure the hygiene, quality and comfort of fabrics. Fabric cleaning equipment is one of the common equipment in the field of textile processing. Fabric cleaning equipment plays a vital role in the textile industry. It is mainly used to remove various auxiliaries and dyes left in the weaving and dyeing process. These residues not only affect the quality and appearance of the fabric, but may also cause harm to human health, especially for clothes worn by infants and young children, which need to be strictly cleaned to ensure safety.

[0003] With the advancement of technology and the increase in labor costs, automation has become a trend in the textile industry. Traditional fabric cleaning equipment requires manual insertion and removal of fabrics, which is not only inefficient, but also harmful to workers' health due to long-term exposure to chemical cleaning agents. It is difficult to tighten the fabric manually, making it impossible to thoroughly clean the fabric, and it is easy for the folded part of the fabric to leak. Traditional fabric cleaning equipment usually requires manual inspection after cleaning, which is not only inefficient, but also cannot guarantee the accuracy of the inspection. Therefore, we propose a fabric cleaning equipment using an industrial robot to solve this problem. Summary of the invention

[0004] The object of the present invention is to provide an industrial robot for a fabric cleaning device to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An industrial robot for a fabric cleaning device, comprising: The operating end includes a moving seat and a clamping mechanism, a lifting seat is arranged on the top of the moving seat, a translation seat is arranged on one side of the lifting seat, a monitoring mechanism is connected between the clamping mechanism and the translation seat, the clamping mechanism includes: a U-shaped frame and a clamping plate, the clamping plate is slidably installed in the U-shaped frame, the monitoring mechanism includes: a U-shaped plate, a connecting plate and a connecting frame, a concave plate is slidably installed in the U-shaped plate, one end of the connecting plate is fixedly connected to the translation seat, the other end of the connecting plate is movably abutted against the inside of the concave plate, the connecting frame is fixedly installed on one side of the U-shaped plate, and a balancing plate is slidably installed in the connecting frame; A floor rail, a sliding frame is fixedly installed at the bottom of the movable seat, and the sliding frame is slidably sleeved on the outer side of the floor rail.

[0006] Preferably, a first rack is fixedly mounted on the top of the floor rail, a first motor is fixedly mounted on one side of the movable seat, a first gear is fixedly mounted on the output shaft of the first motor, the first gear and the first rack are meshed with each other, and a plurality of assembly holes are opened at the bottom of the floor rail.

[0007] Preferably, a first electric push rod is fixedly installed in the movable seat, an output end of the first electric push rod is fixedly connected to the lifting seat, a plurality of vertical rods are fixedly installed at the bottom of the lifting seat, and the vertical rods are slidably installed in the movable seat; A second electric push rod is fixedly installed on one side of the lifting seat, and an output end of the second electric push rod is fixedly connected to the translation seat. A plurality of cross bars are fixedly installed on one side of the translation seat, and the cross bars are slidably installed in the lifting seat.

[0008] Preferably, a plurality of limit rods are fixedly installed on the front and rear sides of the connecting plate, and the limit rods are slidably installed in the U-shaped plate. A trapezoidal groove is provided on one side of the concave plate, and a trapezoidal protrusion is integrally formed at one end of the connecting plate. The front and rear sides of the trapezoidal protrusion are provided with inclined surfaces, and the two inclined surfaces are movably abutted against the inner walls of the front and rear sides of the trapezoidal groove respectively.

[0009] Preferably, a balancing spring and a first damper are fixedly mounted on one side of the balancing plate, and the other ends of the balancing spring and the first damper are fixedly mounted on the side wall of the connecting frame; Two first pressure sensors are fixedly installed on the other side of the balance plate, a pressure plate is fixedly installed on the other end of the first pressure sensor, a compression spring is fixedly installed on the other side of the pressure plate, a linkage plate is fixedly installed on the other end of the compression spring, an upper linkage rod is fixedly installed on the other side of the concave plate, a lower linkage rod is fixedly installed on one side of the U-shaped frame, the other ends of the upper linkage rod and the lower linkage rod are fixedly connected to the corresponding linkage plates respectively, and a second damper is fixedly installed between the linkage plate and the balance plate.

[0010] Preferably, a touch button and a sealing box are fixedly installed on the side wall of the connection frame, a sealing plate is slidably installed inside the sealing box, a long plate is fixedly installed between the sealing plate and the balance plate, a liquid outlet pipe is connected to one side of the sealing box, and the sealing box is filled with hydraulic oil; A third electric push rod is fixedly installed on the top of the U-shaped frame, a pressure plate is fixedly installed on the output end of the third electric push rod, a second pressure sensor is fixedly installed on the bottom of the pressure plate, a compression box is fixedly installed on the bottom end of the second pressure sensor, a piston plate is slidably installed in the compression box, a vertical plate is fixedly installed between the piston plate and the clamping plate, a liquid inlet pipe is connected to the top of the compression box, a right-angle tube is fixedly installed on the side wall of the U-shaped frame, and the liquid inlet pipe and the liquid outlet pipe are respectively slidably and sealedly connected to the two ends of the right-angle tube.

[0011] Preferably, a plurality of guide rods are fixedly mounted on the top of the compression box, the U-shaped frame and the pressure plate are slidably sleeved on the outside of the guide rods, and a plurality of anti-slip protrusions are integrally formed on the bottom of the clamping plate and the bottom inner wall of the U-shaped frame.

[0012] Preferably, it also includes an indicating mechanism, which includes: a power supply, a signal light, a controller, a conductive plate and two conductive sheets, the controller is signal-connected with the signal light, the first motor, the first electric push rod and the second electric push rod, the negative pole of the power supply is electrically connected to the signal light, the positive pole of the power supply and the positive pole of the signal light are electrically connected to the two conductive sheets respectively, the two conductive sheets are fixedly mounted on the corresponding linkage plates respectively, the conductive plate is fixedly mounted on the other side of the balance plate, the two conductive sheets are flush with the top and bottom of the conductive plate respectively, a bracket is fixedly mounted on the bottom of the controller, and the other end of the bracket is fixedly connected to the corresponding ground rail.

[0013] Preferably, it also includes a crossbeam and an inspection mechanism, the inspection mechanism includes: a moving box, an industrial camera and a second motor, a third gear and two second gears are rotatably installed in the moving box, the third gear and the two second gears are meshed with each other, the second motor is fixedly installed on the outside of the moving box, the output end of the second motor is fixedly connected to one of the second gears, the two ends of the crossbeam are fixedly connected to the corresponding moving seat, a second rack is fixedly installed on the top of the crossbeam, the second gear and the second rack are meshed with each other, and the industrial camera is fixedly installed on the top of the moving box; Guide frames are fixedly installed on both sides of the bottom of the moving box, and the guide frames are slidably sleeved on the outer side of the crossbeam.

[0014] Preferably, the ground rails are provided in at least two groups, the ground rails are laid on the ground, and the operating ends are provided in at least four groups.

[0015] The beneficial effects of the present invention are: In the present invention, the industrial robot for a fabric cleaning device drives the first gear to rotate by starting the first motor, and the first gear drives the moving seat to move forward and backward by meshing with the first rack, and drives the lifting and lowering movement of the lifting seat and the left and right movement of the translation seat by starting the first electric push rod and the second electric push rod, so as to realize the three-dimensional position adjustment of the clamping mechanism, so that the clamping mechanism moves to the end of the fabric to be cleaned, and drives the pressing plate, the second pressure sensor, the compression box and the clamping plate to move downward by starting the third electric push rod, and realizes the clamping of the fabric by the cooperation of the clamping plate and the U-shaped frame, and when the pressure value monitored by the second pressure sensor reaches a preset value, the controller controls the third electric push rod to stop feeding, thereby completing the clamping of the fabric; In the present invention, the industrial robot for a fabric cleaning device drives the clamping mechanism to move three-dimensionally by starting the first motor, the first electric push rod and the second electric push rod, and realizes the tensioning of the fabric. The tensioning force of the fabric in the left and right directions drives the lower linkage plate to move horizontally through the U-shaped frame and the lower linkage rod. The tensioning force of the fabric in the front and back directions drives the concave plate to slide left and right in the U-shaped plate through the abutment of the trapezoidal protrusion on the connecting plate and the trapezoidal groove on the concave plate 501, and drives the upper linkage plate to move through the upper linkage rod. The two linkage plates can compress the compression spring while moving, and squeeze the first pressure sensor at the same time, so that the left and right tensioning force and the front and back tensioning force of the fabric can be monitored separately through the first pressure sensor. , and transmits the signal to the controller. The controller analyzes whether the tensioning force reaches the preset value, and controls the second electric push rod and the first motor to operate accordingly. The first electric push rod drives the clamping mechanism to move left and right, thereby adjusting the left and right tensioning force of the fabric. The first motor drives the clamping mechanism to move forward and backward, thereby adjusting the front and back tensioning force of the fabric, so that the tensioning force of the fabric in both directions meets the requirements. At the same time, the linkage plate can drive the conductive sheet to move horizontally. When the two conductive sheets in the connection frame are in contact with the conductive plate, the circuit of the signal light is turned on, so that the signal light lights up and transmits the control signal to the controller. When multiple signal lights all send out the lighting information, it means that the tensioning force of the fabric in all directions meets the requirements. In the present invention, the industrial robot for a fabric cleaning device drives the balance plate to move horizontally when the compression spring is squeezed and compressed, and squeezes the balance spring. When the pressure of the balance spring and the two compression springs on the balance plate is equal, the balance plate is kept relatively balanced, and the movement of the balance plate and the linkage plate is buffered by the first damper and the second damper, so as to avoid the balance spring or the compression spring jumping back and forth to affect the stability. The balance plate drives the sealing plate to move horizontally through the long plate while moving horizontally, and pushes the hydraulic oil in the compression box into the liquid outlet pipe, and introduces it into the compression box through the right-angle pipe and the liquid inlet pipe, so as to push the piston plate to move downward, and the piston plate drives the clamping plate to move downward through the vertical plate, so as to further enhance the clamping force of the fabric, and the area of ​​the piston plate is much larger than the area of ​​the sealing plate, so that the downward movement distance of the piston plate is much smaller than the horizontal movement distance of the sealing plate, and the pressure force on the piston plate is much larger than the horizontal thrust on the sealing plate, so that the clamping of the fabric can be achieved with effort, and only a small part of the resistance on the clamping plate is fed back to the sealing plate, so as to avoid limiting the horizontal movement of the balance plate; In the present invention, the industrial robot for a fabric cleaning device controls the synchronous operation of the first motor, thereby driving the clamping mechanism to move synchronously along the ground rail to achieve horizontal transportation of the fabric, and cooperates with the fabric cleaning device to achieve automatic cleaning of the fabric. During the cleaning process, the fabric is subjected to friction, pulling and blocking by the cleaning structure inside the cleaning device, which will increase or decrease the local tension of the fabric, and can drive the corresponding linkage plate to move further. When the tension changes, the corresponding first motor and second electric push rod are controlled by the controller to drive the clamping mechanism to move in the corresponding direction, thereby achieving adaptive adjustment of the tension. , so that the tension of the fabric is maintained within a preset reasonable range, and when the tension of the fabric increases, the balance plate can be further moved horizontally, and the clamping plate can be driven to move slightly downward, further improving the clamping force of the fabric to avoid falling off during the cleaning process. When the tension is instantly reduced during the cleaning process, the corresponding linkage plate can be moved, so that the corresponding conductive sheet is out of contact with the conductive plate, the signal light is powered off, and the cleaning work is stopped by the controller. When the tension is too large during the cleaning process and the balance plate squeezes the control button, the control button can send a stop signal to the controller, thereby stopping the cleaning work and avoiding the breakage of the fabric. In the present invention, the industrial robot for a fabric cleaning device starts the second motor to drive one of the second gears to rotate, and drives the other second gear to rotate synchronously by meshing with the third gear. The second gear drives the moving box and the industrial camera on the top thereof to move horizontally by meshing with the second rack, so that the industrial camera can capture images of the cleaned fabric, and transmit the image information to the controller, which determines whether the cleaning degree of the fabric meets the standard according to the image information. In the present invention, the industrial robot for a fabric cleaning device can realize automatic monitoring and adjustment of the tension of the fabric through the provided clamping mechanism and monitoring mechanism, thereby ensuring that the fabric maintains a reasonable tension during the cleaning process, thereby ensuring the cleaning effect while avoiding damage to the fabric, and can automatically inspect the fabric after cleaning is completed, which is more accurate than manual inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an industrial robot for a fabric cleaning device proposed by the present invention; Figure 2 A partial cross-sectional structural schematic diagram of an industrial robot for a fabric cleaning device proposed by the present invention; Figure 3 A schematic diagram of the three-dimensional structure of the monitoring mechanism proposed by the present invention; Figure 4 It is a schematic diagram of a partial three-dimensional structure of the monitoring mechanism proposed by the present invention; Figure 5 It is a cross-sectional structural schematic diagram of the monitoring mechanism proposed by the present invention; Figure 6 for Figure 5 A partial enlarged view of the Figure 7 for Figure 5 A partial enlarged view of part A; Figure 8 This is a schematic diagram of the three-dimensional structure of the inspection mechanism proposed by the present invention.

[0017] In the figure: 1, ground rail; 101, first rack; 2, moving seat; 201, sliding frame; 202, first motor; 203, first gear; 3, lifting seat; 301, first electric push rod; 302, second electric push rod; 4, translation seat; 401, connecting plate; 5, U-shaped plate; 501, concave plate; 502, upper linkage rod; 6, connecting frame; 601, balance plate; 602, first damper; 603, touch button; 604, first pressure sensor; 605, compression spring; 606, second damper; 607, conductive sheet; 608, linkage plate; 609, conductive plate; 610, balance spring; 7, U-shaped Frame; 701, clamping plate; 702, compression box; 703, the third electric push rod; 704, lower linkage rod; 705, pressure plate; 706, the second pressure sensor; 707, piston plate; 708, vertical plate; 709, liquid inlet pipe; 710, right-angle pipe; 711, liquid outlet pipe; 712, sealing box; 713, sealing plate; 714, long plate; 8, crossbeam; 801, the second rack; 9, inspection mechanism; 901, moving box; 902, the second gear; 903, the third gear; 904, the second motor; 905, guide frame; 906, industrial camera; 10, controller; 11, power supply; 12, signal light. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] Reference Figure 1 - Figure 8 , an industrial robot for a fabric cleaning device, comprising: The operating end includes a moving seat 2 and a clamping mechanism. A lifting seat 3 is provided on the top of the moving seat 2. A translation seat 4 is provided on one side of the lifting seat 3. A monitoring mechanism is connected between the clamping mechanism and the translation seat 4. The clamping mechanism includes: a U-shaped frame 7 and a clamping plate 701. The clamping plate 701 is slidably installed in the U-shaped frame 7. The monitoring mechanism includes: a U-shaped plate 5, a connecting plate 401 and a connecting frame 6. A concave plate 501 is slidably installed in the U-shaped plate 5. One end of the connecting plate 401 is fixedly connected to the translation seat 4. The other end of the connecting plate 401 is movably abutted against the inside of the concave plate 501. The connecting frame 6 is fixedly installed on one side of the U-shaped plate 5. A balancing plate 601 is slidably installed in the connecting frame 6. The bottom of the ground rail 1 and the movable seat 2 is fixedly mounted with a sliding frame 201 , and the sliding frame 201 is slidably sleeved on the outer side of the ground rail 1 .

[0020] In this embodiment, a first rack 101 is fixedly installed on the top of the floor rail 1, a first motor 202 is fixedly installed on one side of the moving seat 2, a first gear 203 is fixedly installed on the output shaft of the first motor 202, the first gear 203 is meshed with the first rack 101, and a plurality of assembly holes are opened at the bottom of the floor rail 1.

[0021] In this embodiment, a first electric push rod 301 is fixedly installed in the moving seat 2, and the output end of the first electric push rod 301 is fixedly connected to the lifting seat 3. A plurality of vertical rods are fixedly installed at the bottom of the lifting seat 3, and the vertical rods are slidably installed in the moving seat 2; A second electric push rod 302 is fixedly installed on one side of the lifting seat 3 , and an output end of the second electric push rod 302 is fixedly connected to the translation seat 4 . A plurality of cross bars are fixedly installed on one side of the translation seat 4 , and the cross bars are slidably installed in the lifting seat 3 .

[0022] In this embodiment, a plurality of limit rods are fixedly installed on the front and rear sides of the connecting plate 401, and the limit rods are slidably installed in the U-shaped plate 5. A trapezoidal groove is provided on one side of the concave plate 501, and a trapezoidal protrusion is integrally formed at one end of the connecting plate 401. The front and rear sides of the trapezoidal protrusion are provided with inclined surfaces, and the two inclined surfaces are respectively movably abutted against the inner walls of the front and rear sides of the trapezoidal groove.

[0023] In this embodiment, a balancing spring 610 and a first damper 602 are fixedly mounted on one side of the balancing plate 601, and the other ends of the balancing spring 610 and the first damper 602 are fixedly mounted on the side wall of the connecting frame 6; Two first pressure sensors 604 are fixedly installed on the other side of the balance plate 601, a pressure plate is fixedly installed on the other end of the first pressure sensor 604, a compression spring 605 is fixedly installed on the other side of the pressure plate, a linkage plate 608 is fixedly installed on the other end of the compression spring 605, an upper linkage rod 502 is fixedly installed on the other side of the concave plate 501, a lower linkage rod 704 is fixedly installed on one side of the U-shaped frame 7, the other ends of the upper linkage rod 502 and the lower linkage rod 704 are respectively fixedly connected to the corresponding linkage plates 608, and a second damper 606 is fixedly installed between the linkage plate 608 and the balance plate 601, thereby achieving buffering of the linkage plate 608.

[0024] In this embodiment, a touch button 603 and a sealing box 712 are fixedly installed on the side wall of the connection frame 6, a sealing plate 713 is slidably installed inside the sealing box 712, a long plate 714 is fixedly installed between the sealing plate 713 and the balance plate 601, a liquid outlet pipe 711 is connected to one side of the sealing box 712, and the sealing box 712 is filled with hydraulic oil; A third electric push rod 703 is fixedly installed on the top of the U-shaped frame 7, a pressure plate 705 is fixedly installed on the output end of the third electric push rod 703, a second pressure sensor 706 is fixedly installed on the bottom of the pressure plate 705, a compression box 702 is fixedly installed on the bottom end of the second pressure sensor 706, a piston plate 707 is slidably installed in the compression box 702, a vertical plate 708 is fixedly installed between the piston plate 707 and the clamping plate 701, a liquid inlet pipe 709 is connected to the top of the compression box 702, a right-angle tube 710 is fixedly installed on the side wall of the U-shaped frame 7, the liquid inlet pipe 709 and the liquid outlet pipe 711 are respectively slidably and sealedly connected to the two ends of the right-angle tube 710, and the conduction between the liquid inlet pipe 709 and the liquid outlet pipe 711 is achieved through the right-angle tube 710, and the right-angle tube 710, the liquid inlet pipe 709 and the liquid outlet pipe 711 are all made of hard pressure-resistant material, so that the sealing can be guaranteed and deformation can be avoided when conveying high-pressure liquid.

[0025] In this embodiment, a plurality of guide rods are fixedly installed on the top of the compression box 702, the U-shaped frame 7 and the pressure plate 705 are slidably sleeved on the outside of the guide rods, and a plurality of anti-slip protrusions are integrally formed on the bottom of the clamping plate 701 and the bottom inner wall of the U-shaped frame 7.

[0026] In this embodiment, an indicating mechanism is also included, which includes: a power supply 11, a signal light 12, a controller 10, a conductive plate 609 and two conductive sheets 607. The controller 10 is signal-connected with the signal light 12, the first motor 202, the first electric push rod 301 and the second electric push rod 302. The negative pole of the power supply 11 is electrically connected to the signal light 12, and the positive pole of the power supply 11 and the positive pole of the signal light 12 are electrically connected to the two conductive sheets 607 respectively. The two conductive sheets 607 are respectively fixedly mounted on the corresponding linkage plates 608, and the conductive plate 609 is fixedly mounted on the other side of the balance plate 601. The two conductive sheets 607 are respectively flush with the top and bottom of the conductive plate 609. A bracket is fixedly mounted on the bottom of the controller 10, and the other end of the bracket is fixedly connected to the corresponding ground rail 1, thereby fixing the controller 10.

[0027] In this embodiment, a crossbeam 8 and an inspection mechanism 9 are also included. The inspection mechanism 9 includes: a moving box 901, an industrial camera 906 and a second motor 904. A third gear 903 and two second gears 902 are rotatably installed in the moving box 901. The third gear 903 and the two second gears 902 are meshed with each other. The second motor 904 is fixedly installed on the outside of the moving box 901. The output end of the second motor 904 is fixedly connected to one of the second gears 902. Both ends of the crossbeam 8 are fixedly connected to the corresponding moving seat 2. A second rack 801 is fixedly installed on the top of the crossbeam 8. The second gear 902 and the second rack 801 are meshed with each other. The industrial camera 906 is fixedly installed on the top of the moving box 901. Guide frames 905 are fixedly installed on both sides of the bottom of the moving box 901. The guide frames 905 are slidably sleeved on the outer side of the crossbeam 8, so as to guide the horizontal movement of the moving box 901.

[0028] In this embodiment, the ground rails 1 are provided in at least two groups, the ground rails 1 are laid on the ground, and the operating terminals are provided in at least four groups.

[0029] In this embodiment, when in use, the first gear 203 is driven to rotate by starting the first motor 202, and the first gear 203 drives the movable seat 2 to move forward and backward by meshing with the first rack 101, and the lifting and lowering movement of the lifting seat 3 and the left and right movement of the translation seat 4 are driven by starting the first electric push rod 301 and the second electric push rod 302, so that the three-dimensional position adjustment of the clamping mechanism can be achieved, so that the clamping mechanism moves to the end of the cloth that needs to be cleaned, and the pressing plate 705, the second pressure sensor 706, the compression box 702 and the clamping plate 701 are driven to move downward by starting the third electric push rod 703, and the cloth is clamped by the cooperation of the clamping plate 701 and the U-shaped frame 7, and when the pressure value monitored by the second pressure sensor 706 reaches a preset value, the controller 10 controls the third electric push rod 703 to stop feeding, thereby completing the clamping of the cloth; By starting the first motor 202, the first electric push rod 301 and the second electric push rod 302, the clamping mechanism is driven to move in three dimensions and the cloth is tightened. The tension in the left and right directions of the cloth drives the lower linkage plate 608 to move horizontally through the U-shaped frame 7 and the lower linkage rod 704. The tension in the front and back directions of the cloth is pushed by the contact between the trapezoidal protrusion on the connecting plate 401 and the trapezoidal groove on the concave plate 501 to push the concave plate 501 to slide left and right in the U-shaped plate 5, and the upper linkage plate 608 is driven to move through the upper linkage rod 502. The two linkage plates 608 can compress the compression spring 605 while moving, and squeeze the first pressure sensor 604 at the same time, so that the left and right tension and the front and back tension of the cloth can be monitored separately through the first pressure sensor 604, and the signal is transmitted to the control The controller 10 analyzes whether the tensioning force reaches the preset value, and controls the second electric push rod 302 and the first motor 202 to operate accordingly. The first electric push rod 301 drives the clamping mechanism to move left and right, thereby adjusting the tensioning force of the cloth left and right. The first motor 202 drives the clamping mechanism to move forward and backward, thereby adjusting the tensioning force of the cloth front and back, so that the tensioning force of the cloth in both directions meets the requirements. At the same time, the linkage plate 608 can drive the conductive sheet 607 to move horizontally. When the two conductive sheets 607 in the connecting frame 6 are in contact with the conductive plate 609, the circuit of the signal lamp 12 is turned on, so that the signal lamp 12 lights up and transmits a control signal to the controller 10. When multiple signal lamps 12 send out lighting information, it means that the tensioning force of the cloth in all directions meets the requirements. When the compression spring 605 is squeezed and compressed, it drives the balance plate 601 to move horizontally and squeezes the balance spring 610. When the pressure of the balance spring 610 and the two compression springs 605 on the balance plate 601 is equal, the balance plate 601 maintains relative balance, and the first damper 602 and the second damper 606 buffer the movement of the balance plate 601 and the linkage plate 608, so as to avoid the balance spring 610 or the compression spring 605 jumping back and forth to affect the stability. When the balance plate 601 moves horizontally, it drives the sealing plate 713 to move horizontally through the long plate 714, and pushes the hydraulic oil in the compression box 702 into the outlet pipe 711, and passes through the right-angle pipe 714. 10 and the liquid inlet pipe 709 are introduced into the compression box 702, thereby pushing the piston plate 707 to move downward, and the piston plate 707 drives the clamping plate 701 to move downward through the vertical plate 708, thereby further improving the clamping force on the cloth, and the area of ​​the piston plate 707 is much larger than the area of ​​the sealing plate 713, so that the downward movement distance of the piston plate 707 is much smaller than the horizontal movement distance of the sealing plate 713, and the pressure force received by the piston plate 707 is much larger than the horizontal thrust received by the sealing plate 713, so that the cloth can be clamped with little effort, and only a small part of the resistance received by the clamping plate 701 is fed back to the sealing plate 713, thereby avoiding restriction on the horizontal movement of the balance plate 601; By controlling the first motor 202 to operate synchronously, the clamping mechanism is driven to move synchronously along the ground rail 1 to realize horizontal transportation of the fabric, and cooperate with the fabric cleaning device to realize automatic cleaning of the fabric. During the cleaning process, the fabric is subjected to friction, pulling and blocking by the cleaning structure inside the cleaning device, which will increase or decrease the local tension of the fabric, and can drive the corresponding linkage plate 608 to move further. When the tension changes, the controller 10 controls the corresponding first motor 202 and the second electric push rod 302 to drive the clamping mechanism to move in the corresponding direction, thereby realizing adaptive adjustment of the tension, so that the tension of the fabric is maintained at a predetermined level. The balance plate 601 is within a reasonable range of the setting, and after the tension of the cloth increases, the balance plate 601 can be further moved horizontally, and the clamping plate 701 can be driven to move slightly downward, so as to further enhance the clamping force of the cloth to avoid falling off during the cleaning process. When the tension is instantly reduced during the cleaning process, the corresponding linkage plate 608 can be moved, so that the corresponding conductive sheet 607 is out of contact with the conductive plate 609, and the signal light 12 is powered off, so that the cleaning work is stopped through the controller 10. When the tension is too large during the cleaning process and the balance plate 601 squeezes the control button, the control button can send a stop signal to the controller 10, so as to stop the cleaning work and avoid the cloth from breaking. By starting the second motor 904 to drive one of the second gears 902 to rotate, and by engaging with the third gear 903 to drive the other second gear 902 to rotate synchronously, the second gear 902 drives the movable box 901 and the industrial camera 906 on the top thereof to move horizontally by engaging with the second rack 801, so that the industrial camera 906 can capture images of the cleaned cloth and transmit the image information to the controller 10, and the controller 10 determines whether the cleaning degree of the cloth meets the standard based on the image information.

[0030] The above is a detailed introduction to an industrial robot for a fabric cleaning device provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An industrial robot for a fabric cleaning device, characterized in that: include: An operating end, the operating end comprising a moving seat (2) and a clamping mechanism, a lifting seat (3) being arranged on the top of the moving seat (2), a translation seat (4) being arranged on one side of the lifting seat (3), a monitoring mechanism being connected between the clamping mechanism and the translation seat (4), the clamping mechanism comprising: a U-shaped frame (7) and a clamping plate (701), the clamping plate (701) being slidably mounted in the U-shaped frame (7), the monitoring mechanism comprising: a U-shaped plate (5), a connecting plate (401) and a connecting frame (6), a concave plate (501) being slidably mounted in the U-shaped plate (5), one end of the connecting plate (401) being fixedly connected to the translation seat (4), the other end of the connecting plate (401) being movably abutted against the inside of the concave plate (501), the connecting frame (6) being fixedly mounted on one side of the U-shaped plate (5), and a balancing plate (601) being slidably mounted in the connecting frame (6); A floor rail (1), a sliding frame (201) is fixedly mounted on the bottom of the movable seat (2), and the sliding frame (201) is slidably sleeved on the outer side of the floor rail (1).

2. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: A first rack (101) is fixedly mounted on the top of the floor rail (1), a first motor (202) is fixedly mounted on one side of the moving seat (2), a first gear (203) is fixedly mounted on the output shaft of the first motor (202), the first gear (203) and the first rack (101) are meshed with each other, and a plurality of assembly holes are provided at the bottom of the floor rail (1).

3. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: A first electric push rod (301) is fixedly installed in the movable seat (2), an output end of the first electric push rod (301) is fixedly connected to the lifting seat (3), a plurality of vertical rods are fixedly installed at the bottom of the lifting seat (3), and the vertical rods are slidably installed in the movable seat (2); A second electric push rod (302) is fixedly mounted on one side of the lifting seat (3), an output end of the second electric push rod (302) is fixedly connected to the translation seat (4), a plurality of cross bars are fixedly mounted on one side of the translation seat (4), and the cross bars are slidably mounted in the lifting seat (3).

4. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: A plurality of limit rods are fixedly mounted on both the front and rear sides of the connecting plate (401), and the limit rods are slidably mounted in the U-shaped plate (5). A trapezoidal groove is provided on one side of the concave plate (501), and a trapezoidal protrusion is integrally formed on one end of the connecting plate (401). Inclined surfaces are provided on the front and rear sides of the trapezoidal protrusion, and the two inclined surfaces are movably abutted against the inner walls of the front and rear sides of the trapezoidal groove, respectively.

5. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: A balancing spring (610) and a first damper (602) are fixedly mounted on one side of the balancing plate (601), and the other ends of the balancing spring (610) and the first damper (602) are fixedly mounted on a side wall of the connecting frame (6); Two first pressure sensors (604) are fixedly mounted on the other side of the balancing plate (601); a pressure plate is fixedly mounted on the other end of the first pressure sensor (604); a compression spring (605) is fixedly mounted on the other side of the pressure plate; a linkage plate (608) is fixedly mounted on the other end of the compression spring (605); an upper linkage rod (502) is fixedly mounted on the other side of the concave plate (501); a lower linkage rod (704) is fixedly mounted on one side of the U-shaped frame (7); the other ends of the upper linkage rod (502) and the lower linkage rod (704) are respectively fixedly connected to the corresponding linkage plates (608); and a second damper (606) is fixedly mounted between the linkage plate (608) and the balancing plate (601).

6. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: A touch button (603) and a sealing box (712) are fixedly mounted on the side wall of the connection frame (6); a sealing plate (713) is slidably mounted inside the sealing box (712); a long plate (714) is fixedly mounted between the sealing plate (713) and the balance plate (601); a liquid outlet pipe (711) is connected to one side of the sealing box (712); and the sealing box (712) is filled with hydraulic oil; A third electric push rod (703) is fixedly mounted on the top of the U-shaped frame (7), a pressure plate (705) is fixedly mounted on the output end of the third electric push rod (703), a second pressure sensor (706) is fixedly mounted on the bottom of the pressure plate (705), a compression box (702) is fixedly mounted on the bottom end of the second pressure sensor (706), a piston plate (707) is slidably mounted in the compression box (702), a vertical plate (708) is fixedly mounted between the piston plate (707) and the clamping plate (701), a liquid inlet pipe (709) is connected to the top of the compression box (702), a right-angle pipe (710) is fixedly mounted on the side wall of the U-shaped frame (7), and the liquid inlet pipe (709) and the liquid outlet pipe (711) are respectively slidably and sealedly connected to the two ends of the right-angle pipe (710).

7. The industrial robot for fabric cleaning equipment according to claim 6, characterized in that: A plurality of guide rods are fixedly mounted on the top of the compression box (702), the U-shaped frame (7) and the pressure plate (705) are both slidably sleeved on the outside of the guide rods, and a plurality of anti-slip protrusions are integrally formed on the bottom of the clamping plate (701) and the bottom inner wall of the U-shaped frame (7).

8. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: The invention also comprises an indicating mechanism, the indicating mechanism comprising: a power supply (11), a signal light (12), a controller (10), a conductive plate (609) and two conductive sheets (607); the controller (10) is signal-connected to the signal light (12), the first motor (202), the first electric push rod (301) and the second electric push rod (302); the negative electrode of the power supply (11) is electrically connected to the signal light (12); the positive electrode of the power supply (11) and the positive electrode of the signal light (12) are electrically connected to the two conductive sheets (607) respectively; the two conductive sheets (607) are respectively fixedly mounted on corresponding linkage plates (608); the conductive plate (609) is fixedly mounted on the other side of the balance plate (601); the two conductive sheets (607) are respectively flush with the top and bottom of the conductive plate (609); a bracket is fixedly mounted on the bottom of the controller (10); the other end of the bracket is fixedly connected to the corresponding ground rail (1).

9. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: It also includes a crossbeam (8) and an inspection mechanism (9), wherein the inspection mechanism (9) includes: a moving box (901), an industrial camera (906) and a second motor (904); a third gear (903) and two second gears (902) are rotatably mounted in the moving box (901); the third gear (903) and the two second gears (902) are meshed with each other; the second motor (904) is fixedly mounted on the outside of the moving box (901); an output end of the second motor (904) is fixedly connected to one of the second gears (902); both ends of the crossbeam (8) are fixedly connected to the corresponding moving seat (2); a second rack (801) is fixedly mounted on the top of the crossbeam (8); the second gear (902) and the second rack (801) are meshed with each other; and the industrial camera (906) is fixedly mounted on the top of the moving box (901); Guide frames (905) are fixedly mounted on both sides of the bottom of the moving box (901), and the guide frames (905) are slidably sleeved on the outside of the crossbeam (8).

10. The industrial robot for fabric cleaning equipment according to claim 1, characterized in that: The ground rails (1) are arranged in at least two groups, the ground rails (1) are laid on the ground, and the operating ends are arranged in at least four groups.

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