Manipulator for clamping clothes

Abstract

The mechanical arm comprises a driving part, a grabbing device and a rotating arm connected with the driving part and the grabbing device, and the driving part drives the rotating arm to rotate and drives the grabbing device to move; the grabbing device comprises a base plate, a pressing plate, a pressing plate driving mechanism and a clamping mechanism, a clothes clamping space is formed between the pressing plate and a clamping seat body of the clamping mechanism, the pressing plate is driven by the pressing plate driving mechanism to rotate, clothes are clamped between the pressing plate and the clamping seat body, and the clamping mechanism is provided with pricking needles capable of stretching out in the direction of the pressing plate. The at least two sets of pricking needles extend out from the lower portion of the clamping base body of the clamping mechanism in different directions, pierce clothes clamped between the pressing plate and the clamping base body and clamp the clothes. The rotary arm is adopted to drive the grabbing device to operate, the structure is simple, and clothes are clamped through the pricking needles in the clamping mechanism and prevented from falling off.

Description

Technical field:

[0001] The invention relates to the field of automation, in particular to a robot for clamping clothes. Background technology:

[0002] Traditional robots used to extract clothes usually use linear motion modules to drive the clamps to complete the clamping of clothes. Common linear motion modules on the market include linear motor modules, screw slider modules, etc. This type of drive device is large in size and requires a beam larger than the entire stroke to support the clamps. However, since clothes are light industrial products and are light in weight, using a linear motion module as the drive device of the robot is not only bulky and occupies a large space, but also has high costs.

[0003] In view of the shortcomings of the prior art, the applicant has previously proposed the following technical solutions. See the utility model with Chinese patent number 202220646332.7, which discloses a manipulator for clamping clothes. The technical solution adopted is: the manipulator includes: a telescopic mechanism and an adsorption mechanism arranged at the movable end of the telescopic mechanism and used to absorb clothes, the telescopic mechanism includes a fixed seat and a movable seat, a telescopic connecting rod assembly for connecting the fixed seat and the movable seat, and a telescopic driving device for driving the movable seat to move relative to the fixed seat, and the adsorption mechanism is installed on the movable seat. The telescopic connecting rod assembly is used to push the movable seat to drive the adsorption mechanism to move. The telescopicity of the telescopic connecting rod assembly can not only reduce the size of the space occupied by the operation of the mechanism.

[0004] The above-mentioned prior art solutions have the following deficiencies:

[0005] First, the institutional design is too complicated.

[0006] Secondly, the clothing extraction robot uses an adsorption mechanism to complete the extraction of clothing. Although a needle suction cup is provided in the adsorption mechanism, the problem of insufficient clamping force causing the clothing to slip still occurs during the clothing extraction process.

[0007] In view of this, the inventors have proposed the following technical solutions through improvements. Summary of the invention:

[0008] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a robot for clamping clothes.

[0009] In order to solve the above technical problems, the present invention adopts the following technical solutions: a robot arm for clamping clothes, comprising: a driving part, a gripping device, and a rotating arm connecting the driving part and the gripping device, the driving part drives the rotating arm to rotate, driving the gripping device to move, the gripping device comprises: a base plate connected to the rotating arm, a pressing plate pivotally connected to the front end of the base plate, a pressing plate driving mechanism for driving the pressing plate to rotate, and a clamping mechanism located above the pressing plate, a clothing clamping space is formed between the pressing plate and the clamping seat of the clamping mechanism, the pressing plate is driven to rotate by the pressing plate driving mechanism to clamp the clothes between the pressing plate and the clamping seat; the clamping mechanism has needles that can extend toward the pressing plate, at least two groups of needles extend from different directions below the clamping seat of the clamping mechanism, pierce the clothes clamped between the pressing plate and the clamping seat, and clamp the clothes.

[0010] Furthermore, in the above technical solution, the clamping mechanism includes: a clamping seat body fixedly connected to the base plate, a clamping motor installed on the clamping seat body, a gear shaft group driven by the clamping motor, a needle seat and a puncture needle installed on the needle seat; the needle seat is provided with a rack portion meshing with the gear shaft group, the clamping motor drives the gear shaft group to rotate, and the needle seat is driven to move through the cooperation of the gear shaft group and the rack portion, so that the puncture needle installed on the needle seat extends out of the clamping seat body.

[0011] Furthermore, in the above technical solution, the clamping seat body includes: a connecting plate fixedly connected to the base plate, a clamping box body located in front of the connecting plate, the clamping motor is installed on the connecting plate, the gear shaft group and the needle seat are installed in the clamping box body, and a needle hole for the needle to extend out is opened on the lower end surface of the clamping box body.

[0012] Furthermore, in the above technical solution, the clamping box has an inclined side panel, the needle seat is slidably mounted on the side panel via a guide rail, and the puncture needle extends obliquely downward out of the clamping box when moving with the needle seat.

[0013] Furthermore, in the above technical solution, the gear shaft group includes: a main gear shaft linked to the clamping motor, a slave gear shaft meshing with the main gear shaft, and a left gear shaft and a right gear shaft meshing with the main gear shaft and the slave gear shaft respectively; the left gear shaft simultaneously drives a plurality of parallel needle seats distributed on the left side of the clamping box; the right gear shaft simultaneously drives a plurality of parallel needle seats distributed on the right side of the clamping box; the needle seats located on the left and right sides of the clamping box drive the needles to extend from the left and right directions to pierce the clamped clothes.

[0014] Furthermore, in the above technical solution, the driving part includes: a fixed seat, and a first driving motor and a first reduction mechanism installed on the fixed seat; the rotating arm includes: an arm body, a first rotating shaft and a second rotating shaft installed at both ends of the arm body, and a first transmission mechanism connected between the first rotating shaft and the second rotating shaft; the first driving motor drives the first rotating shaft and the arm body fixed to the first rotating shaft to rotate through the first reduction mechanism, and the second rotating shaft extends into the grasping device and is pivotally connected to the substrate.

[0015] Furthermore, in the above technical solution, the first transmission mechanism is any one of a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism.

[0016] Furthermore, in the above technical solution, the pressure plate driving mechanism installed on the base plate includes: a pressure plate motor, a gear set, a worm, a turbine and a pressure plate shaft pivotally connected to the pressure plate. The pressure plate motor drives the worm arranged in parallel with the pressure plate motor to rotate through the gear set after deceleration, and the worm drives the pressure plate shaft to rotate through the turbine, thereby driving the pressure plate linked to the pressure plate shaft to rotate.

[0017] Furthermore, in the above technical solution, the output end gear in the gear set is installed on a connecting shaft; the worm rotates synchronously with the connecting shaft and can be slidably mounted on the connecting shaft; the connecting shaft is also provided with a sleeve and a spring that can rotate relative to it, and the spring acts on the sleeve to generate pressure on the sleeve and the worm.

[0018] Furthermore, in the above technical solution, the connecting shaft is installed on an upper base plate fixedly connected to the base plate, and a sliding groove parallel to the axial direction of the connecting shaft is opened on the upper base plate; a sliding plate extends from the sliding sleeve, and the sliding plate falls into the sliding groove; a position detector corresponding to the sliding plate is arranged at the position of the sliding groove on the upper base plate.

[0019] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0020] 1. The present invention adopts a rotating arm to drive the grabbing device to operate, and the structure is simple.

[0021] 2. The pressure plate driving mechanism and the clamping mechanism in the grabbing device of the present invention cooperate with each other to achieve the grabbing and clamping of clothes. The two work independently through their respective driving mechanisms and operate stably.

[0022] 3. The clamping mechanism of the present invention adopts a retractable needle. When working, the needle can penetrate into the clothes, thereby clamping the clothes stably and preventing the clothes from falling. Description of the drawings:

[0023] Figure 1 is a stereogram of the present invention;

[0024] Figure 2 It is a stereogram of another viewing angle of the present invention;

[0025] Figure 3 is a three-dimensional exploded view of the present invention;

[0026] Figure 4 is a three-dimensional exploded view of the grabbing device of the present invention;

[0027] Figure 5 is an exploded schematic diagram of the grabbing device in the present invention;

[0028] Figure 6 is a three-dimensional diagram of the grabbing device of the present invention without the clamping mechanism;

[0029] Figure 7 yes Figure 6 3D exploded view of

[0030] Figure 8 is a three-dimensional diagram of a clamping mechanism in a gripping device of the present invention;

[0031] Fig. 9 yes Figure 8 3D exploded view of

[0032] Fig.10 yes Figure 8 Another perspective exploded view. Specific implementation method:

[0033] The present invention is further described below in conjunction with specific embodiments and drawings.

[0034] See Figure 1 , Figure 2 As shown, the present invention is a robot for clamping clothes, which includes: a driving part 10, a grabbing device 30, and a rotating arm 20 connecting the driving part 10 and the grabbing device 30. The driving part 10 drives the rotating arm 20 to rotate, thereby driving the grabbing device 30 to move.

[0035] The driving unit 10 includes: a fixed seat 11, and a first driving motor 12 and a first reduction mechanism 13 installed on the fixed seat 11. The fixed seat 11 serves as a bearing seat of the present invention, and the present invention can be installed in other automation equipment through the fixed seat 11. The first driving motor 12 can adopt a stepping motor to achieve precise control. The first reduction mechanism 13 can adopt a gear set mechanism to reduce the speed output by the first driving motor 12 and increase the torque. In the present invention, the first reduction mechanism 13 can adopt a worm gear mechanism as a reduction mechanism.

[0036] See Figure 3As shown, the rotating arm 20 includes: an arm body 21, a first rotating shaft 22 and a second rotating shaft 23 installed at both ends of the arm body 21, and a first transmission mechanism 24 connected between the first rotating shaft 22 and the second rotating shaft 23. The first rotating shaft 22 serves as the output shaft of the first reduction mechanism 13, and the first rotating shaft 22 is fixedly connected to the arm body 21. When the first driving motor 12 drives the first rotating shaft 22 to rotate through the first reduction mechanism 13, the first rotating shaft 22 simultaneously drives the arm body 21 fixed thereto to rotate, thereby moving the entire grasping device 30 to a specified position.

[0037] The first transmission mechanism 24 can be any one of: a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, and a toothed belt transmission mechanism. The present invention can choose to use a toothed belt transmission mechanism, which specifically includes: a first pulley 241 fixedly connected to the first rotating shaft 22, a second pulley 242 pivotally connected to the second rotating shaft 23, and a toothed belt 243 connected between the first pulley 241 and the second pulley 242.

[0038] One end of the second rotating shaft 23 extends into the gripping device 30 and is pivotally connected to the base plate 31. A torsion spring 231 is sleeved on the second rotating shaft 23, and the two ends of the torsion spring 231 act between the second pulley 242 and the base plate 31 respectively, so that the base plate 31 has a certain elastic activity redundancy through the torsion spring 231.

[0039] When the first rotating shaft 13 rotates, the second pulley 242 rotates synchronously through the toothed belt 243, and the grabbing device 30 moves with the arm body 21. At the same time, since the second pulley 242 rotates synchronously through the toothed belt 243, the second pulley 242 rotates relative to the base plate 31, and the torsion force acting on the torsion spring 231 increases. The torsion spring 231 drives the base plate 31 to reset under the action of its own resilience, so that the entire grabbing device 30 forms a reset rotation, thereby allowing the grabbing device 30 to reach the specified position.

[0040] See Figures 3 to 7 As shown, the grabbing device 30 includes: a base plate 31 connected to the rotating arm 20, a pressing plate 32 pivotally connected to the front end of the base plate 31, a pressing plate driving mechanism 4 for driving the pressing plate 32 to rotate, and a clamping mechanism 5 located above the pressing plate 32. A clothing clamping space is formed between the pressing plate 32 and the clamping seat 51 of the clamping mechanism 5. The pressing plate 32 is driven to rotate by the pressing plate driving mechanism 4 to clamp the clothing between the pressing plate 32 and the clamping seat 51.

[0041] An upper base plate 33 and a lower base plate 34 are fixedly mounted on the base plate 31 , and the upper and lower base plates 33 and 34 are used to assist in positioning and assembling the pressure plate driving mechanism 4 . A housing 300 is provided on the base plate 31 .

[0042] The base plate 31 is used to carry the gripping device 30, and the base plate 31 is pivotally connected to the second rotating shaft 23. The pressing plate driving mechanism 4 is installed on the base plate 31, and the pressing plate driving mechanism 4 includes: a pressing plate motor 41, a gear set 43, a worm 44, a turbine 45, and a pressing plate shaft 47 pivotally connected to the pressing plate 32. The turbine 45 and the pressing plate shaft 47 are linked by a second gear mechanism 46.

[0043] The pressing plate motor 41 is decelerated by a gear reducer and then output to a gear set 43. The gear set 43 drives a worm 44 arranged in parallel with the pressing plate motor 41 to rotate, and the worm 44 drives a pressing plate shaft 47 to rotate through a turbine 45 and a second gear mechanism 46, so as to drive the pressing plate 32 linked to the pressing plate shaft 47 to rotate, thereby rotating the pressing plate 32 and clamping the clothes between the pressing plate 32 and the clamping seat 51.

[0044] The output end gear 431 in the gear set 43 is installed on a connecting shaft 432; the worm 44 rotates synchronously with the connecting shaft 432 and can be slidably mounted on the connecting shaft 432; the connecting shaft 432 is also provided with a relatively rotatable sliding sleeve 433 and a spring 434, and the spring 434 acts on the sliding sleeve 433 to generate pressure on the sliding sleeve 433 and the worm 44.

[0045] The linkage shaft 432 is mounted on the upper base plate 33 fixedly connected to the base plate 31, and a slide groove 331 parallel to the axial direction of the linkage shaft 432 is provided on the upper base plate 33; a slide plate 4331 extends from the slide sleeve 433, and the slide plate 4331 falls into the slide groove 331. A position detector 6 is provided at a position corresponding to the slide groove 331 on the upper base plate 33. During the rotation of the linkage shaft 432, since the worm 44 is slidably sleeved on the linkage shaft 432, the worm 44 will generate axial displacement during the rotation, and the spring 434 pushes the slide sleeve 433 to generate axial displacement along with the worm 44, thereby changing the position of the slide plate 4331, and the position of the slide plate 4331 is detected by the position detector 6.

[0046] Combination Figures 8 to 10 As shown, the clamping mechanism 5 is located above the pressure plate driving mechanism 4 and the pressure plate 32, and includes: a clamping seat body 51 fixedly connected to the base plate 31, a clamping motor 52 installed on the clamping seat body 51, a gear shaft group 53 driven by the clamping motor 52, a needle seat 54 and a needle 55 installed on the needle seat 54.

[0047] The needle seat 54 is provided with a rack portion 541 meshing with the gear shaft set 53. The clamping motor 52 drives the gear shaft set 53 to rotate, and the gear shaft set 53 cooperates with the rack portion 541 to drive the needle seat 54 to move, so that the puncture needle 55 installed on the needle seat 54 extends out of the clamping seat body 51.

[0048] The clamping seat body 51 includes: a connecting plate 511 fixedly connected to the base plate 41, and a clamping box body 512 located in front of the connecting plate 511. The clamping motor 52 is installed on the connecting plate 511. The gear shaft group 53 and the needle seat 54 are installed in the clamping box body 512, and a needle hole 510 for the needle 55 to extend out is opened on the lower end surface of the clamping box body 512.

[0049] The clamping box 512 is roughly in the shape of a trapezoid that is wide at the top and narrow at the bottom. It has inclined side panels 5121 on the left and right sides. The needle seat 54 is slidably mounted on the side panels 5121 through guide rails. When the puncture needle 55 moves with the needle seat 54, it extends out of the clamping box 512 at an angle downward.

[0050] The gear shaft group 53 includes: a main gear shaft 531 linked to the clamping motor 52, a slave gear shaft 532 meshing with the main gear shaft 531, and a left gear shaft 533 and a right gear shaft 534 respectively meshing with the main gear shaft 531 and the slave gear shaft 532; the left gear shaft 533 simultaneously drives a plurality of parallel needle seats 54 distributed on the left side of the clamping box 512; the right gear shaft 534 simultaneously drives a plurality of parallel needle seats 54 distributed on the right side of the clamping box 512.

[0051] The needle seats 54 on the left and right sides are driven to slide along the side plate 5121 by the left gear shaft 533 and the right gear shaft 534. The needle seats 54 on the left and right sides of the clamping box 512 drive the pricking needles 55 to extend from the left and right directions and pierce the clamped clothes.

[0052] When the present invention is working, first, the driving unit 10 drives the rotating arm 20 to rotate, thereby driving the grabbing device 30 to move to the designated position. Then, the pressing plate driving mechanism 4 drives the pressing plate 32 to rotate upward, thereby clamping the clothes at the designated position. After the pressing plate 32 rotates a certain angle, the position detector 6 detects that the slide 4331 runs to the designated position, and the clamping mechanism 5 starts to work. The needles 55 on the left and right sides extend from their respective needle holes 510 respectively to clamp the clothes clamped by the pressing plate 32. Finally, the entire manipulator can be driven to run to the designated position through other mechanisms, and the clamping mechanism 5 and the pressing plate 32 are reset in turn, so that the grabbed clothes are put down, and this cycle continues.

[0053] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. A manipulator for clamping clothes, comprising: A driving part (10), a grabbing device (30), and a rotating arm (20) connecting the driving part (10) and the grabbing device (30), wherein the driving part (10) drives the rotating arm (20) to rotate, thereby driving the grabbing device (30) to move, and is characterized in that: The grabbing device (30) comprises: a base plate (31) connected to the rotating arm (20), a pressing plate (32) pivotally connected to the front end of the base plate (31), a pressing plate driving mechanism (4) for driving the pressing plate (32) to rotate, and a clamping mechanism (5) located above the pressing plate (32); a clothing clamping space is formed between the pressing plate (32) and a clamping seat (51) of the clamping mechanism (5); the pressing plate (32) is driven to rotate by the pressing plate driving mechanism (4) to clamp the clothing between the pressing plate (32) and the clamping seat (51); The clamping mechanism (5) has needles (55) that can extend toward the pressure plate (32), and at least two groups of needles (55) extend from different directions below the clamping seat (51) of the clamping mechanism (5) to pierce the clothes clamped between the pressure plate (32) and the clamping seat (51) to clamp the clothes.

2. The robot for clamping clothes according to claim 1, characterized in that: The clamping mechanism (5) comprises: a clamping seat (51) fixedly connected to the base plate (31), a clamping motor (52) mounted on the clamping seat (51), a gear shaft group (53) driven by the clamping motor (52), a needle seat (54), and a puncture needle (55) mounted on the needle seat (54); The needle seat (54) is provided with a rack portion (541) meshing with the gear shaft group (53); the clamping motor (52) drives the gear shaft group (53) to rotate, and the gear shaft group (53) cooperates with the rack portion (541) to drive the needle seat (54) to move, so that the puncture needle (55) installed on the needle seat (54) extends out of the clamping seat body (51).

3. The robot for clamping clothes according to claim 2, characterized in that: The clamping seat (51) comprises: a connecting plate (511) fixedly connected to the base plate (31), and a clamping box (512) located in front of the connecting plate (511); the clamping motor (52) is installed on the connecting plate (511); the gear shaft group (53) and the needle seat (54) are installed in the clamping box (512); and a needle hole (510) for the puncture needle (55) to extend out is opened on the lower end surface of the clamping box (512).

4. The robot for clamping clothes according to claim 3, characterized in that: The clamping box (512) has an inclined side plate (5121), and the needle seat (54) is slidably mounted on the side plate (5121) via a guide rail. When the puncture needle (55) moves with the needle seat (54), it extends out of the clamping box (512) in an inclined downward direction.

5. The robot for clamping clothes according to claim 2, characterized in that: The gear shaft assembly (53) comprises: a main gear shaft (531) linked to the clamping motor (52), a slave gear shaft (532) meshed with the main gear shaft (531), and a left gear shaft (533) and a right gear shaft (534) respectively meshed with the main gear shaft (531) and the slave gear shaft (532); The left gear shaft (533) simultaneously drives a plurality of needle seats (54) arranged in parallel and distributed on the left side of the clamping box (512); The right gear shaft (534) simultaneously drives a plurality of needle seats (54) arranged in parallel and distributed on the right side of the clamping box (512); The needle seats (54) located on the left and right sides of the clamping box (512) drive the pricking needles (55) to extend from the left and right directions and pierce the clamped clothing.

6. The robot for clamping clothes according to any one of claims 1 to 5, characterized in that: The driving part (10) comprises: a fixing seat (11), and a first driving motor (12) and a first speed reduction mechanism (13) mounted on the fixing seat (11); the rotating arm (20) comprises: an arm body (21), a first rotating shaft (22) and a second rotating shaft (23) mounted at two ends of the arm body (21), and a first transmission mechanism (24) connected between the first rotating shaft (22) and the second rotating shaft (23); The first driving motor (12) drives the first rotating shaft (22) and the arm body (21) fixed to the first rotating shaft (22) to rotate via the first reduction mechanism (13); the second rotating shaft (23) extends into the grasping device (30) and is pivotally connected to the base plate (31).

7. The robot for clamping clothes according to claim 6, characterized in that: The first transmission mechanism (24) is any one of a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism.

8. The robot for clamping clothes according to any one of claims 1 to 5, characterized in that: The pressure plate driving mechanism (4) installed on the base plate (31) includes: a pressure plate motor (41), a gear set (43), a worm (44), a turbine (45) and a pressure plate shaft (47) pivotally connected to the pressure plate (32). The pressure plate motor (41) drives the worm (44) arranged in parallel with the pressure plate motor (41) to rotate through the gear set (43) after deceleration, and the worm (44) drives the pressure plate shaft (47) to rotate through the turbine (45), thereby driving the pressure plate (32) connected to the pressure plate shaft (47) to rotate.

9. The robot for clamping clothes according to claim 8, characterized in that: The output end gear (431) in the gear set (43) is mounted on a linkage shaft (432); the worm (44) rotates synchronously with the linkage shaft (432) and is slidably sleeved on the linkage shaft (432); the linkage shaft (432) is also sleeved with a sliding sleeve (433) and a spring (434) that can rotate relative to the sliding sleeve; the spring (434) acts on the sliding sleeve (433) to generate pressure on the sliding sleeve (433) and the worm (44).

10. The robot for clamping clothes according to claim 9, characterized in that: The linkage shaft (432) is mounted on an upper base plate (33) fixedly connected to the base plate (31), and a slide groove (331) parallel to the axial direction of the linkage shaft (432) is provided on the upper base plate (33); A sliding sheet (4331) extends from the sliding sleeve (433), and the sliding sheet (4331) falls into the sliding groove (331); A position detector (6) corresponding to the slide (4331) is provided on the upper substrate (33) at a position corresponding to the slide groove (331).

Images