Mechanical hand for batch grabbing of waste textiles

Abstract

The application belongs to the technical field of manipulators, and particularly relates to a manipulator for batch grabbing of waste textiles, which comprises a cylinder. An outer wall of the cylinder is fixedly connected with a servo motor, an output end of the servo motor is drivingly connected with a driving gear, the outer wall of the cylinder is rotatably connected with a linkage disc, the top of the linkage disc is fixedly connected with a tooth ring disc, the tooth ring disc is meshingly connected with the driving gear, the output end of the cylinder drives a piston assembly to lift and lower, the two ends of a clamping arm assembly and the connection positions of the first hinge seat and the second hinge seat change in angle, the clamping force of the three sets of clamping arm assemblies is synchronously adjusted, the output end of the servo motor drives the driving gear to rotate, the three sets of clamping arm assemblies are synchronously rotated in the meshing connection process of the tooth ring disc and the driving gear, the waste textiles before being grabbed are divided into regions, and the grabbing accuracy of the waste textiles in the region is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a manipulator for batch grasping of waste textiles. Background Art

[0002] With the shortage of raw material resources and the need to protect the environment, the recycling and reuse of waste textiles are increasingly advocated. In recent years, with the development of technology, the manufacturing level of machine devices配套 for the recycling and reuse of waste textiles has been continuously improved, and the types of waste textiles that can be recycled and reused have also increased.

[0003] After retrieval, in the prior art, Chinese Patent Publication No. CN115401712B, Authorization Publication Date: January 13, 2023, discloses a manipulator for batch grasping of waste textiles, which relates to the field of manipulators and includes a mounting plate. The mounting plate is fixedly connected to a connecting rod; one end of the connecting rod far from the mounting plate is fixedly connected to a connecting plate; the connecting plate is fixedly connected to an adjusting rod mechanism; the mounting plate is fixedly connected to a grasping arm mechanism; a rotating clamping plate mechanism is provided on the grasping arm mechanism; a first transmission mechanism and a second transmission mechanism are provided on the grasping arm mechanism. In this application, by setting the adjusting rod mechanism, the grasping arm mechanism can be driven, so as to drive the rotating clamping plate mechanism to rotate, thereby realizing the拨动 and grasping of textiles. Through the first transmission mechanism and the second transmission mechanism, the linkage of the grasping arm mechanism and the rotating clamping plate mechanism can be realized, ensuring that when the grasping arm mechanism rotates, the rotating clamping plate mechanism can rotate synchronously, realizing the rapid grasping and blanking of textiles, and improving the efficiency of grasping waste textiles.

[0004] However, this device still has the following defects: Although it can realize the rapid grasping and blanking of textiles and improve the efficiency of grasping waste textiles, during the process of grasping waste textiles, it is impossible to divide the piled-up waste textiles into areas. In the direct grasping process, the grasping accuracy cannot be improved, and it is easy to cause the waste textiles near the manipulator to also be accidentally included in the grasping range. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a robotic arm for bulk grasping of waste textiles, comprising a cylinder; a servo motor is fixedly connected to the outer wall of the cylinder, and a drive gear is drivenly connected to the output end of the servo motor; a linkage disk is rotatably connected to the outer wall of the cylinder, and a geared ring disk is fixedly connected to the top of the linkage disk, and the geared ring disk meshes with the drive gear; a piston assembly is drivenly connected to the output end of the cylinder; a linkage collar is sleeved on the end of the piston assembly, and three sets of second hinge seats are fixedly connected to the outer wall of the linkage collar; three sets of first hinge seats are fixedly connected to the bottom of the linkage disk; and a clamping arm assembly is rotatably connected between each of the three sets of first hinge seats and the three sets of second hinge seats, so that one side of the three sets of clamping arm assemblies can perform a grasping function while rotating with the linkage disk during the lifting and lowering process following the piston assembly.

[0006] Furthermore, the piston assembly includes a piston housing; an adjustment cavity is provided at the bottom of the piston housing, and two sets of guide grooves are provided on the outer wall of the piston housing.

[0007] Furthermore, the inner walls of both sets of guide grooves are slidably fitted with linkage blocks, and the two sets of linkage blocks are fixedly connected with a mounting ring. The inner wall of the mounting ring is fixedly connected with a linkage housing. The outer wall of the linkage housing and the end away from the mounting ring are provided with three sets of embedded grooves, and the inner walls of the three sets of embedded grooves are provided with pressure plates.

[0008] Furthermore, one end of the lower pressure plate is fixedly connected to a shaft pin, and both ends of the shaft pin are rotatably connected to the bottom of the inner wall of the embedded groove. Torsion springs are provided at the connection between the shaft pin and the inner wall of the embedded groove. An inclined platform is provided on the outer wall of the lower pressure plate and on the side close to the embedded groove.

[0009] Furthermore, a pressure roller is rolled and fitted to the top of the inclined platform, and the top of the pressure roller is driven to the output end of an electric push rod. The side of the electric push rod away from the output end is embedded in the linkage housing, and both sets of linkage blocks are threaded with lead screws.

[0010] Furthermore, one end of the lead screw is rotatably connected to the bottom of the inner wall of the guide groove, and the other end of the lead screw is drivenly connected to the output end of a stepper motor, with the side of the stepper motor away from the output end fixedly connected to the top of the inner wall of the guide groove.

[0011] Furthermore, the clamping arm assembly includes a first pull arm; a second pull arm is fixedly connected to one end of the first pull arm, the connection between the second pull arm and the first pull arm is set at an obtuse angle, and the inner walls of both the second pull arm and the first pull arm are provided with a cavity structure, and a central shaft is rotatably connected to the connection between the second pull arm and the first pull arm.

[0012] Furthermore, a traction arm is fixedly connected to the central shaft, and the other end of the traction arm is rotatably connected to the second hinge seat. The end of the first pull arm and the side away from the central shaft are rotatably connected to the first hinge seat. An air pump is also fixedly connected to the outer wall of the first pull arm, and an air valve nozzle is installed at the end of the air pump. An intake valve and an exhaust valve are provided on the air valve nozzle.

[0013] Furthermore, a pneumatic gripper is rotatably connected to the bottom end of the second pull arm, and a beveled insert is installed at the bottom end of the pneumatic gripper. Several anti-slip protrusions are installed on one side wall of the beveled insert. A first air pipe is connected between the pneumatic gripper and the valve nozzle. Several anti-drop grooves are opened on the outer wall of the second pull arm on the side away from the air pump. A buffer mechanism is transversely connected to the outer wall of the second pull arm, and a second air pipe is connected between the buffer mechanism and the valve nozzle.

[0014] Furthermore, the buffer mechanism includes a vacuum tube; both ends of the vacuum tube are equipped with U-shaped tubes, the vacuum tube is located on the side away from the inner wall of the second pull arm, and the vacuum tube is interconnected with the second air tube. Both sets of U-shaped tubes are transversely connected to the outer wall of the second pull arm. Both sets of U-shaped tubes are fitted with compression springs, and one end of the compression spring is in movable contact with the inner wall of the second pull arm. The other end of both sets of U-shaped tubes is fitted with an adsorption tube. The outer wall of the adsorption tube is provided with a threaded groove, and the threaded groove is not interconnected with the inner wall of the adsorption tube. The outer wall of the adsorption tube is also provided with several sets of through holes, and the several sets of through holes are interconnected with the inner wall of the adsorption tube.

[0015] The beneficial effects of this invention are:

[0016] 1. The piston assembly is raised and lowered by the output end of the cylinder, which changes the angle at the connection between the two ends of the clamping arm assembly and the first and second hinge seats. This is used to synchronously adjust the clamping force of the three clamping arm assemblies. Then, the output end of the servo motor drives the drive gear to rotate. During the meshing connection between the gear ring disk and the drive gear, the three clamping arm assemblies rotate synchronously. This is used to divide the waste textiles into areas before gripping, thereby improving the gripping accuracy of waste textiles in the area.

[0017] 2. With the cooperation of the air pump and the first air pipe, the pneumatic gripper rotates freely around the bottom of the second pull arm, adjusting the state of the pneumatic gripper when entering the pile of waste textiles. The inclined block can easily drive the second pull arm to the position of the waste textiles at different depths. With the help of the anti-slip protrusion, while the three sets of second pull arms are close to each other, the pneumatic gripper can adjust the clamping angle to further prevent the waste textiles clamped by the three sets of second pull arms from falling off, thus improving the clamping stability of the three sets of second pull arms.

[0018] 3. The adsorption tube can contact the waste textiles before the second pull arm comes into contact with them. With the help of the compression spring, the adsorption tube can move back and forth in a horizontal buffer state to different positions on the inner wall of the second pull arm. When the textiles are made of softer fiber materials, the threaded grooves on each set of adsorption tubes and several sets of through holes with adsorption function can be used to adsorb and prevent slipping of the waste textiles.

[0019] 4. The output end of the stepper motor drives the lead screw to rotate, causing the linkage housing to separate downward from the inner wall of the adjustment cavity. The output end of the electric push rod pushes the pressure roller, which squeezes the inclined platform of the lower pressure plate. The lower pressure plate rotates around the shaft pin. After the lower pressure plate is set horizontally, the bottom surfaces of the three sets of lower pressure plates press down on the top of the waste textiles held by the three sets of second pull arms, which can further prevent the textiles from falling off.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the structure of a robotic arm for batch grasping according to an embodiment of the present invention is shown. Figure 1 ;

[0023] Figure 2 A schematic diagram of the structure of a robotic arm for batch grasping according to an embodiment of the present invention is shown. Figure 2 ;

[0024] Figure 3 A schematic diagram of the structure of a robotic arm for batch grasping according to an embodiment of the present invention is shown. Figure 3 ;

[0025] Figure 4 A schematic diagram of the piston assembly according to an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram of the linkage housing structure according to an embodiment of the present invention is shown. Figure 1 ;

[0027] Figure 6 A schematic diagram of the linkage housing structure according to an embodiment of the present invention is shown. Figure 2 ;

[0028] Figure 7 A schematic diagram of the clamping arm assembly according to an embodiment of the present invention is shown;

[0029] Figure 8 A schematic diagram of the buffer mechanism according to an embodiment of the present invention is shown.

[0030] In the diagram: 1. Cylinder; 2. Drive gear; 3. Linkage disc; 4. Piston assembly; 41. Piston housing; 42. Adjustment chamber; 43. Guide groove; 44. Linkage housing; 45. Mounting ring; 46. Linkage block; 47. Lead screw; 48. Embedded groove; 49. Lower pressure plate; 410. Inclined platform; 411. Shaft pin; 412. Pressure roller; 413. Electric push rod; 5. Linkage collar; 6. Clamping arm assembly; 61. First pull arm; 62. Second pull arm; 63. Middle... 64. Spindle; 65. Traction arm; 66. Air pump; 67. Valve nozzle; 68. Pneumatic gripper; 69. Inclined insert; 60. Anti-slip protrusion; 610. First air pipe; 611. Anti-drop groove; 612. Buffer mechanism; 6121. Vacuum tube; 6122. U-shaped tube; 6123. Compression spring; 6124. Adsorption tube; 6125. Threaded groove; 6126. Through hole; 613. Second air pipe; 7. Gear ring disc; 8. First hinge seat; 9. Second hinge seat. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention provides a robotic arm for bulk grasping of waste textiles, including a cylinder 1; exemplarily, such as... Figure 1 , Figure 2 and Figure 3 As shown.

[0033] A servo motor is fixedly connected to the outer wall of the cylinder 1, and a drive gear 2 is driven to the output end of the servo motor. A linkage disk 3 is rotatably connected to the outer wall of the cylinder 1, and a gear ring disk 7 is fixedly connected to the top of the linkage disk 3. The gear ring disk 7 meshes with the drive gear 2. A piston assembly 4 is driven to the output end of the cylinder 1. A linkage collar 5 is sleeved on the end of the piston assembly 4, and three sets of second hinge seats 9 are fixedly connected to the outer wall of the linkage collar 5. Three sets of first hinge seats 8 are fixedly connected to the bottom of the linkage disk 3. A clamping arm assembly 6 is rotatably connected between the three sets of first hinge seats 8 and the three sets of second hinge seats 9, so that one side of the three sets of clamping arm assemblies 6 can perform a gripping function while following the piston assembly 4 during the lifting and lowering process, and can also rotate with the linkage disk 3.

[0034] Furthermore, the piston assembly 4 is rotatably connected to the linkage collar 5.

[0035] Specifically, the output end of the cylinder 1 drives the piston assembly 4 to rise and fall, causing the angle between the two ends of the clamping arm assembly 6 and the connection points of the first hinge seat 8 and the second hinge seat 9 to change. This is used to synchronously adjust the clamping force of the three sets of clamping arm assemblies 6. Then, the output end of the servo motor drives the drive gear 2 to rotate. During the process of meshing and connecting the gear ring disk 7 with the drive gear 2, the three sets of clamping arm assemblies 6 rotate synchronously. This is used to divide the waste textiles before gripping into areas, thereby improving the gripping accuracy of waste textiles in the area.

[0036] The piston assembly 4 includes a piston housing 41; for example, such as Figure 4 , Figure 5 and Figure 6 As shown.

[0037] The piston housing 41 has an adjustment cavity 42 at its bottom. Two sets of guide grooves 43 are formed on the outer wall of the piston housing 41. Linkage blocks 46 are slidably connected to the inner walls of both sets of guide grooves 43. A mounting ring 45 is fixedly connected between the two sets of linkage blocks 46. A linkage housing 44 is fixedly connected to the inner wall of the mounting ring 45. Three sets of embedded grooves 48 are formed on the outer wall of the linkage housing 44 at the end furthest from the mounting ring 45. A lower pressure plate 49 is provided on the inner wall of each of the three sets of embedded grooves 48. A shaft pin 411 is fixedly connected to one end of the lower pressure plate 49, and both ends of the shaft pin 411 are rotatably connected to the bottom end of the inner wall of the embedded groove 48. The shaft pin 411 and the embedded groove 48... Torsion springs are provided at the inner wall connections of each component. An inclined platform 410 is provided on the outer wall of the lower pressure plate 49 and on the side near the inner groove 48. A pressure roller 412 is rolled and fitted to the top of the inclined platform 410. The top of the pressure roller 412 is driven to the output end of an electric push rod 413. The side of the electric push rod 413 away from the output end is embedded in the linkage housing 44. A lead screw 47 is threaded onto each of the two sets of linkage blocks 46. One end of the lead screw 47 is rotatably connected to the bottom of the inner wall of the guide groove 43. The other end of the lead screw 47 is driven to the output end of a stepper motor. The side of the stepper motor away from the output end is fixedly connected to the top of the inner wall of the guide groove 43.

[0038] The clamping arm assembly 6 includes a first pull arm 61; for example, such as Figure 7 As shown.

[0039] One end of the first pull arm 61 is fixedly connected to a second pull arm 62. The connection between the second pull arm 62 and the first pull arm 61 is at an obtuse angle. Both the inner walls of the second pull arm 62 and the first pull arm 61 have a cavity structure. A central shaft 63 is rotatably connected to the connection between the second pull arm 62 and the first pull arm 61. A traction arm 64 is fixedly connected to the central shaft 63, and the other end of the traction arm 64 is rotatably connected to a second hinge seat 9. The end of the first pull arm 61, away from the central shaft 63, is rotatably connected to a first hinge seat 9. An air pump 65 is also fixedly connected to the outer wall of the first pull arm 61, and the end of the air pump 65 is mounted on... The second pull arm 62 is equipped with a valve nozzle 66, which has an intake valve and an exhaust valve. A pneumatic gripper 67 is rotatably connected to the bottom end of the second pull arm 62. A beveled insert 68 is installed at the bottom end of the pneumatic gripper 67, and several anti-slip protrusions 69 are installed on one side wall of the beveled insert 68. A first air pipe 610 is connected between the pneumatic gripper 67 and the valve nozzle 66. Several anti-drop grooves 611 are opened on the outer wall of the second pull arm 62 away from the air pump 65. A buffer mechanism 612 is transversely connected to the outer wall of the second pull arm 62, and a second air pipe 613 is connected between the buffer mechanism 612 and the valve nozzle 66.

[0040] The buffer mechanism 612 includes a vacuum tube 6121; for example, such as Figure 8 As shown.

[0041] Both ends of the vacuum tube 6121 are equipped with U-shaped tubes 6122. The vacuum tube 6121 is located on the side away from the inner wall of the second pull arm 62, and the vacuum tube 6121 is interconnected with the second air tube 613. Both sets of U-shaped tubes 6122 are transversely connected to the outer wall of the second pull arm 62. Both sets of U-shaped tubes 6122 are fitted with compression springs 6123, and one end of the compression springs 6123 is in movable contact with the inner wall of the second pull arm 62. The other end of both sets of U-shaped tubes 6122 is fitted with an adsorption tube 6124. The outer wall of the adsorption tube 6124 is provided with a threaded groove 6125, and the threaded groove 6125 is not interconnected with the inner wall of the adsorption tube 6124. The outer wall of the adsorption tube 6124 is also provided with several sets of through holes 6126, and the several sets of through holes 6126 are interconnected with the inner wall of the adsorption tube 6124.

[0042] Specifically, as the output end of the cylinder 1 drives the piston housing 41 to rise, one end of the traction arm 64 rotates and connects with the second hinge seat 9. As the linkage ring 5 gradually approaches the linkage disc 3, it can reduce the adjacent distance between the three sets of pneumatic grippers 67, which is used to grab the piled waste textiles.

[0043] With the cooperation of the air pump 65 and the first air pipe 610, the pneumatic gripper 67 can rotate freely around the bottom end of the second pull arm 62, adjusting the state of the pneumatic gripper 67 when it enters the pile of waste textiles. The inclined block 68 can drive the second pull arm 62 to easily fall to the position of the waste textiles at different depths. With the action of the anti-slip protrusion 69, while the three sets of second pull arms 62 are close to each other, the pneumatic gripper 67 can adjust the clamping angle to further prevent the waste textiles clamped by the three sets of second pull arms 62 from falling off, thereby improving the clamping stability of the three sets of second pull arms 62.

[0044] The adsorption tube 6124 can contact the waste textile before the second pull arm 62 contacts the waste textile. With the help of the compression spring 6123, the adsorption tube 6124 can move back and forth in a horizontal buffer state to different positions on the inner wall of the second pull arm 62. When the textile is a relatively soft fiber material, the threaded groove 6125 on each set of adsorption tubes 6124 and several sets of through holes with adsorption function can be used to adsorb and prevent slipping of the waste textile.

[0045] During the continuous clamping of waste textiles, the second pull arm 62 can also completely embed the adsorption tube 6124 into the second pull arm 62, and use several sets of anti-drop grooves 611 on the outer side wall of the second pull arm 62 to position the waste textiles, prevent the waste textiles from falling off during the gripping process, and enhance the stability of the robotic arm in gripping waste textiles.

[0046] The output end of the stepper motor drives the lead screw 47 to rotate, causing the linkage housing 44 to separate downward from the inner wall of the adjustment cavity 42. The output end of the electric push rod 413 pushes the pressure roller 412 to squeeze the inclined platform 410 of the lower pressure plate 49. The lower pressure plate 49 rotates around the shaft pin 411. After the lower pressure plate 49 is set horizontally, the bottom surfaces of the three sets of lower pressure plates 49 press down on the top of the waste textiles held by the three sets of second pull arms 62, which can further prevent the textiles from falling off.

[0047] The working principle of the robotic arm for bulk grasping of waste textiles proposed in this invention is as follows:

[0048] As the piston housing 41 is raised by the output end of the cylinder 1, one end of the traction arm 64 is rotated and connected with the second hinge seat 9. As the linkage ring 5 gradually approaches the linkage disc 3, it can reduce the adjacent distance between the three sets of pneumatic grippers 67, which is used to grab the piled waste textiles.

[0049] With the cooperation of the air pump 65 and the first air pipe 610, the pneumatic gripper 67 can rotate freely around the bottom of the second pull arm 62, adjusting the state of the pneumatic gripper 67 when it enters the pile of waste textiles. The inclined block 68 can drive the second pull arm 62 to easily fall to different depths of waste textiles. With the help of the anti-slip protrusion 69, while the three sets of second pull arms 62 are close to each other, the pneumatic gripper 67 can adjust the clamping angle to further prevent the waste textiles clamped by the three sets of second pull arms 62 from falling off, thus improving the clamping stability of the three sets of second pull arms 62.

[0050] The adsorption tube 6124 can contact the waste textiles before the second pull arm 62 comes into contact with them. With the help of the compression spring 6123, the adsorption tube 6124 can move back and forth in a horizontal buffer state to different positions on the inner wall of the second pull arm 62. When the textiles are made of soft fiber materials, the threaded grooves 6125 on each set of adsorption tubes 6124 and several sets of through holes with adsorption function can be used to adsorb and prevent slipping of the waste textiles.

[0051] During the continuous clamping of waste textiles by the second pull arm 62, the adsorption tube 6124 can be completely embedded into the second pull arm 62, and the waste textiles can be positioned by a number of anti-drop grooves 611 on the outer wall of the second pull arm 62 to prevent the waste textiles from falling off during the gripping process, thereby enhancing the stability of the robotic arm in gripping waste textiles.

[0052] The output end of the stepper motor drives the lead screw 47 to rotate, causing the linkage housing 44 to separate downward from the inner wall of the adjustment cavity 42. The output end of the electric push rod 413 pushes the pressure roller 412 to squeeze the inclined platform 410 of the lower pressure plate 49. The lower pressure plate 49 rotates around the shaft pin 411. After the lower pressure plate 49 is set horizontally, the bottom surfaces of the three sets of lower pressure plates 49 press down on the top of the waste textiles held by the three sets of second pull arms 62, which can further prevent the textiles from falling off.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm for bulk grasping of waste textiles, characterized in that: Includes a cylinder (1); a servo motor is fixedly connected to the outer wall of the cylinder (1), and a drive gear (2) is driven to the output end of the servo motor; a linkage disk (3) is rotatably connected to the outer wall of the cylinder (1), and a gear ring disk (7) is fixedly connected to the top of the linkage disk (3), and the gear ring disk (7) meshes with the drive gear (2); a piston assembly (4) is driven to the output end of the cylinder (1); a linkage collar (5) is sleeved on the end of the piston assembly (4), and three sets of second hinge seats (9) are fixedly connected to the outer wall of the linkage collar (5); three sets of first hinge seats (8) are fixedly connected to the bottom of the linkage disk (3); a clamping arm assembly (6) is rotatably connected between the three sets of first hinge seats (8) and the three sets of second hinge seats (9), so that one side of the three sets of clamping arm assemblies (6) can follow the piston assembly (4) to form a gripping function during the lifting process, and can also follow the linkage disk (3) to rotate; The clamping arm assembly (6) includes a first pull arm (61); a second pull arm (62) is fixedly connected to one end of the first pull arm (61), the connection between the second pull arm (62) and the first pull arm (61) is set at an obtuse angle, and the inner walls of the second pull arm (62) and the first pull arm (61) are both provided with a cavity structure, and a central shaft (63) is also rotatably connected to the connection between the second pull arm (62) and the first pull arm (61). A traction arm (64) is fixedly connected to the central shaft (63), and the other end of the traction arm (64) is rotatably connected to the second hinge seat (9). The end of the first pull arm (61) and the side away from the central shaft (63) are rotatably connected to the first hinge seat (8). An air pump (65) is also fixedly connected to the outer wall of the first pull arm (61), and a valve nozzle (66) is installed at the end of the air pump (65). An intake valve and an exhaust valve are provided on the valve nozzle (66). The bottom end of the second pull arm (62) is rotatably connected to a pneumatic gripper (67), the bottom end of the pneumatic gripper (67) is equipped with a beveled insert (68), and a number of anti-slip protrusions (69) are installed on one side wall of the beveled insert (68). A first air pipe (610) is connected between the pneumatic gripper (67) and the valve nozzle (66). A number of anti-drop grooves (611) are opened on the outer wall of the second pull arm (62) away from the air pump (65). A buffer mechanism (612) is transversely connected to the outer wall of the second pull arm (62), and a second air pipe (613) is connected between the buffer mechanism (612) and the valve nozzle (66). The buffer mechanism (612) includes a vacuum tube (6121); both ends of the vacuum tube (6121) are equipped with U-shaped tubes (6122), the vacuum tube (6121) is located on the side away from the inner wall of the second pull arm (62), and the vacuum tube (6121) is connected to the second air pipe (613). Both sets of U-shaped tubes (6122) are transversely connected to the outer wall of the second pull arm (62), and both sets of U-shaped tubes (6122) are fitted with compression springs (6123), and the compression springs ( One end of the U-shaped tube (6123) is in contact with the inner wall of the second pull arm (62). The other ends of the two sets of U-shaped tubes (6122) are fitted with adsorption tubes (6124). The outer wall of the adsorption tube (6124) is provided with a threaded groove (6125), and the threaded groove (6125) is not connected to the inner wall of the adsorption tube (6124). The outer wall of the adsorption tube (6124) is also provided with several sets of through holes (6126), and the several sets of through holes (6126) are connected to the inner wall of the adsorption tube (6124).

2. The robotic arm for bulk grasping of waste textiles according to claim 1, characterized in that: The piston assembly (4) includes a piston housing (41); an adjustment cavity (42) is provided at the bottom of the piston housing (41), and two sets of guide grooves (43) are provided on the outer wall of the piston housing (41).

3. The robotic arm for bulk grasping of waste textiles according to claim 2, characterized in that: The inner walls of the two sets of guide grooves (43) are slidably connected with linkage blocks (46), and the two sets of linkage blocks (46) are fixedly connected with a mounting ring (45). The inner wall of the mounting ring (45) is fixedly connected with a linkage housing (44). The outer wall of the linkage housing (44) and the end away from the mounting ring (45) are provided with three sets of embedded grooves (48). The inner walls of the three sets of embedded grooves (48) are provided with a lower pressure plate (49).

4. The robotic arm for bulk grasping of waste textiles according to claim 3, characterized in that: One end of the lower pressure plate (49) is fixedly connected to a shaft pin (411), and both ends of the shaft pin (411) are rotatably connected to the bottom of the inner wall of the inner groove (48). Torsion springs are provided at the connection between the shaft pin (411) and the inner wall of the inner groove (48). An inclined platform (410) is provided on the outer wall of the lower pressure plate (49) and on the side close to the inner groove (48).

5. The robotic arm for bulk grasping of waste textiles according to claim 4, characterized in that: The top of the inclined platform (410) is rolled and fitted with a pressure roller (412), and the top of the pressure roller (412) is driven to the output end of an electric push rod (413). The side of the electric push rod (413) away from the output end is embedded in the linkage housing (44), and both sets of linkage blocks (46) are threaded with lead screws (47).

6. The robotic arm for bulk grasping of waste textiles according to claim 5, characterized in that: One end of the lead screw (47) is rotatably connected to the bottom of the inner wall of the guide groove (43), and the other end of the lead screw (47) is connected to the output end of the stepper motor. The side of the stepper motor away from the output end is fixedly connected to the top of the inner wall of the guide groove (43).

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