Automatic sock taking-off mechanical arm

Abstract

The invention discloses an automatic sock taking-off mechanical arm which comprises a fixing support, a sock support fixing and clamping mechanical arm and a sock taking-off mechanical arm, the sock support fixing and clamping mechanical arm can move relative to the fixing support to adjust the position, and the sock support fixing and clamping mechanical arm clamps and fixes a corresponding sock support through sock support claw pieces integrated on the sock support fixing and clamping mechanical arm; after the clamping manipulators clamp socks on the corresponding sock supports, the socks are driven to be separated from the sock supports by adjusting the positions of the clamping manipulators through the sock taking-off manipulators. According to the automatic sock taking-off mechanical arm, the flexible clamping device, the intelligent positioning sensor and the self-adaptive transmission system are integrated, so that equipment can accurately correspond to sock supports subjected to high-temperature setting, sock taking-off, arrangement and other operations are automatically completed, manual intervention is remarkably reduced, the labor intensity of operators is reduced, and the production efficiency is improved. The prominent problems of time and labor waste, high cost and unsafety of manual sock taking-off are effectively solved, and the sock taking-off device has important significance in promoting the sock processing automation process.

Description

Technical Field

[0001] This invention relates to the field of industrial machinery technology, and in particular to an automatic sock-removing robot suitable for use on sock production lines to automatically remove socks that have undergone high-temperature steam setting from sock supports. Background Technology

[0002] The automated sock-removing robot is a technology integrating mechanical engineering, electronic engineering, computer science, artificial intelligence, sensor technology, information processing, and control theory. It is a highly efficient machine device that automatically removes socks using its own power source and intelligent control system. The automated sock-removing robot can operate according to human instructions or run autonomously according to pre-set programs. It can precisely align itself with sock supports after high-temperature steam setting in a sock processing production line, automatically completing the sock removal process and providing support for subsequent sorting and transportation processes.

[0003] In recent years, with the rapid development of the sock processing industry and the popularization and upgrading of automated production lines, automatic sock-removing robots have become a key technological equipment for improving sock processing efficiency, ensuring sock removal accuracy, and optimizing the workshop working environment globally. Currently, the sock processing industry generally faces challenges such as the time-consuming and labor-intensive process of manually removing socks after high-temperature steam setting, rising labor costs year by year, and safety concerns related to working in high-temperature environments. There is an urgent need for technological upgrades and equipment modifications to improve processing quality and market competitiveness. Therefore, the automatic sock-removing robot industry currently has enormous development potential and a broad market prospect. A systematic understanding of the technological development trends of automatic sock-removing robots can effectively drive a leapfrog improvement in the automation level of logistics sock processing.

[0004] Currently, the removal of socks after high-temperature steam setting still relies primarily on manual operation. The few auxiliary sock-removal tools available are cumbersome to operate, have poor adaptability, and their adaptability and flexibility in different sock sizes, sock support types, and high-temperature working environments need improvement. In the technological iteration of sock processing auxiliary equipment, the development and application of automated sock-removal robots has become an important direction for overcoming the limitations of traditional manual sock-removal methods.

[0005] Therefore, based on the above-mentioned technical problems, those skilled in the art urgently need to develop an automatic sock-removing robotic arm. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic sock-removing robot. This robot integrates a flexible gripping device, an intelligent positioning sensor, and an adaptive transmission system, enabling the device to accurately correspond to the sock support after high-temperature shaping and automatically complete sock removal and sorting operations. This significantly reduces manual intervention, lowers the labor intensity of operators, and effectively solves the prominent problems of time-consuming, labor-intensive, costly, and unsafe manual sock removal. It is of great significance for promoting the automation of sock processing.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The present invention provides an automatic sock-removing robotic arm, the robotic arm comprising:

[0009] Fixed bracket;

[0010] A sock support fixing and clamping robot is movably connected to the fixed bracket. The sock support fixing and clamping robot can move relative to the fixed bracket to adjust its position, and the sock support fixing and clamping robot clamps and fixes the corresponding sock support through sock support claws integrated thereon.

[0011] A sock-removing robot is located above the sock support fixing and clamping robot, and the sock-removing robot has a clamping robot capable of gripping the socks on the corresponding sock support;

[0012] After the gripping robot grips the sock on the corresponding sock support, the sock is separated from the sock support by adjusting the position of the gripping robot.

[0013] Furthermore, the fixing bracket includes:

[0014] A supporting base plate, wherein the supporting base plate is machined with a first lifting cylinder fixing hole, and the cylinder body of the first lifting cylinder of the sock support clamping robot is assembled and fixed at the first lifting cylinder fixing hole; and

[0015] Two optical rods are fixed to one side of the support base plate near the edge. One end of each optical rod is fixed to the support base plate, and the optical rods extend vertically.

[0016] Furthermore, the sock support fixing and clamping robot includes:

[0017] A support plate through which the light rod passes and is slidably connected to the fixed bracket via the light rod, and a first flange sliding bearing is provided at the connection between the light rod and the support plate;

[0018] The first lifting cylinder is disposed at the bottom of the support plate, and the cylinder body of the first lifting cylinder is assembled and fixed to the support base plate. The cylinder rod of the first lifting cylinder is connected to the bottom surface of the support plate through the first flange.

[0019] The first lifting cylinder adjusts the height of the sock support clamping robot by extending and retracting its cylinder rod;

[0020] The sock support clamping robot also includes:

[0021] Horizontal adjustment mechanism; and

[0022] The sock support claw mechanism is integrated into the horizontal adjustment mechanism. The sock support claw mechanism adjusts its horizontal position through the horizontal adjustment mechanism to adjust the distance between the sock support claw mechanism and the sock support.

[0023] The horizontal adjustment mechanism has a horizontal adjustment mechanism guide rail fixed to the support plate, and a horizontal adjustment mechanism slider is slidably connected on the horizontal adjustment mechanism guide rail. The horizontal adjustment mechanism also includes a movable plate that is slidably connected to the horizontal adjustment mechanism guide rail via the horizontal adjustment mechanism slider.

[0024] A translation cylinder is installed at the axial position of the support plate, and a fixed support is installed at the end of the moving plate. The cylinder rod of the translation cylinder is connected to the moving plate through the fixed support. The translation cylinder drives the moving plate to move horizontally through the extension and retraction of its cylinder rod.

[0025] Furthermore, the sock support claw mechanism includes:

[0026] An active claw drive cylinder is assembled and fixed on one side of the moving plate, and a driven claw drive cylinder is assembled and fixed on the other side of the moving plate.

[0027] The output end of the active claw drive cylinder is connected to the active claw drive guide rod via an active claw coupling, and the other end of the active claw drive guide rod is connected to the active claw drive guide rod bearing seat mounted and fixed on the moving plate via an active claw drive guide rod flange bearing. Multiple active claws are spaced apart on the active claw drive guide rod.

[0028] The output end of the driven claw drive cylinder is connected to the driven claw drive guide rod via a driven claw coupling, and the other end of the driven claw drive guide rod is connected to the driven claw drive guide rod bearing seat mounted and fixed on the moving plate via a driven claw drive guide rod flange bearing. Multiple driven claws are spaced apart on the driven claw drive guide rod.

[0029] The active claw drive cylinder synchronously drives multiple active claws to move through the active claw drive guide rod, and the driven claw drive cylinder synchronously drives multiple driven claws to move through the driven claw drive guide rod. The active claws and the driven claws are arranged alternately, and adjacent active claws and driven claws form a set of claw plate structures. Each set of claw plate structures corresponds to a sock support.

[0030] The length of the driven claw is less than the length of the active claw, and a first positioning hole is machined at the position where the active claw and the active claw drive guide rod cooperate, and the active claw drive guide rod passes through the first positioning hole;

[0031] A second positioning hole is machined at the position where the active claw mates with the driven claw drive rod, and a third positioning hole is machined at the position where the driven claw mates with the driven claw drive rod, and the driven claw drive rod passes through the second positioning hole and the third positioning hole.

[0032] Furthermore, the sock-removing robotic arm includes:

[0033] Lifting mechanism, double lead screw cross slide translation mechanism and clamping robot;

[0034] The lifting mechanism is connected to the upper part of the light rod, and the lifting mechanism integrates a multiplier lifting component. The double screw cross slide translation mechanism is connected to the lifting mechanism through the multiplier lifting component, and the height is adjusted through the multiplier lifting component.

[0035] The gripping robot arm slides in cooperation with the double screw cross slide translation mechanism via a gripping robot arm fixing plate, and the position of the gripping robot arm is adjusted by the double screw cross slide translation mechanism.

[0036] Furthermore, the lifting mechanism includes:

[0037] The lifting mechanism fixing plate is configured in an L-shape, and the top plate of the upper part of the lifting mechanism fixing plate is connected to the light rod through a bushing;

[0038] A multiplier plate that cooperates with the lifting mechanism fixed plate and is movable relative to the lifting mechanism fixed plate, wherein the lifting mechanism fixed plate has a multiplier plate slide rail on the side that cooperates with the multiplier plate, and the multiplier plate is slidably engaged with the lifting mechanism fixed plate through a multiplier plate slider that is slidably connected to the multiplier plate slide rail;

[0039] The multiplier plate guide rod is connected to the multiplier plate guide rod fixing seat through the multiplier plate guide rod fixing seat. The multiplier plate guide rod is connected to the fixing block through the second flange sliding bearing. The fixing blocks of the multiplier plate guide rods on both sides are connected to the cross beams. The cross beams are connected to the double screw cross slide table fixing plate of the double screw cross slide table translation mechanism through the connecting locking plate.

[0040] The top plate of the lifting mechanism fixing plate is equipped with a second lifting cylinder, and the cylinder rod of the second lifting cylinder is connected to the multiplier moving plate through a second flange to drive the multiplier moving plate to move.

[0041] The side of the multiplier plate is provided with two sprocket bearing seats, and the sprocket bearing seats are provided with sprocket shafts, and the sprocket shafts are connected to the sprockets. The two sprockets are connected by chain drive.

[0042] The chain between the two sprockets forms two straight chain regions, one of which is connected to the lifting mechanism fixing plate via a chain fixing accessory, and the other is connected to the crossbeam.

[0043] When the multiplier moving plate is driven to rise and fall by the second lifting cylinder, the lifting mechanism fixing plate drives the chain to move through the chain fixing attachment to drive the two sprockets to rotate, and the chain drives the crossbeam to rise and fall through its connection with the crossbeam.

[0044] Furthermore, the dual-screw cross slide translation mechanism includes:

[0045] The double lead screw cross slide fixing plate;

[0046] An X-axis cross slide assembly disposed on the double lead screw cross slide fixing plate; and

[0047] A Y-axis cross slide assembly is slidably engaged with the X-axis cross slide assembly, and the gripping robot arm is slidably engaged with the Y-axis cross slide assembly through a gripping robot arm fixing plate;

[0048] The bent section of the double screw cross slide fixing plate away from the X-direction cross slide assembly forms the mounting edge, and the double screw cross slide fixing plate is assembled and fixed with the connecting locking piece through the mounting edge, and the double screw cross slide fixing plate is inclinedly arranged through the cooperation of the mounting edge and the connecting locking piece.

[0049] The X-axis cross slide assembly includes:

[0050] An X-axis cross slide base is connected to the double lead screw cross slide fixing plate. An X-axis reduction motor base is provided at one end of the X-axis cross slide base, and an X-axis reduction motor is installed on the X-axis reduction motor base.

[0051] X-axis lead screw seats are installed at both ends of the double lead screw cross slide base, and an X-axis lead screw is provided between the X-axis lead screw seats. The X-axis lead screw is threaded with an X-axis lead screw nut, and the X-axis reduction motor is connected to the X-axis lead screw through an X-axis reduction motor coupling.

[0052] The X-axis cross slide base is provided with an X-axis guide rail and an X-axis slider that slide in cooperation with the Y-axis cross slide assembly.

[0053] The Y-axis cross slide assembly includes:

[0054] A Y-axis cross slide base is connected to the X-axis lead screw nut and slides with the X-axis guide rail and the X-axis slider. A Y-axis reduction motor seat is provided at one end of the Y-axis cross slide base, and a Y-axis reduction motor is installed on the Y-axis reduction motor seat.

[0055] The Y-axis cross slide base is provided with Y-axis lead screw seats at both ends, and a Y-axis lead screw is provided between the Y-axis lead screw seats. The Y-axis lead screw is threaded with a Y-axis lead screw nut. The Y-axis reduction motor is connected to the Y-axis lead screw through a Y-axis reduction motor coupling.

[0056] The Y-axis cross slide base is provided with a Y-axis guide rail and a Y-axis slider that slide in cooperation with the clamping robot fixed plate, and the clamping robot fixed plate is connected to the Y-axis lead screw nut.

[0057] Furthermore, the gripping manipulator includes:

[0058] Claw base fixing plate;

[0059] The clamping cylinder is mounted on the bottom of the claw base fixing plate by a clamping cylinder frame, and the clamping cylinder frame is connected to the clamping manipulator fixing plate. The cylinder rod of the clamping cylinder passes through the claw base fixing plate and extends above the claw base fixing plate.

[0060] A gripper drive structure is connected to the cylinder rod of the clamping cylinder, and the gripper drive structure drives multiple silicone claws to move in order to clamp the socks on the sock support.

[0061] Furthermore, the gripper drive structure includes a gripper support parallel to the gripper base fixing plate;

[0062] The claw support is internally hinged with multiple sets of connecting blocks, and each set of connecting blocks is hinged with a claw via a connecting rod assembly, and the claw is connected to the silicone claw plate.

[0063] Each set of connecting block assemblies includes two symmetrically arranged connecting blocks. When the cylinder rod of the clamping cylinder drives the claw support to move, the claw support causes the two connecting blocks of each set of connecting block assemblies to rotate in opposite directions.

[0064] Each of the connecting blocks is provided with a set of the connecting rods, and the connecting rods include a connecting rod base connected to the claw bracket, the connecting rod base being fixed on the claw base fixing plate, and also include a first connecting rod and a second connecting rod hinged to the connecting rod base, and the upper ends of the first connecting rod and the second connecting rod are hinged to the claw;

[0065] The opposing rotation directions of the two connecting blocks in each group of connecting block assemblies drive the adjacent two groups of connecting rods to move the grippers in opposite directions, thereby achieving the closing or opening of adjacent silicone grippers.

[0066] The automatic sock-removing robotic arm provided by the present invention, as described above, has the following beneficial effects:

[0067] The automatic sock-removing robot of this invention integrates a flexible gripping device, an intelligent positioning sensor, and an adaptive transmission system, enabling the equipment to accurately correspond to the sock support after high-temperature shaping and automatically complete sock removal and sorting operations. This significantly reduces manual intervention, lowers the labor intensity of operators, and effectively solves the prominent problems of time-consuming, labor-intensive, costly, and unsafe manual sock removal. It is of great significance for promoting the automation of sock processing. Attached Figure Description

[0068] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0069] Figure 1 This is a schematic diagram of an automatic sock-removing robotic arm provided in an embodiment of the present invention;

[0070] Figure 2 This is a schematic diagram of a fixed support structure for an automatic sock-removing robotic arm provided in an embodiment of the present invention;

[0071] Figure 3 This is a top view schematic diagram of the sock support fixing and clamping robot structure of an automatic sock removal robot provided in an embodiment of the present invention;

[0072] Figure 4 This is a bottom view schematic diagram of the sock support fixing and clamping robot structure of an automatic sock removal robot provided in an embodiment of the present invention;

[0073] Figure 5 This is a schematic diagram of the active and driven claws of an automatic sock-removing robot for fixing and holding sock supports, provided in an embodiment of the present invention.

[0074] Figure 6 This is a schematic diagram of the overall structure of an automatic sock-removing robot provided in an embodiment of the present invention;

[0075] Figure 7 This is a schematic diagram of the lifting mechanism of an automatic sock-removing robot provided in an embodiment of the present invention;

[0076] Figure 8 A schematic diagram of the fixed plate structure of the lifting mechanism of an automatic sock-removing robot provided in an embodiment of the present invention;

[0077] Figure 9 This is a schematic diagram of the multiplier moving plate structure assembly of the lifting mechanism of an automatic sock-removing robot provided in an embodiment of the present invention.

[0078] Figure 10 This is a schematic diagram of the double-screw cross slide translation mechanism of an automatic sock-removing robot provided in an embodiment of the present invention;

[0079] Figure 11 This is a bottom view schematic diagram of the double-screw cross slide translation mechanism of an automatic sock-removing robot provided in an embodiment of the present invention;

[0080] Figure 12 A schematic diagram of the X-axis and Y-axis cross slide assembly of an automatic sock-removing robot provided in an embodiment of the present invention;

[0081] Figure 13 A schematic diagram of the X-axis cross slide base of an automatic sock-removing robot provided in an embodiment of the present invention;

[0082] Figure 14 A bottom view of the double-screw cross slide fixed plate of an automatic sock-removing robot provided in an embodiment of the present invention;

[0083] Figure 15 This is a schematic diagram of the fixed plate of the sock-removing robotic arm, which is provided in an embodiment of the present invention.

[0084] Figure 16 A top view schematic diagram of an automatic sock-removing robotic arm provided in an embodiment of the present invention;

[0085] Figure 17 This is a structural diagram of the cylinder frame of an automatic sock-removing robot provided in an embodiment of the present invention.

[0086] Explanation of reference numerals in the attached figures:

[0087] 1. Fixed support; 2. Sock support fixing and gripping robotic arm; 3. Sock removal robotic arm;

[0088] 101. Support base plate; 102. Smooth rod; 103. First lifting cylinder fixing hole;

[0089] 201. Support plate; 202. Moving plate; 203. Translation cylinder; 204. Fixed support; 205. Active claw drive cylinder; 206. Active claw coupling; 207. Driven claw drive guide rod; 208. Driven claw drive guide rod bearing seat; 209. Driven claw drive guide rod flange bearing; 210. Active claw; 211. Driven claw; 212. Driven claw coupling; 213. Driven claw drive cylinder; 214. Active claw drive guide rod flange bearing; 215. Active claw drive guide rod; 216. Active claw drive guide rod bearing seat; 217. Horizontal adjustment mechanism slider; 218. First lifting cylinder; 219. Horizontal adjustment mechanism guide rail; 220. First flange sliding bearing; 221. First flange; 222. Third positioning hole; 223. First positioning hole; 224. Second positioning hole;

[0090] 301. Lifting mechanism; 302. Double-screw cross slide translation mechanism; 303. Clamping robot fixing plate; 304. Clamping robot;

[0091] 30101. Lifting mechanism fixed plate; 30102. Multiplier moving plate; 30103. Multiplier moving plate slide rail; 30104. Multiplier moving plate slider; 30105. Bushing; 30106. Multiplier moving plate guide rod fixing seat; 30107. Multiplier moving plate guide rod; 30108. Second flange sliding bearing; 30109. Fixing block; 30110. Second lifting cylinder; 30111. Second flange; 30112. Crossbeam; 30113. Link locking plate; 30114. Sprocket bearing seat; 30115. Sprocket shaft; 30116. Sprocket; 30117. Chain; 30118. Chain fixing accessories;

[0092] 30201, X-axis cross slide assembly; 30202, Y-axis cross slide assembly; 30203, double lead screw cross slide fixing plate;

[0093] 3020101, X-axis cross slide; 3020102, X-axis geared motor; 3020103, X-axis coupling; 3020104, X-axis geared motor mount; 3020105, X-axis lead screw mount; 3020106, X-axis lead screw; 3020107, X-axis guide rail; 3020108, X-axis lead screw nut; 3020109, X-axis slider;

[0094] 3020201, Y-axis cross slide; 3020202, Y-axis geared motor; 3020203, Y-axis coupling; 3020204, Y-axis geared motor mount; 3020205, Y-axis lead screw mount; 3020206, Y-axis lead screw; 3020207, Y-axis guide rail; 3020208, Y-axis lead screw nut; 3020209, Y-axis slider;

[0095] 3020301, Install the edge;

[0096] 30401, Cylinder holder for clamping cylinder; 30402, Cylinder for clamping cylinder; 30403, Connecting rod base; 30404, First connecting rod; 30405, Second connecting rod; 30406, Connecting block; 30407, Gripper; 30408, Silicone gripper piece; 30409, Gripper base fixing plate; 30410, Gripper bracket. Detailed Implementation

[0097] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0098] See Figures 1 to 7 As shown;

[0099] This embodiment discloses an automatic sock removal robot, which includes a fixed bracket 1 and a sock support fixing and clamping robot 2 movably connected to the fixed bracket 1. The sock support fixing and clamping robot 2 can move relative to the fixed bracket 1 to adjust its position, and the sock support fixing and clamping robot 2 clamps and fixes the corresponding sock support through sock support claws integrated thereon.

[0100] The sock removal robot 3 is located above the sock support fixing and clamping robot 2. The sock removal robot 3 has a clamping robot 304 capable of clamping the socks on the corresponding sock support.

[0101] After the gripping robot 304 grips the sock on the corresponding sock support, the sock is separated from the sock support by adjusting the position of the gripping robot 304 through the sock removal robot 3.

[0102] Specifically, this embodiment discloses an automatic sock-removing robot, which includes a fixed support 1 at the bottom, a sock support fixing and clamping robot 2 movably connected to the fixed support 1 and adjustable in height, and a sock-removing robot 3 used in conjunction with the sock support fixing and clamping robot 2. In this embodiment, the sock support fixing and clamping robot 2, after height adjustment, can position and clamp the corresponding sock support using its sock support claws. After clamping the sock support, the clamping robot 304 of this embodiment clamps the sock on the corresponding sock support, and then drives the clamping robot 304 to move again to complete the sock removal operation. This embodiment fully automates sock removal, solving various problems caused by manual sock removal.

[0103] Preferably, the fixed bracket 1 in this embodiment includes a support base plate 101, the support base plate 101 is machined with a first lifting cylinder fixing hole 103, and the cylinder body of the first lifting cylinder 218 of the sock support fixing and clamping robot 2 is assembled and fixed at the first lifting cylinder fixing hole 103; and two light rods 102 fixed to one side of the support base plate 101 near the edge, one end of the light rod 102 is fixedly connected to the support base plate 101, and the light rod 102 extends in the vertical direction.

[0104] See Figure 1 and Figure 2 As shown, this embodiment further defines the structure of the fixed bracket 1, which includes a support base plate 101 and two smooth rods 102 fixed to the support base plate 101. The cylinder body of the first lifting cylinder 218 of the sock support fixing and clamping robot 2 is assembled and fixed at the first lifting cylinder fixing hole 103 of the support base plate 101, and then the cylinder rod of the first lifting cylinder 218 is connected to the bottom of the sock support fixing and clamping robot 2 to drive the sock support fixing and clamping robot 2 to rise and fall to adjust its height.

[0105] See Figures 3 to 5 As shown, preferably, the sock support fixing and clamping robot 2 in this embodiment includes:

[0106] A support plate 201 through which the light rod 102 passes and is slidably connected to the fixed bracket 1 via the light rod 102, and a first flange sliding bearing 220 is provided at the connection between the light rod 102 and the support plate 201;

[0107] The first lifting cylinder 218 is located at the bottom of the support plate 201, and the cylinder body of the first lifting cylinder 218 is assembled and fixed with the support base plate 101. The cylinder rod of the first lifting cylinder 218 is connected to the bottom surface of the support plate 201 through the first flange 221.

[0108] The first lifting cylinder 218 adjusts the height of the sock-shaped clamping manipulator 2 by extending and retracting its cylinder rod;

[0109] In this embodiment, the sock support fixing and clamping robot 2 also includes a horizontal adjustment mechanism; and a sock support claw mechanism integrated into the horizontal adjustment mechanism. The sock support claw mechanism adjusts its horizontal position through the horizontal adjustment mechanism to adjust the distance between the sock support claw mechanism and the sock support.

[0110] Secondly, the horizontal adjustment mechanism of this embodiment has a horizontal adjustment mechanism slide rail 329 mounted and fixed on the support plate 201, and a horizontal adjustment mechanism slider 217 is slidably connected on the horizontal adjustment mechanism slide rail 219. The horizontal adjustment mechanism also includes a movable plate 202 slidably connected to the horizontal adjustment mechanism slide rail 219 via the horizontal adjustment mechanism slider 217.

[0111] A translation cylinder 203 is installed at the axial position of the support plate 201, and a fixed support 204 is installed at the end of the moving plate 202. The cylinder rod of the translation cylinder 203 is connected to the moving plate 202 through the fixed support 204. The translation cylinder 203 drives the moving plate 202 to move horizontally through the extension and retraction of its cylinder rod.

[0112] First, this embodiment further defines the composition of the sock support clamping robot 2, which includes a support plate 201 and a movable plate 202 driven by a translation cylinder 203. The bottom of the support plate 201 is connected to the aforementioned fixed bracket 204 via a first lifting cylinder 218, and under the guidance of the guide rod 102, the first lifting cylinder 218 drives the lifting and lowering to adjust the height. In this embodiment, the translation cylinder 203 is used to adjust the horizontal position of the movable plate 202 and the sock support claw mechanism thereon, so as to adjust the distance relative to the sock support.

[0113] See Figure 3 and Figure 5 As shown, more preferably, the sock support claw mechanism of this embodiment includes an active claw driving cylinder 205 mounted and fixed on one side of the moving plate 202 and a driven claw driving cylinder 213 mounted and fixed on the other side of the moving plate 202.

[0114] The output end of the active claw drive cylinder 205 is connected to the active claw drive guide rod 215 through the active claw coupling 206, and the other end of the active claw drive guide rod 215 is connected to the active claw drive guide rod bearing seat 216 mounted and fixed on the moving plate 202 through the active claw drive guide rod flange bearing 216. Multiple active claws 210 are spaced apart on the active claw drive guide rod 215.

[0115] The output end of the driven claw drive cylinder 213 is connected to the driven claw drive guide rod 207 via the driven claw coupling 212, and the other end of the driven claw drive guide rod 207 is connected to the driven claw drive guide rod bearing seat 208 mounted and fixed on the moving plate 202 via the driven claw drive guide rod flange bearing 209. Multiple driven claws 211 are spaced apart on the driven claw drive guide rod 207.

[0116] The active claw drive cylinder 205 drives multiple active claws 210 to move synchronously through the active claw drive guide rod 215, and the driven claw drive cylinder 213 drives multiple driven claws 211 to move synchronously through the driven claw drive guide rod 207. The active claws 210 and driven claws 211 are arranged alternately, and adjacent active claws 210 and driven claws 211 form a set of claw plate structures. Each set of claw plate structures corresponds to a sock support.

[0117] In this embodiment, the length of the driven claw 211 is less than the length of the active claw 210. The active claw 210 and the active claw drive guide rod 215 are fitted with a first positioning hole 223, and the active claw drive guide rod 215 passes through the first positioning hole 223.

[0118] The active claw 210 has a second positioning hole 224 at the position where it mates with the driven claw drive guide rod 207, and the driven claw 211 has a third positioning hole 222 at the position where it mates with the driven claw drive guide rod 207, with the driven claw drive guide rod 207 passing through the second positioning hole 224 and the third positioning hole 222.

[0119] This embodiment further defines the structure of the sock support claw mechanism, which consists of active claws 210 and driven claws 211. Simultaneously, multiple active claws 210 are driven to move horizontally synchronously via active claw drive cylinders 205, and multiple driven claws 211 are driven to move horizontally synchronously via driven claw drive cylinders 213. Figure 3 For example, multiple active claws 210 and multiple driven claws 211 are arranged in an alternating manner. In this way, an adjacent set of active claws 210 and driven claws 211 form a sock support claw structure, and control the active claw drive cylinder 205 and the driven claw drive cylinder 213 to extend or retract their cylinder rods at the same time. This enables the active claws 210 and driven claws 211 to move in opposite directions at the same time, thereby clamping or releasing the sock support.

[0120] by Figure 3 For example, in this embodiment, multiple sets of active claws 210 and driven claws 211 are set according to the number of sock supports, so as to realize the synchronous clamping and releasing of multiple sock supports.

[0121] See Figure 6 As shown, preferably, the sock-removing robot 3 in this embodiment includes a lifting mechanism 301, a double screw cross slide translation mechanism 302, and a gripping robot 304;

[0122] In this embodiment, the lifting mechanism 301 is connected to the upper part of the light rod 102, and the lifting mechanism 301 integrates a multiplier lifting component. The double screw cross slide translation mechanism 302 is connected to the lifting mechanism 301 through the multiplier lifting component, and the height is adjusted through the multiplier lifting component.

[0123] The gripping robot 304 slides in cooperation with the double screw cross slide translation mechanism 302 via the gripping robot fixing plate 303, and the position of the gripping robot 304 is adjusted by the double screw cross slide translation mechanism 302.

[0124] First, this embodiment further defines the composition of the sock-removing robot 3, which is divided into a lifting mechanism 301, a double screw cross slide translation mechanism 302, and a gripping robot 304 according to its main functional modules. The lifting mechanism 301 realizes the function of multiplying the movement stroke of the double screw cross slide translation mechanism 302 through the internal multiplier lifting component. After the height is adjusted, the distance between the front gripping robot 304 and the sock on the sock support can be adjusted by the double screw cross slide translation mechanism 302, and finally the gripping robot 304 is controlled to grip the sock.

[0125] See Figure 7 and Figure 8 As shown, preferably, the lifting mechanism 301 of this embodiment includes a lifting mechanism fixing plate 30101, which is configured in an L-shape. The top plate of the lifting mechanism fixing plate 30101 is connected to the light rod 102 through a bushing 30105. A multiplier moving plate 30102 cooperates with the lifting mechanism fixing plate 30101 and can move relative to the lifting mechanism fixing plate 30101. The side of the lifting mechanism fixing plate 30101 that cooperates with the multiplier moving plate 30102 has a multiplier moving plate slide rail 30103, and the multiplier moving plate 30102 slides with the lifting mechanism fixing plate 30101 through a multiplier moving plate slider 30104 that is slidably connected to the multiplier moving plate slide rail 30103.

[0126] The multiplier plate guide rod 30107 is connected to the multiplier plate guide rod 30107 fixed seat via the multiplier plate guide rod 30107 fixed seat. The multiplier plate guide rod 30107 is connected to the fixed block 30109 via the second flange sliding bearing 30108. The fixed blocks 30109 on both sides of the multiplier plate guide rod 30107 are connected to the cross beam 30112. The cross beam 30112 is connected to the double screw cross slide fixed plate 303 of the double screw cross slide translation mechanism 302 via the connecting locking piece 30113.

[0127] The top plate of the lifting mechanism fixing plate 30101 is equipped with a second lifting cylinder 30110, and the cylinder rod of the second lifting cylinder 30110 is connected to the multiplier moving plate 30102 through the second flange 30111 to drive the multiplier moving plate 30102 to move.

[0128] The side of the multiplier moving plate 30102 is provided with two sprocket bearing seats 30114, and the sprocket bearing seat 30114 is provided with a sprocket shaft 30115, and the sprocket shaft 30115 is connected to the sprocket 30116. The two sprockets 30116 are connected by a chain 30117.

[0129] The chain 30117 between the two sprockets 30116 forms two straight chain areas, one of which is connected to the lifting mechanism fixing plate 30101 via the chain fixing accessory 30118, and the other is connected to the crossbeam 30112.

[0130] When the multiplier moving plate 30102 is driven to lift and lower by the second lifting cylinder 30110, the lifting mechanism fixing plate 30101 drives the chain 30117 to move through the chain fixing attachment 30118 to drive the two sprockets 30116 to rotate, and the chain 30117 drives the crossbeam 30112 to lift and lower through its connection with the crossbeam 30112.

[0131] First, this embodiment further defines the structure of the lifting mechanism 301, which is provided with a lifting mechanism fixed plate 30101 and a multiplier moving plate 30102 that can slide relative to each other; and a multiplier moving plate guide rod 30107 and a sprocket assembly are symmetrically arranged on the multiplier moving plate 30102; wherein, the movement of the multiplier moving plate 30102 is mainly driven by the internally integrated second lifting mechanism 30110, and at the same time, the aforementioned slide rail slider structure is provided between the multiplier moving plate 30102 and the lifting mechanism fixed plate 30101 to assist the multiplier moving plate 30102 in linear movement to achieve sliding engagement. Furthermore, the specific structure of the sprocket assembly is as described above. One side of the chain is connected to the lifting mechanism fixing plate 30101 via the chain fixing attachment 30118, while the other side is connected to the crossbeam 30112. When the multiplier moving plate 30102 moves relative to the lifting mechanism fixing plate 30101, it drives the chain 30117 to move via the chain fixing attachment 30118. The chain 30117 drives the sprocket 30116 to rotate. In this way, the other side of the chain 30117 will drive the crossbeam 30112 to move in the opposite direction. By adjusting the length and position of the chain 30117, the movement distance of the double screw cross slide translation mechanism 302 can be doubled to twice the extension and retraction length of the cylinder rod of the second lifting cylinder 30110. This ensures that the arrangement of each mechanism is compact and meets the requirements of the movement stroke of the double screw cross slide translation mechanism 302.

[0132] See Figure 10 As shown, preferably, the dual-screw cross slide translation mechanism 302 of this embodiment includes a dual-screw cross slide fixing plate 30203; an X-direction cross slide assembly 30201 disposed on the dual-screw cross slide fixing plate 30203; and a Y-direction cross slide assembly 30202 that slides in cooperation with the X-direction cross slide assembly 30201. The clamping robot 304 slides in cooperation with the Y-direction cross slide assembly 30202 through the clamping robot fixing plate 303.

[0133] The bent shape of the double screw cross slide plate 30203 away from the X-direction cross slide assembly 30201 forms the mounting edge 3020301, and the double screw cross slide plate 30203 is assembled and fixed with the connecting locking piece 30113 through the mounting edge 3020301, and the double screw cross slide plate 30203 is inclinedly arranged through the cooperation of the mounting edge 3020301 and the connecting locking piece 30113;

[0134] In this embodiment, the dual-screw cross slide translation mechanism 302 utilizes the X-axis cross slide assembly 30201 and the Y-axis cross slide assembly 30202 to adjust the position of the front-end gripping robot 304 in two directions. Specifically:

[0135] More preferably, the X-axis cross slide assembly 30201 of this embodiment includes an X-axis cross slide base 3020101 connected to the double lead screw cross slide fixing plate 30203, an X-axis reduction motor seat 3020104 provided at one end of the X-axis cross slide base 3020101, and an X-axis reduction motor 3020102 mounted on the X-axis reduction motor seat 3020104; and X-axis lead screw seats 3020105 mounted at both ends of the double lead screw cross slide base 3020101, and the X-axis lead screw... An X-axis lead screw 3020106 is provided between the lever seats 3020105. An X-axis lead screw nut 3020108 is threadedly connected to the X-axis lead screw 3020106. An X-axis geared motor 3020102 is connected to the X-axis lead screw 3020106 through an X-axis geared motor coupling 3020103. An X-axis guide rail 3020107 and an X-axis slider 3020109 are provided on the X-axis cross slide base 3020101, which slide in cooperation with the Y-axis cross slide assembly 30202.

[0136] The above describes the specific structure of the X-axis cross slide assembly 30201. It mainly drives the X-axis lead screw 3020106 to rotate through the X-axis reduction motor 3020102, and converts the rotational motion into the linear motion of the X-axis lead screw nut 3020108 through the threaded connection between the X-axis lead screw 3020106 and the X-axis lead screw nut 3020108, thereby driving the Y-axis cross slide assembly 30202 to move and adjust the X-axis position of the Y-axis cross slide assembly 30202 and the clamping robot 304.

[0137] Secondly, preferably, the Y-axis cross slide assembly 30202 of this embodiment includes a Y-axis cross slide base 3020201 connected to the X-axis lead screw nut 3020108 and slidably engaged with the X-axis guide rail 3020107 and the X-axis slider 3020109. A Y-axis reduction motor seat 3020204 is provided at one end of the Y-axis cross slide base 3020201, and a Y-axis reduction motor 3020202 is mounted on the Y-axis reduction motor seat 3020204. Y-axis lead screw seats 3020205 are provided at both ends of the Y-axis cross slide base 3020201, and the Y-axis lead screw... A Y-axis lead screw 3020206 is provided between the lever seats 3020205. The Y-axis lead screw 3020206 is threadedly connected to a Y-axis lead screw nut 3020208. The Y-axis reduction motor 3020202 is connected to the Y-axis lead screw 3020206 through a Y-axis reduction motor coupling 3020203. The Y-axis cross slide base 3020201 is provided with a Y-axis guide rail 3020207 and a Y-axis slider 3020209 that slide in cooperation with the clamping robot fixing plate 303. The clamping robot fixing plate 303 is connected to the Y-axis lead screw nut 3020208.

[0138] The structure and adjustment principle of the Y-direction cross slide assembly 30202 in this embodiment are similar to those of the X-direction cross slide assembly 30201 described above. Therefore, its structure and principle will not be described again here. The only difference between the two is the direction of arrangement.

[0139] See Figure 16 and Figure 17 As shown, preferably, the gripping robot 304 in this embodiment includes a claw base fixing plate 30409; a gripping cylinder 30402 disposed at the bottom of the claw base fixing plate 30409 via a gripping cylinder frame 30401, and the gripping cylinder frame 30401 is connected to the gripping robot fixing plate 30409, the cylinder rod of the gripping cylinder 30402 passes through the claw base fixing plate 30409 and extends above the claw base fixing plate 30409; a gripper drive structure is drivenly connected to the cylinder rod of the gripping cylinder 30402, and the gripper drive structure drives multiple silicone claw pieces 30408 ​​to move to grip the socks on the sock support.

[0140] In this embodiment, the gripper drive structure includes a gripper bracket 30410 parallel to the gripper base fixing plate 30409; multiple sets of connecting block groups are hinged inside the gripper bracket 30410, and each set of connecting block groups is hinged to a gripper 30407 through a connecting rod group, and the gripper 30407 is connected to a silicone gripper piece 30408.

[0141] Each set of connecting block assemblies includes two symmetrically arranged connecting blocks 30406. When the cylinder rod of the clamping cylinder 30402 drives the claw support 30410 to move, the claw support 30410 drives the two connecting blocks 30406 of each set of connecting block assemblies to rotate in opposite directions.

[0142] Each connecting block 30406 is provided with a set of connecting rods, and the connecting rods include a connecting rod base 30403 connected to the claw bracket 30410. The connecting rod base 30403 is disposed on the claw base fixing plate 30409. It also includes a first connecting rod 30404 and a second connecting rod 30405 hinged to the connecting rod base 30403, and the upper ends of the first connecting rod 30404 and the second connecting rod 30405 are hinged to the claw 30407.

[0143] The two connecting blocks 30406 of each group of connecting block assemblies rotate in opposite directions, causing the adjacent two groups of connecting rods to move the gripper 30407 in opposite directions, thereby achieving the closing or opening of the adjacent silicone gripper 30408.

[0144] In this embodiment, the gripping robot 304 uses a gripping cylinder 30402 as a driving component. The gripping cylinder 30402 passes through the claw base fixing plate 30409 and is connected to the claw support 30410, which can drive the claw support 30410 to move. Figure 11 The clamping cylinder frame 30401 of the clamping cylinder 30402 is structured to connect the clamping manipulator 304 and the clamping manipulator fixing plate 303. At the same time, the claw support 30410 of this embodiment is hinged to multiple sets of connecting block groups. Each set of connecting block groups connects two claws 30407 and silicone claw pieces 30408 ​​on the claws 30407 as a clamping unit to clamp the socks on the sock support at the corresponding position. The specific drive mechanism is as described above, and the specific drive principle is as follows: Since the two connecting blocks 30406 of each group of connecting blocks are arranged symmetrically, they can form opposite rotational motion directions after the clamping cylinder 30402 is activated. The corresponding gripper 30407 is also provided with a connecting rod base 30403 connected to the gripper base fixing plate 30409, and the gripper 30407 is hinged through the first connecting rod 30404 and the second connecting rod 30405. At the same time, the other end of the connecting block 30406 is also hinged to the connecting rod on the corresponding side. In this way, when the gripper bracket 30410 is raised and lowered, the rotation of the connecting block 30406 can drive the connecting rod to move, thereby driving the gripper 30407 to move. Since the two connecting blocks 30406 in each set of connecting blocks are arranged symmetrically, their rotation directions are opposite, which will drive the connecting rod and the gripper 30407 to move in opposite directions. This forms the opposite movement of the two adjacent grippers 30407 and the silicone claw 30408, thereby completing the clamping or opening of the silicone claw 30408.

[0145] Furthermore, as an extended implementation, all cylinders in this embodiment can be replaced with hydraulic cylinders or electric cylinders, as well as other components with driving functions. Therefore, all structures that can satisfy the above concept should fall within the protection scope of this application.

[0146] The specific work process is as follows:

[0147] When the automatic sock-removing robot senses the sock support after it has been shaped by high-temperature steam, the cylinder rod of the first lifting cylinder 218 extends, causing the sock support fixing and clamping robot 2 to move upward along the guide rod 102. At the same time, the cylinder rod of the translation cylinder 203 extends, causing the moving plate 202 to move forward. When the combined motion of the first lifting cylinder 218 and the translation cylinder 203 drives the active claw 210 and the driven claw 211 to insert into the gap of the sock support, the active claw drive cylinder 205 and the driven claw drive cylinder 213 actuate and drive the active claw 210 and the driven claw 211 to close, clamping the sock support. This design maintains the equal spacing of the sock supports on the one hand, and clamps and fixes the sock supports on the other hand, preparing for the subsequent sock removal operation.

[0148] Subsequently, the second lifting cylinder 30110 of the lifting mechanism 301 of the sock-removing robot 3 extends downward, and the multiplier moving plate 30102 also moves downward along with its cylinder rod under the action of the slide rail slider. At the same time, it drives the sprocket and chain structure to move. Due to the design of the sprocket and chain structure, the multiplier movement of the double screw cross slide translation mechanism 302 and the clamping robot 304 can be realized. The specific principle is as described above and will not be repeated here. At the same time, the X-direction screw nut 3020108 of the X-direction cross slide assembly 30201 moves to the left, while the Y-direction screw nut 30 of the Y-direction cross slide assembly 30202 moves to the left. When the 20208 moves downward, it drives the gripping robot 304 to insert into the sock support that has been fixed by the gripping robot 304 and is evenly spaced. The gripping cylinder 30402 moves to drive the silicone claw 30408 ​​to close through the gripper drive structure, clamping the sock on the sock support. Then, the cylinder rod of the second lifting cylinder 30110 retracts, and the Y-axis lead screw nut 3020208 of the Y-axis cross slide assembly 30202 moves upward. The silicone claw 30408 ​​can then detach the sock from the sock support until the multiplier moving plate 30102 touches the lifting mechanism fixing plate 30101. Subsequently, the X-axis lead screw nut 3020108 of the X-axis cross slide assembly 30201 moves to the right, and the Y-axis lead screw nut 3020208 of the Y-axis cross slide assembly 30202 moves downward. The active claw drive cylinder 205 and the driven claw drive cylinder 213 on the sock support fixing and clamping robot 2 drive the active claw 210 and the driven claw 211 to open. The translation cylinder 203 retracts and drives the moving plate 202 to reset. The first lifting cylinder 218 retracts and drives the sock support fixing and clamping robot 2 to reset, completing one sock removal task. This process can be repeated.

[0149] The automatic sock-removing robotic arm provided by the present invention, as described above, has the following beneficial effects:

[0150] The automatic sock-removing robot of this invention integrates a flexible gripping device, an intelligent positioning sensor, and an adaptive transmission system, enabling the equipment to accurately correspond to the sock support after high-temperature shaping and automatically complete sock removal and sorting operations. This significantly reduces manual intervention, lowers the labor intensity of operators, and effectively solves the prominent problems of time-consuming, labor-intensive, costly, and unsafe manual sock removal. It is of great significance for promoting the automation of sock processing.

[0151] The automatic sock-removing robot of this invention improves the automation level and operational flexibility of the entire system, reduces the manpower consumption caused by traditional manual sock removal, and reduces dependence on the environment. The core controller adopts a microprocessor and runs an Arm-Linux control system, a microcontroller, and a PLC to realize control functions, which enhances the stability and reliability of the system. Using cylinders and geared motors as drive components, it has the advantages of low manufacturing cost, reliable performance, high degree of automation, and high precision.

[0152] Compared to traditional technologies, the automatic sock-removing robot of this invention significantly reduces costs while maintaining high operational efficiency. The core controller, by receiving operational commands, can not only perform automatic sock removal but also apply the sock holder clamping robot to the sock-loading station. Therefore, this automatic sock-removing robot possesses wide adaptability and high operational flexibility, meeting diverse industrial automation needs and significantly improving production efficiency and economic benefits.

[0153] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automatic sock-removing robotic arm, characterized in that, The robotic arm includes: Fixed bracket (1); The sock support fixing and clamping robot (2) is movably connected to the fixed bracket (1). The sock support fixing and clamping robot (2) can move relative to the fixed bracket (1) to adjust its position, and the sock support fixing and clamping robot (2) clamps and fixes the corresponding sock support through the sock support claws integrated thereon. A sock-removing robot (3) is located above the sock support fixing and clamping robot (2), and the sock-removing robot (3) has a clamping robot (304) capable of clamping the socks on the corresponding sock support. After the gripping robot (304) grips the sock on the corresponding sock support, the sock is separated from the sock support by adjusting the position of the gripping robot (304) through the sock removal robot (3).

2. The automatic sock-removing robotic arm according to claim 1, characterized in that, The fixed bracket (1) includes: A support base plate (101) is provided, wherein a first lifting cylinder fixing hole (103) is machined on the support base plate (101), and the cylinder body of the first lifting cylinder (218) of the sock support clamping manipulator (2) is assembled and fixed at the first lifting cylinder fixing hole (103); and Two light rods (102) are fixed to one side of the support base plate (101) near the edge. One end of the light rod (102) is fixed to the support base plate (101), and the light rod (102) extends in the vertical direction.

3. The automatic sock-removing robotic arm according to claim 2, characterized in that, The sock support clamping robot (2) includes: A support plate (201) through which the light rod (102) passes and is slidably connected to the fixed bracket (1) via the light rod (102), and a first flange sliding bearing (220) is provided at the connection between the light rod (102) and the support plate (201). The first lifting cylinder (218) is disposed at the bottom of the support plate (201), and the cylinder body of the first lifting cylinder (218) is assembled and fixed with the support base plate (101). The cylinder rod of the first lifting cylinder (218) is connected to the bottom surface of the support plate (201) through the first flange (221). The first lifting cylinder (218) adjusts the height of the sock support clamping manipulator (2) by extending and retracting its cylinder rod; The sock support clamping robot (2) also includes: Horizontal adjustment mechanism; and The sock support claw mechanism is integrated into the horizontal adjustment mechanism. The sock support claw mechanism adjusts its horizontal position through the horizontal adjustment mechanism to adjust the distance between the sock support claw mechanism and the sock support. The horizontal adjustment mechanism has a horizontal adjustment mechanism guide rail (219) fixed to the support plate (201), and a horizontal adjustment mechanism slider (217) is slidably connected on the horizontal adjustment mechanism guide rail (219). The horizontal adjustment mechanism also includes a movable plate (202) slidably connected to the horizontal adjustment mechanism guide rail (219) through the horizontal adjustment mechanism slider (217). A translation cylinder (203) is installed at the axial position of the support plate (201), and a fixed support (204) is installed at the end of the moving plate (202). The cylinder rod of the translation cylinder (203) is connected to the moving plate (202) through the fixed support (204). The translation cylinder (203) drives the moving plate (202) to move horizontally by extending and retracting its cylinder rod.

4. The automatic sock-removing robotic arm according to claim 3, characterized in that, The sock support claw mechanism includes: An active claw drive cylinder (205) is mounted and fixed on one side of the moving plate (202) and a driven claw drive cylinder (213) is mounted and fixed on the other side of the moving plate (202). The output end of the active claw drive cylinder (205) is connected to the active claw drive guide rod (215) through the active claw coupling (206), and the other end of the active claw drive guide rod (215) is connected to the active claw drive guide rod bearing seat (216) mounted and fixed on the moving plate (202) through the active claw drive guide rod flange bearing (214). Multiple active claws (210) are spaced apart on the active claw drive guide rod (215). The output end of the driven claw drive cylinder (213) is connected to the driven claw drive guide rod (207) through the driven claw coupling (212), and the other end of the driven claw drive guide rod (207) is connected to the driven claw drive guide rod bearing seat (208) mounted and fixed on the moving plate (202) through the driven claw drive guide rod flange bearing (209). Multiple driven claws (211) are spaced apart on the driven claw drive guide rod (207). The active claw driving cylinder (205) drives multiple active claws (210) to move synchronously through the active claw driving guide rod (215), and the driven claw driving cylinder (213) drives multiple driven claws (211) to move synchronously through the driven claw driving guide rod (207). The active claws (210) and the driven claws (211) are arranged alternately, and adjacent active claws (210) and driven claws (211) form a set of claw plate structures, and each set of claw plate structures corresponds to a sock support. The length of the driven claw (211) is less than the length of the active claw (210). The active claw (210) has a first positioning hole (223) at the position where it engages with the active claw drive guide rod (215). The active claw drive guide rod (215) passes through the first positioning hole (223). The active claw (210) has a second positioning hole (224) at the position where it mates with the driven claw drive guide rod (207), and the driven claw (211) has a third positioning hole (222) at the position where it mates with the driven claw drive guide rod (207). The driven claw drive guide rod (207) passes through the second positioning hole (224) and the third positioning hole (222).

5. The automatic sock-removing robotic arm according to claim 2, characterized in that, The sock-removing robotic arm (3) includes: Lifting mechanism (301), double screw cross slide translation mechanism (302), and clamping manipulator (304). The lifting mechanism (301) is connected to the upper part of the light rod (102), and the lifting mechanism (301) integrates a multiplier lifting component. The double screw cross slide translation mechanism (302) is connected to the lifting mechanism (301) through the multiplier lifting component, and the height is adjusted through the multiplier lifting component. The gripping manipulator (304) slides with the double screw cross slide translation mechanism (302) via the gripping manipulator fixing plate (303), and the position of the gripping manipulator (304) is adjusted by the double screw cross slide translation mechanism (302).

6. The automatic sock-removing robotic arm according to claim 5, characterized in that, The lifting mechanism (301) includes: The lifting mechanism fixing plate (30101) is configured as an L-shaped structure, and the top plate of the upper part of the lifting mechanism fixing plate (30101) is connected to the light rod (102) through a bushing (30105). A multiplier plate (30102) that cooperates with the lifting mechanism fixed plate (30101) and is movable relative to the lifting mechanism fixed plate (30101) has a multiplier plate slide rail (30103) on the side of the lifting mechanism fixed plate (30101) that cooperates with the multiplier plate (30102), and the multiplier plate (30102) is slidably engaged with the lifting mechanism fixed plate (30101) through a multiplier plate slider (30104) that is slidably connected to the multiplier plate slide rail (30103); The multiplier plate guide rod (30107) is connected to the multiplier plate guide rod fixing seat (30106) via the multiplier plate guide rod fixing seat (30106). The multiplier plate guide rod (30107) is connected to a fixing block (30109) via a second flange sliding bearing (30108). A crossbeam (30112) is connected to the fixing block (30109) of the multiplier plate guide rod (30107) on both sides. The crossbeam (30112) is connected to the double screw cross slide table fixing plate (30101) of the double screw cross slide table translation mechanism (302) via a connecting locking piece (30113). The top plate of the lifting mechanism fixing plate (30101) is equipped with a second lifting cylinder (30110), and the cylinder rod of the second lifting cylinder (30110) is connected to the multiplier moving plate (30102) through the second flange (30111) to drive the multiplier moving plate (30102) to move. The side of the multiplier moving plate (30102) is provided with two sprocket bearing seats (30114), and the sprocket bearing seats (30114) are provided with sprocket shafts (30115), and the sprocket shafts (30115) are connected to the sprockets (30116). The two sprockets (30116) are connected by a chain (30117). The chain (30117) between the two sprockets (30116) forms two straight chain areas, one of which is connected to the lifting mechanism fixing plate (30101) via a chain fixing accessory (30118), and the other is connected to the crossbeam (30112). When the multiplier moving plate (30102) is driven to rise and fall by the second lifting cylinder (30110), the lifting mechanism fixing plate (30101) drives the chain (30117) to move through the chain fixing attachment (30118) to drive the two sprockets (30116) to rotate, and the chain (30117) drives the crossbeam (30112) to rise and fall through its connection with the crossbeam (30112).

7. An automatic sock-removing robotic arm according to claim 6, characterized in that, The dual-screw cross slide translation mechanism (302) includes: The double lead screw cross slide table fixing plate (30203); An X-axis cross slide assembly (30201) is disposed on the double lead screw cross slide fixing plate (30203); and The Y-direction cross slide assembly (30202) is slidably engaged with the X-direction cross slide assembly (30201), and the clamping manipulator (304) is slidably engaged with the Y-direction cross slide assembly (30202) through the clamping manipulator fixing plate (303); The bent section of the double lead screw cross slide fixing plate (30203) away from the X-direction cross slide assembly (30201) forms the mounting edge (3020301), and the double lead screw cross slide fixing plate (30203) is assembled and fixed with the connecting locking piece (30113) through the mounting edge (3020301), and the double lead screw cross slide fixing plate (30203) is inclinedly arranged through the cooperation of the mounting edge (3020301) and the connecting locking piece (30113); The X-axis cross slide assembly (30201) includes: An X-axis cross slide base (3020101) is connected to the double lead screw cross slide fixing plate (30203). An X-axis reduction motor base (3020104) is provided at one end of the X-axis cross slide base (3020101), and an X-axis reduction motor (3020102) is installed on the X-axis reduction motor base (3020104). X-axis lead screw seats (3020105) are installed at both ends of the double lead screw cross slide base (3020101), and an X-axis lead screw (3020106) is provided between the X-axis lead screw seats (3020105). An X-axis lead screw nut (3020108) is threadedly connected to the X-axis lead screw (3020106). The X-axis reduction motor (3020102) is connected to the X-axis lead screw (3020106) through an X-axis reduction motor coupling (3020103). The X-axis cross slide base (3020101) is provided with an X-axis guide rail (3020107) and an X-axis slider (3020109) that slide in cooperation with the Y-axis cross slide assembly (30202). The Y-axis cross slide assembly (30202) includes: A Y-direction cross slide base (3020201) is connected to the X-direction lead screw nut (3020108) and slidably engaged with the X-direction guide rail (3020107) and the X-direction slider (3020109). A Y-direction reduction motor base (3020204) is provided at one end of the Y-direction cross slide base (3020201), and a Y-direction reduction motor (3020202) is installed on the Y-direction reduction motor base (3020204). The Y-axis cross slide base (3020201) is provided with Y-axis lead screw seats (3020205) at both ends, and a Y-axis lead screw (3020206) is provided between the Y-axis lead screw seats (3020205). The Y-axis lead screw (3020206) is threadedly connected to a Y-axis lead screw nut (3020208). The Y-axis geared motor (3020202) is connected to the Y-axis lead screw (3020206) through a Y-axis geared motor coupling (3020203). The Y-axis cross slide base (3020201) is provided with a Y-axis guide rail (3020207) and a Y-axis slider (3020209) that slide in cooperation with the clamping robot fixed plate (303), and the clamping robot fixed plate (303) is connected to the Y-axis lead screw nut (3020208).

8. The automatic sock-removing robotic arm according to claim 1, characterized in that, The gripping robot (304) includes: Claw base fixing plate (30409); A clamping cylinder (30402) is mounted on the bottom of the claw base fixing plate (30409) via a clamping cylinder frame (30401), and the clamping cylinder frame (30401) is connected to the clamping manipulator fixing plate (303). The cylinder rod of the clamping cylinder (30402) passes through the claw base fixing plate (30409) and extends above the claw base fixing plate (30409). A gripper drive structure is connected to the cylinder rod of the gripping cylinder (30402), and the gripper drive structure drives multiple silicone grippers (30408) to move to grip the socks on the sock support.

9. An automatic sock-removing robotic arm according to claim 8, characterized in that, The gripper drive structure includes a gripper bracket (30410) parallel to the gripper base fixing plate (30409). The claw support (30410) is internally hinged with multiple sets of connecting blocks, and each set of connecting blocks is hinged with a claw (30407) via a connecting rod group, and the claw (30407) is connected to the silicone claw piece (30408). Each of the connecting block assemblies includes two symmetrically arranged connecting blocks (30406). When the cylinder rod of the clamping cylinder (30402) drives the claw support (30410) to move, the claw support (30410) drives the two connecting blocks (30406) of each connecting block assembly to rotate in opposite directions. Each of the connecting blocks (30406) is provided with a set of the connecting rods, and the connecting rods include a connecting rod base (30403) connected to the claw bracket (30410). The connecting rod base (30403) is fixed on the claw base fixing plate (30409). It also includes a first connecting rod (30404) and a second connecting rod (30405) hinged to the connecting rod base (30403). The upper ends of the first connecting rod (30404) and the second connecting rod (30405) are hinged to the claw (30407). The two connecting blocks (30406) of each group of connecting block assemblies rotate in opposite directions, causing the adjacent two groups of connecting rods to move the grippers (30407) in opposite directions to achieve the closing or opening of the adjacent silicone grippers (30408).

Images