Automatic lacing device

Abstract

The embodiment of the application discloses an automatic belt threading device, which comprises a conveying mechanism, a pressing mechanism, a storage mechanism, a first operating mechanism, a second operating mechanism and a belt threading mechanism; the conveying mechanism is used for conveying clothes to be processed along a conveying direction; the pressing mechanism is used for pressing and fixing the clothes to be processed; the storage mechanism is used for storing fixing cards; a card grabbing manipulator is used for grabbing the fixing cards stored on the storage mechanism; a positioning manipulator is used for clamping and positioning the fixing cards; a picking manipulator is used for picking a waistband of the clothes to be processed; a tightening manipulator is used for clamping the waistband from the picking manipulator, moving the waistband to below the fixing card clamped and positioned by the positioning manipulator, and adjusting the waistband to a tightened state; the belt threading mechanism comprises a belt threading manipulator, which is used for threading the waistband in the tightened state through a gap slot of the fixing card, so as to fix the waistband to the fixing card. Through the arrangement of the above scheme, the production efficiency of the waistband threading card is effectively improved.

Description

Technical Field

[0001] This application relates to the field of clothing production technology, and in particular to an automatic garment-wearing device. Background Technology

[0002] In the production of surgical gowns, it is usually necessary to attach the waist belt to a card. The reason for threading the waist belt through the card is that the outside of the surgical gown must be absolutely sterile. During the dressing process, the assistant is not allowed to touch the outside of the surgical gown. They need to hold the card and hand the waist belt to the doctor. In addition, after the waist belt is threaded through the card, the card should be placed in a specific position on the gown for easy folding later.

[0003] In related technologies, belt threading is mainly done manually. However, manual threading is inefficient and cannot meet production capacity requirements. Summary of the Invention

[0004] This application provides an automatic belt threading device, which aims to improve the production efficiency of belt threading.

[0005] To solve the above-mentioned technical problems, this application provides an automatic belt-threading device, which includes a conveying mechanism, a pressing mechanism, a storage mechanism, a first operating mechanism, a second operating mechanism, and a belt-threading mechanism; The conveying mechanism is used to convey the clothing to be processed along the conveying direction; The clamping mechanism is used to clamp and fix the clothing to be processed; The storage mechanism is used to store the fixed card; The first operating mechanism includes a card-retrieving robot and a positioning robot. The card-retrieving robot is used to grab a fixed card stored on the storage mechanism and transfer the fixed card to the positioning robot. The positioning robot is used to clamp and position the fixed card. The second operating mechanism includes a picking robot and a tensioning robot. The picking robot is used to pick up the waistband of the garment to be processed, and the tensioning robot is used to grip the waistband from the picking robot, move the waistband to the underside of the fixing clip held and positioned by the positioning robot, and adjust the waistband to a tensioned state. The belt-threading mechanism includes a belt-threading robot arm, which is used to thread the taut belt through the slot of the fixing clip to fix the belt to the fixing clip.

[0006] In some embodiments of this application, the threading robot includes a threading drive assembly and a threading component; the threading component is connected to the threading drive assembly, and the threading drive assembly is used to drive the threading component to move along the conveying direction, the up-down direction, and the oblique direction, wherein the oblique direction forms an angle with the up-down direction; The belt threader is provided with a belt threading part. The belt threader moves upward along the vertical direction, so that the belt threading part pushes open the edge of the slot. The belt threader also moves obliquely upward along the diagonal direction, so that the belt threading part pushes the taut belt through the slot.

[0007] In some embodiments of this application, the strap-threading component includes a connecting portion and the strap-threading portion; the connecting portion is connected to the strap-threading drive assembly; the strap-threading portion is connected to the connecting portion and extends along the oblique direction; wherein the strap-threading portion and the connecting portion are integral components.

[0008] In some embodiments of this application, the threading portion is a threading piece, and the outer surface of the threading piece is smooth.

[0009] In some embodiments of this application, the strap-threading driving assembly includes a push driving member and two sets of strap-threading driving members; the two sets of strap-threading driving members are spaced apart and are both connected to the push driving member, the push driving member being used to drive the two sets of strap-threading driving members to move; wherein, each set of strap-threading driving members includes an upper and lower driving member connected to the push driving member and an oblique driving member connected to the upper and lower driving member, the upper and lower driving member driving the oblique driving member to move along the upper and lower direction, the oblique driving member being connected to a strap-threading member through a connector, and the oblique driving member driving the strap-threading member to move along the oblique direction.

[0010] In some embodiments of this application, the automatic belt-threading device has a width direction perpendicular to the conveying direction and the vertical direction, and the tensioning manipulator includes a tensioning drive and a clamping assembly; the clamping assembly is connected to the tensioning drive and is used to clamp or release the belt; wherein, in the clamping state, the tensioning drive drives the clamping assembly to move along the width direction and away from the end of the belt fixed to the garment to be processed, so that the section of the belt between the end fixed to the garment to be processed and the portion clamped by the clamping assembly is in the tensioned state.

[0011] In some embodiments of this application, along the vertical direction, the orthographic projection of the belt in the taut state partially overlaps with the orthographic projection of the fixing clip, and the vertical projection outline of the slot overlaps with the orthographic projection of the belt in the taut state.

[0012] In some embodiments of this application, the picking robot includes a picking drive assembly and a picking assembly; the picking assembly includes a picking power component connected to the picking drive assembly and a picking component that is driven by the picking power component; the picking drive assembly drives the picking power component and the picking component to move in a vertical direction; the picking component is used to pick up the belt or release the belt.

[0013] In some embodiments of this application, the picking robot further includes a holding member connected to the picking drive assembly, the picking drive assembly being used to drive the holding member to move along the vertical direction, the holding member being used to hold the waist belt or release the waist belt; wherein, when the holding member holds the waist belt, the picking member picks up the section of the waist belt located between the end of it fixed to the surgical gown and the portion held by the holding member.

[0014] In some embodiments of this application, the card-retrieving robot includes a card-retrieving drive assembly and an end effector; the end effector includes a vacuum suction cup connected to the card-retrieving drive assembly, the vacuum suction cup being used to pick up and fix the fixed card, and the card-retrieving drive assembly driving the vacuum suction cup to move, so that the vacuum suction cup transfers the fixed card to the positioning robot.

[0015] In some embodiments of this application, the end effector further includes an end drive and a fixing plate; the end drive is connected to the card-removing drive assembly; the fixing plate is fixedly connected to the drive end of the end drive, and the end drive is used to drive the fixing plate and the vacuum suction cup to move in the vertical direction; wherein, the edge of the slot is serrated, and when the fixing plate moves downward in the vertical direction, the vacuum suction cup flexibly abuts against the fixing card, and the fixing plate has a flattening part, which is used to flatten the edge of the slot that is lifted, so that the edge of the slot is at the same horizontal plane, so as to fix the belt by pressing the edges of the slot against each other.

[0016] In some embodiments of this application, the positioning robot includes a positioning component and a clamping component; the positioning component has a positioning part for positioning the fixed card; the clamping component is used to cooperate with the positioning part to clamp the fixed card.

[0017] In some embodiments of this application, the storage mechanism includes a base frame, two side plates, and a card pusher assembly; the two side plates are connected to the base and spaced apart along the width direction of the base frame, the two side plates define a storage channel for accommodating the fixed card and a card outlet communicating with the storage channel and allowing the fixed card to pass through, and both side plates have folded edges located within the storage channel and providing support for the fixed card; the card pusher assembly includes a card pusher movably connected to the base frame, at least partially located within the storage channel, the card pusher being used to push the fixed card located within the storage channel toward the card outlet.

[0018] In some embodiments of this application, the storage mechanism further includes a bracket disposed at the end of the base frame away from the card dispensing port; the card pushing assembly further includes a counterweight, a pulley system, and a flexible line; the counterweight is movably disposed on the bracket; the pulley system includes a first pulley disposed at the top of the bracket, a second pulley disposed at the end of the base frame near the bracket, and a third pulley disposed at the end of the base frame away from the bracket; one end of the flexible line is fixedly connected to the counterweight, and the other end is fixedly connected to the card pushing assembly, and the flexible line is also wound around the first pulley, the second pulley, and the third pulley.

[0019] In some embodiments of this application, either of the two side plates slides along the width direction to adjust the width of the storage channel along the width direction; And / or, the end of the base frame away from the outlet is vertically and vertically mounted relative to the bracket to adjust the tilt between the base frame and the bracket.

[0020] In some embodiments of this application, the automatic belt-threading device includes a machine base and a frame; the conveying mechanism is disposed on the machine base; the frame is at least partially mounted on the machine base; wherein the pressing mechanism, the storage mechanism, the first operating mechanism, the second operating mechanism, and the belt-threading mechanism are all connected to the frame.

[0021] The beneficial effects of this application are as follows: by using a conveying mechanism, a pressing mechanism, a storage mechanism, a card-retrieving robot, a positioning robot, a picking robot, a tensioning robot, and a belt-threading robot, the belt can be automatically threaded and fixed onto the card. Compared with the manual card-threading method, the automatic belt-threading equipment of this application can significantly improve the production efficiency of belt-threading. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an automatic belt-threading device provided in an embodiment of this application; Figure 2 This is a top view of an automatic belt-threading device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the strap-threading mechanism provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of a picking robot provided in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of a tensioning manipulator provided in one embodiment of this application; Figure 6 This is a schematic diagram of the structure of the first operating mechanism provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a card-retrieving robotic arm provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of a positioning robot provided in one embodiment of this application; Figure 9 A schematic diagram of the structure of a storage mechanism provided in one embodiment of this application; Figure 10 A schematic diagram of the storage mechanism provided in one embodiment of this application from another perspective; Figure 11 This is a schematic diagram of a storage mechanism provided in an embodiment of this application, with one side panel removed.

[0024] Figure label: 10. Conveying mechanism; 101. Conveying drive assembly; 102. Wide conveyor belt; 20. Clamping mechanism; 201. Clamping plate; 30. Storage mechanism; 301. Base frame; 3011. Sliding shaft; 302. Side plate; 3021. Folded edge; 303. Storage channel; 304. Outlet slot; 305. Push card assembly; 3051. Push card component; 30511. Slide block; 30512. Push card plate; 3052. Counterweight; 3053. First pulley; 3054. Second pulley; 3055. Third pulley; 3056. Flexible line; 306. Through rod; 307. Bracket; 308. Outlet assembly; 3081. Rolling bearing; 3082. Stop block; 40. First operating mechanism; 401. Card-retrieving robot; 4011. Card-retrieving drive assembly; 4012. End effector; 40121. Vacuum suction cup; 40122. End effector; 40123. Fixing plate; 40124. Flattening part; 402. Positioning robot; 4021. Positioning part; 40211. Positioning part; 40212. Through-hole; 4022. Clamping part; 4023. Conveying cylinder; 4024. Vertical cylinder; 4025. Guide plate; 50. Second operating mechanism; 501. Picking robot; 5011. Picking drive assembly; 5012. Picking assembly; 50121. Picking power component; 50122. Picking component; 5013. Holding component; 50131. Holding part; 502. Tensioning robot; 5021. Tensioning drive component; 5022. Clamping assembly; 50221. Moving cylinder; 50222. Gripper cylinder; 50223. Gripper; 5023. Mounting plate; 60. Threading mechanism; 601. Threading robot; 602. Threading drive assembly; 6021. Pushing drive component; 6022. Up-down drive component; 6023. Inclined drive component; 603. Threading component; 6031. Connecting part; 6032. Threading part; 604. Connecting component; 6041. Connecting plate; 6042. Connecting rod; 605. Push plate; 70. Fixing clip; 701. Gap groove; 80. Machine tool; 90. Framework. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] This application provides an automatic belt-threading device; please refer to... Figure 1 and Figure 2 The automatic belt-threading device includes a conveying mechanism 10, a pressing mechanism 20, a storage mechanism 30, a first operating mechanism 40, a second operating mechanism 50, and a belt-threading mechanism 60.

[0027] The conveying mechanism 10 is used to convey the garments to be processed along the conveying direction to achieve automated conveying of the garments. Specifically, the garments to be processed can be surgical gowns. The clamping mechanism 20 is used to clamp the garments to be processed to fix them in the processing position, so as to prevent the position of the surgical gown from changing when picking up the waistband later, and to facilitate the grabbing of the waistband. The storage mechanism 30 is used to store the fixing clips 70 to ensure the continuous production of fixing the waistbands to the fixing clips 70, so as to continuously provide the fixing clips 70.

[0028] The first operating mechanism 40 includes a card-retrieving robot 401 and a positioning robot 402. The card-retrieving robot 401 is used to grasp the fixed card 70 stored on the storage mechanism 30 and transfer the fixed card 70 to the positioning robot 402. The positioning robot 402 is used to clamp and position the fixed card 70. The second operating mechanism 50 includes a picking robot 501 and a tensioning robot 502. The picking robot 501 is used to pick up the waistband of the garment to be processed. The tensioning robot 502 is used to clamp the waistband from the picking robot 501 and transfer the waistband to the area below the fixed card 70 clamped and positioned by the positioning robot 402, and to adjust the waistband to a tensioned state. The belt-threading mechanism 60 includes a belt-threading robot 601. The belt-threading robot 601 is used to thread the tensioned waistband through the slot 701 of the fixed card 70 to fix the waistband to the fixed card 70.

[0029] Based on the above scheme, the belt is automatically threaded onto the fixing card 70 by the conveying mechanism 10, the pressing mechanism 20, the storage mechanism 30, the card picking robot 401, the positioning robot 402, the picking robot 501, the tensioning robot 502, and the belt threading robot 601. Compared with the manual card threading method, the production efficiency of belt threading can be greatly improved.

[0030] Furthermore, in some embodiments of this application, the automatic belt-threading device includes a machine base 80 and a frame 90. The machine base 80 provides an installation and support foundation for the conveying mechanism 10 and the frame 90. The conveying mechanism 10 is disposed on the top of the machine base 80. The frame 90 provides an installation foundation for the pressing mechanism 20, the storage mechanism 30, the first operating mechanism 40, the second operating mechanism 50, and the belt-threading mechanism 60. Part of the frame 90 is erected on the edge of the machine base 80, and another part is erected on the ground. The pressing mechanism 20, the storage mechanism 30, the first operating mechanism 40, the second operating mechanism 50, and the belt-threading mechanism 60 are all connected to the frame 90, and the pressing mechanism 20, the storage mechanism 30, the first operating mechanism 40, the second operating mechanism 50, and the belt-threading mechanism 60 are movably disposed above the conveying mechanism 10.

[0031] Please refer to Figure 1 and Figure 2The conveying mechanism 10 includes a conveying drive assembly 101 and a wide conveyor belt 102. Specifically, the conveying drive assembly 101 may include a motor and multiple rollers. The motor is installed inside the machine base 80, and the multiple rollers are spaced apart along the conveying direction. The output shaft of the motor is fixedly connected to one of the multiple rollers located at the beginning or end of the conveying direction. The wide conveyor belt 102 is wound around the outer peripheral wall of the multiple rollers, and the inner side of the wide conveyor belt 102 is in frictional contact with the outer peripheral wall of the multiple rollers. The motor drives the rollers connected to it to rotate, thereby driving the wide conveyor belt 102 to circulate and convey surgical gowns located on the wide conveyor belt 102. The wide conveyor belt 102 ensures that the surgical gowns can be conveyed flatly, thereby improving the efficiency and reliability of surgical gown conveying.

[0032] The clamping mechanism 20 includes two clamping mechanisms 20, which are spaced apart along the width direction of the vertical conveying direction of the machine platform 80. The two clamping mechanisms 20 are respectively installed on the edge of the frame 90. Specifically, the clamping mechanism 20 may include a cylinder and a clamping plate 201. The body of the cylinder is fixedly installed on the frame 90, and the driving end of the cylinder is fixedly connected to the clamping plate 201. In the vertical direction, the cylinder drives the clamping plate 201 to press down and clamp the surgical gown to fix the surgical gown and prevent the position of the surgical gown from changing when the waist belt is picked up later. Alternatively, the cylinder drives the clamping plate 201 to move up to release the surgical gown, so that the conveying mechanism 10 can convey the surgical gown.

[0033] Furthermore, the automatic belt-threading equipment also includes a vision inspection mechanism connected to the frame 90, located downstream of the belt-threading mechanism 60 along the conveying direction. The vision inspection mechanism includes an image acquisition module and an image processing module, which are communicatively connected. The image acquisition module is configured to acquire images of the processed fixing clip 70 and send them to the image processing module. The image processing module analyzes the images to determine whether a belt is threaded onto the fixing clip 70. Specifically, the image acquisition module can be an industrial camera, and the image processing module can be a central processing unit. This configuration improves the production quality of belt threading by detecting whether the belt has been successfully threaded through the fixing clip 70.

[0034] Please refer to Figures 1 to 3In some embodiments of this application, the belt-threading robot 601 includes a belt-threading drive assembly 602 and a belt-threading member 603. The belt-threading member 603 is connected to the belt-threading drive assembly 602, which drives the belt-threading member 603 to move along a conveying direction, a vertical direction, and an oblique direction, with the oblique direction forming an angle with the vertical direction. The belt-threading member 603 has a belt-threading portion 6032. The belt-threading member 603 moves upward in the vertical direction, causing the belt-threading portion 6032 to push open the edge of the slot 701. The belt-threading member 603 also moves obliquely upward in the oblique direction, causing the belt-threading portion 6032 to push the taut belt through the slot 701. With this configuration, the belt threading component 603 is driven by the belt threading drive component 602 to move along the conveying direction, the up and down direction and the diagonal direction, so as to push the belt in a taut state through the slot 701 in the preset moving direction, thereby realizing the automatic threading of the belt onto the fixing clip 70.

[0035] Specifically, in some embodiments of this application, the threading drive assembly 602 includes a push drive member 6021 and two sets of threading drive members. The two sets of threading drive members are spaced apart and both are connected to the push drive member 6021. Specifically, a push plate 605 is fixedly connected to the drive end of the push drive member 6021, and both sets of threading drive members are fixedly mounted on the push plate 605. The push drive member 6021 is used to drive the two sets of threading drive members to move. Each set of threading drive members includes an upper and lower drive member 6022 connected to the push drive member 6021 and an oblique drive member 6023 connected to the upper and lower drive member 6022. The upper and lower drive member 6022 drives the oblique drive member 6023 to move in the upper and lower direction. The oblique drive member 6023 is connected to a threading member 603 via a connector 604, and the oblique drive member 6023 drives the threading member 603 to move in the oblique direction. With two sets of belt-threading drive components, the waist belts on both sides of the surgical gown can be threaded onto the fixing clips 70, thus achieving automatic belt threading.

[0036] It is understood that the connector 604 may include a connecting plate 6041 fixedly connected to the driving end of the inclined drive member 6023 and a connecting rod 6042 fixedly connected to the connecting plate 6041. The belt threader 603 is fixedly connected to the end of the connecting rod 6042 away from the connecting plate 6041. The connecting rod 6042 extends along the conveying direction and its extension direction is perpendicular to the extension direction of the connecting plate 6041. This arrangement can reduce the risk of the belt threader 603 colliding with other components during movement.

[0037] It should be noted that the push drive component 6021, the up and down drive component 6022, and the diagonal drive component 6023 can all be cylinders, or other structural components with driving capabilities.

[0038] Furthermore, in some embodiments of this application, the belt threading component 603 includes a connecting portion 6031 and a belt threading portion 6032. The connecting portion 6031 is connected to the belt threading drive assembly 602, that is, the connecting portion 6031 is fixedly connected to the connecting rod 6042. For example, the connecting portion 6031 and the connecting rod 6042 are fixedly connected by any one of welding, screwing, or riveting. The belt threading portion 6032 is connected to the connecting portion 6031 and extends in an oblique direction. The belt threading portion 6032 and the connecting portion 6031 are integral components to enhance the structural strength of the belt threading component 603, so that the belt can be stably and reliably threaded onto the fixing clip 70 during the clip threading process, thereby improving the stability and reliability of the belt clip threading and thus improving production quality.

[0039] In some embodiments of this application, the belt threading part 6032 is a belt threading piece with a smooth outer surface. This design allows the taut belt to pass smoothly through the slot 701 of the fixing clip 70 to secure the belt to the fixing clip 70. It also facilitates the exit of the belt threading piece from the slot 701, improving the smoothness of the belt threading piece's movement, thereby ensuring the continuity of belt threading, maintaining production cycle time, and thus improving production efficiency.

[0040] It is understood that the connecting part 6031 can also be a sheet-like structure or a block-like structure. In this embodiment, in order to avoid collisions between the threading member 603 and other components during the threading process, the connecting part 6031 is provided in a sheet-like form. In this way, when the threading member 603 moves obliquely upward, it avoids collisions with the positioning robot 402, thereby ensuring the stability of production.

[0041] Please refer to Figures 1 to 4 Understandably, in order to pick up the waistbands of the surgical gown from both sides, two picking robots 501 are provided. The two picking robots 501 are distributed along the width direction of the machine table 80 and are respectively mounted on the frame 90. By having the two picking robots 501 simultaneously pick up the two waistbands of the surgical gown, the waistbands can be picked up automatically and quickly, improving the efficiency of waistband picking.

[0042] In some embodiments of this application, each picking robot 501 includes a picking drive assembly 5011 and a picking assembly 5012. The picking drive assembly 5011 is mounted on the frame 90, and the driving end of the picking drive assembly 5011 is fixedly connected to the picking assembly 5012 so as to drive the picking assembly 5012 to move in the vertical direction. Specifically, the picking drive assembly 5011 can be a lead screw structure, a cylinder structure, or other structural components that can drive the picking to move in the vertical direction, which is not limited here.

[0043] The pickup assembly 5012 includes a pickup power component 50121 connected to the pickup drive assembly 5011 and a pickup component 50122 that is driven by the pickup power component 50121. The pickup drive assembly 5011 drives the pickup power component 50121 and the pickup component 50122 to move in the vertical direction. The pickup component 50122 is used to pick up or release the belt. Specifically, the pickup component 50122 may include a pair of gripping fingers that extend in the vertical direction. The pickup power component 50121 is a gripper 50223 cylinder 50222. The driving end of the gripper 50223 cylinder 50222 is connected to the pair of gripping fingers. The gripper 50223 cylinder 50222 can drive the pair of gripping fingers to move closer or further apart to pick up or release the belt. The pickup power unit 50121 may also include a transmission component and a pneumatic cylinder. The transmission component includes a rack and two connecting rods. One end of each connecting rod is toothed and forms a gear end. The gear ends of the two connecting rods mesh with each other. A pair of grippers are respectively connected to the ends of the two connecting rods away from the gear ends. The rack is connected to the drive end of the pneumatic cylinder and meshes with the two gear ends. The pneumatic cylinder drives the rack to move, and the rack drives the two gear ends to rotate. For example, one of the two gear ends rotates clockwise and the other rotates counterclockwise, thereby driving the two connecting rods to open or close, which in turn drives the pair of grippers to open or close, thus realizing the automatic pickup or release of the belt.

[0044] Furthermore, the pair of gripping fingers can be flexibly configured, for example, each gripping finger has a compression spring at its tip, with the two ends of the compression spring abutting against the gripping finger and the connecting rod respectively. With this configuration, when the gripping fingers move down, the gripping ends of the pair of gripping fingers can flexibly contact the surgical gown, so as to effectively prevent the gripping fingers from damaging the surgical gown and ensure production quality.

[0045] In some embodiments of this application, the picking robot 501 further includes a holding member 5013, which is connected to a picking drive assembly 5011. The picking drive assembly 5011 drives the holding member 5013 to move vertically, and the holding member 5013 is used to hold or release the waist belt. Specifically, when the holding member 5013 holds the waist belt, the picking member 50122 picks up the section of the waist belt located between its end fixed to the surgical gown and the portion held by the holding member 5013. Specifically, the holding member 5013 is a holding plate, with its top end fixedly connected to the driving end of the picking drive assembly, and its bottom end bent and formed as a holding portion 50131 for holding the waist belt. Because the belt itself has a certain degree of flexibility, it is easy for the belt to be pulled away during the picking process. Therefore, when the picking component 50122 moves down to pick up the belt, the holding component 5013 first holds the belt to prevent it from being pulled away, thereby making it easier for the picking component 50122 to pick up the belt and improving the efficiency of picking up the belt.

[0046] Please refer to Figures 1 to 5After the picking robot 501 picks up the belt, the belt needs to be adjusted to a taut state. In some embodiments of this application, the belt is adjusted to a taut state by the tensioning robot 502. The automatic belt-threading device has a vertical conveying direction and a width direction in the up-down direction. Two tensioning robots 502 are provided, which are distributed along the width direction and are respectively connected to the frame 90.

[0047] The tensioning robot 502 includes a tensioning drive 5021 and a gripping assembly 5022. The gripping assembly 5022 is connected to the tensioning drive 5021 and is used to grip or release the belt. In the gripping state, the tensioning drive 5021 drives the gripping assembly 5022 to move along the width direction away from the end of the belt fixed to the garment, so that the section of the belt between its fixed end and the portion gripped by the gripping assembly 5022 is in a tensioned state. With this configuration, after the pickup robot 501 picks up the belt, the gripping assembly 5022 holds the belt and, driven by the tensioning drive 5021, moves the two tensioning robots 502 closer together to tighten the belt, preparing it for subsequent threading onto the retaining clip 70.

[0048] Understandably, when the clamping assembly 5022 adjusts the belt to a taut state, the belt is simultaneously located below the fixing clip 70, and part of the belt is directly below the fixing clip 70. The belt threading part 6032 of the belt threading mechanism 60 moves to below the belt. The up-down drive member 6022 drives the belt threading part 6032 to move upward, causing the belt threading part 6032 to push the belt upward and open the edge of the slot 701. Then, the oblique drive member 6023 drives the belt threading part 6032 to move obliquely upward, so that the belt threading part 6032 can push the belt through the slot 701. Subsequently, the up-down drive member 6022 and the oblique drive member 6023 drive the belt threading part 6032 to exit the slot 701, thereby completing the belt threading.

[0049] Specifically, the tensioning drive component 5021 is a strip-shaped cylinder, which is mounted on the frame 90. The clamping assembly 5022 includes a movable cylinder 50221, a gripper cylinder 50223, and a pair of grippers 50223. The drive end of the strip-shaped cylinder is provided with a mounting plate 5023, and the clamping assembly 5022 is mounted on the mounting plate 5023. The strip-shaped cylinder drives the clamping assembly 5022 to move along the width direction. The movable cylinder 50221 is fixedly mounted on the mounting plate 5023, and the gripper cylinder 50223 is fixedly connected to the drive end of the movable cylinder 50221. The movable cylinder 50221 is used to drive the gripper cylinder 50223 to move along the conveying direction. A pair of grippers 50223 are connected to a gripper cylinder 50222. The gripper cylinder 50222 is used to drive the pair of grippers 50223 to open or close, so as to grip or release the belt.

[0050] Understandably, the mounting plate 5023 can slide with the frame 90. For example, the frame 90 is provided with a guide rail extending in the width direction, and the mounting plate 5023 is provided with a slider. The mounting plate 5023 slides with the guide rail through the slider, so as to guide the clamping assembly 5022 to move in the width direction, thereby improving the smoothness and efficiency of the tensioning robot 502 in adjusting the belt to a taut state.

[0051] In some embodiments of this application, along the vertical direction, the orthographic projection of the taut belt overlaps with the orthographic projection of the fixing clip 70, and the vertical projection outline of the slot 701 overlaps with the orthographic projection of the taut belt. This arrangement ensures that the taut belt is located directly below the fixing clip 70, facilitating the belt threading part 6032 to pass the belt through the slot 701, improving the accuracy of belt threading and avoiding repeated threading.

[0052] Please refer to Figure 1 and Figure 2 ,as well as Figures 6 to 8 In some embodiments of this application, the card-retrieving robot 401 includes a card-retrieving drive assembly 4011 and an end effector 4012. The card-retrieving drive assembly 4011 is mounted on the frame 90. The end effector 4012 includes a vacuum suction cup 40121 connected to the card-retrieving drive assembly 4011. The vacuum suction cup 40121 is used to pick up and fix the card 70. The card-retrieving drive assembly 4011 drives the vacuum suction cup 40121 to move, so that the vacuum suction cup 40121 transfers the fixed card 70 to the positioning robot 402.

[0053] Specifically, the card retrieval drive assembly 4011 can be a synchronous belt swing arm structure. This application does not improve the synchronous belt swing arm structure, therefore, the synchronous belt swing arm structure will not be described in detail. The card retrieval drive assembly 4011 can also be a three-axis or four-axis robot arm. The card retrieval drive assembly 4011 can also be other structural components that can drive the end effector 4012 to move in three-dimensional space, which are not specifically limited here.

[0054] Furthermore, in some embodiments of this application, the end effector 4012 further includes an end drive 40122 and a fixing plate 40123. The end drive 40122 is connected to the card-retrieving drive assembly 4011. Specifically, the end drive 40122 can be a cylinder, which is installed at the end of the swing arm of the synchronous belt swing arm structure. The fixing plate 40123 is fixedly connected to the drive end of the end drive 40122, that is, the drive end of the cylinder is fixedly connected to the fixing plate 40123. The end drive 40122 is used to drive the fixing plate 40123 and the vacuum suction cup 40121 to move in the vertical direction. The edge of the slot 701 is serrated. When the fixing plate 40123 moves downward in the vertical direction, the vacuum suction cup 40121 flexibly abuts against the fixing clip 70. The fixing plate 40123 has a flattening part 40124, which is used to flatten the edge of the slot 701 that is pushed up, so that the edge of the slot 701 is on the same horizontal plane. The waist belt is fixed by the mutual squeezing of the edges of the slot 701, thereby effectively preventing the waist belt from falling off the fixing clip 70 and improving the stability and reliability of the waist belt through the clip.

[0055] It should be noted that the flattening part 40124 can be a pressure needle. The pressure needle has a slender structure and can move and flatten the raised edge of the suture groove 701 in a narrow space, so that the edge of the suture groove 701 is on the same horizontal plane. There can be two pressure needles to correspond to the two suture grooves 701 of the fixing clip 70. In this way, after the waist belts on both sides of the surgical gown are put on the fixing clip 70, they can independently flatten the raised edge of the suture groove 701, thereby improving the production quality of the waist belt being put on the fixing clip 70.

[0056] The vacuum suction cup 40121 is elastically mounted on the fixed plate 40123. For example, the vacuum suction cup 40121 is mounted on the fixed plate 40123 through an elastic structure (such as a spring). This allows the vacuum suction cup 40121 to grip the fixed card 70 more gently, avoiding damage to the fixed card 70 and affecting the quality of the belt threading.

[0057] Please refer to Figure 1 and Figure 2 ,as well as Figures 6 to 8After the card-grabbing robot 401 completes the grasping of the fixed card 70, the fixed card 70 needs to be positioned and clamped. In some embodiments of this application, the fixed card 70 is positioned and clamped by the positioning robot 402. The positioning robot 402 includes a positioning component 4021 and a clamping component 4022. The positioning component 4021 has a positioning part 40211, which is used to position the fixed card 70. The clamping component 4022 is used to cooperate with the positioning part 40211 to clamp the fixed card 70. With this configuration, when the belt is being threaded, the fixed card 70 is fixed and positioned to ensure the accuracy of the belt threading, effectively avoiding belt threading failure or repeated threading, thereby improving the smoothness of belt threading and increasing production efficiency.

[0058] Specifically, the positioning robot 402 also includes a conveying cylinder 4023 and a vertical cylinder 4024. The body of the conveying cylinder 4023 is mounted on the frame 90. The drive end of the conveying cylinder 4023 is connected to a guide plate 4025, and a guide rail is provided on the guide plate 4025. The positioning component 4021 slides with the guide rail. The drive end of the vertical cylinder 4024 is fixedly connected to the positioning component 4021, and the vertical cylinder 4024 drives the positioning component 4021 to move in the vertical direction. The positioning component 4021 is stepped, and the clamping component 4022 is driven by a clamping cylinder. The clamping cylinder can drive the clamping component 4022 to move in the vertical direction. The clamping cylinder is fixed inside the positioning component 4021 and located at the step of the positioning component 4021, making the structure of both more compact. The conveying cylinder 4023 drives the positioning component 4021 and the clamping component 4022 to move in the conveying direction through the guide plate 4025. The positioning member 4021 is provided with an opening 40212. The clamping member 4022 extends from the inside of the positioning member 4021 and through the opening 40212 to the outside of the positioning member 4021, so as to reach the positioning part 40211 and to position and fix it with the positioning part 40211.

[0059] It should be noted that the clamping component 4022 can be a clamping plate or a clamping rod, and the positioning component 4021 can be a positioning bracket 307 or a positioning plate. For example, the positioning component 4021 is a positioning plate, and the positioning plate forms a positioning groove that is adapted to the size of the fixing card 70. The positioning groove constitutes the positioning part 40211.

[0060] Please refer to Figure 1 and Figure 2 ,as well as Figures 9 to 11In some embodiments of this application, the storage mechanism 30 includes a base frame 301, two side plates 302, and a card pusher assembly 305. The two side plates 302 are connected to the base and spaced apart along the width direction of the base frame 301. The two side plates 302 define a storage channel 303 for accommodating a fixed card 70 and a card outlet 304 communicating with the storage channel 303 and allowing the fixed card 70 to pass through. Each side plate 302 has a folded edge 3021 located within the storage channel 303 and providing support for the fixed card 70. The card pusher assembly 305 includes a card pusher 3051 movably connected to the base frame 301, at least partially located within the storage channel 303. The card pusher 3051 is used to push the fixed card 70 located within the storage channel 303 toward the card outlet 304.

[0061] Furthermore, an export component is provided at the card outlet 304. This export component includes a rolling bearing 3081 and a stop block 3082. Specifically, two rolling bearings 3081 are spaced apart at the lower end of the card outlet 304, and the stop block 3082 is located at the upper end of the card outlet 304. The two rolling bearings 3081, in conjunction with the stop block 3082, limit the fixed card 70 at the card outlet 304. Because the fixed card 70 has a certain degree of flexibility and can deform, when the card-retrieving robot 401 picks up the fixed card 70 and pulls it out of the card outlet 304, the fixed card 70 rolls in contact with the rolling bearings 3081. The rotation of the rolling bearings 3081 allows the fixed card 70 to be discharged more easily, thereby improving the smoothness and efficiency of card retrieval.

[0062] Specifically, the pusher 3051 is T-shaped and includes a slide 30511 and a pusher plate 30512 disposed on the slide 30511. The base frame 301 is provided with a sliding shaft 3011. The slide 30511 has a through hole, and the sliding shaft 3011 passes through the through hole of the slide 30511. The slide 30511 and the sliding shaft 3011 are slidably engaged, that is, the slide 30511 can move along the axial direction of the sliding shaft 3011. The pusher plate 30512 extends partially into the storage channel 303, and pushers the fixed card 70 located in the storage channel 303 toward the card outlet 304.

[0063] The storage mechanism 30 also includes a through rod 306 disposed within the storage channel 303. The extension direction of the through rod 306 is consistent with the extension direction of the storage channel 303. A push plate 605 is located on one side of the through rod 306. The fixing card 70 has a through hole, and the through rod 306 passes through the through hole to limit the fixing card 70, allowing the fixing card 70 to slide along the axial direction of the through rod 306. This facilitates the unloading of the fixing card 70 and prevents the fixing cards 70 from piling up and affecting the efficiency of the card retrieval process, thereby more effectively improving the card retrieval efficiency. Specifically, the through rod 306 can also slide along the width direction, meaning that the position of the through hole is designed to accommodate more fixing cards 70 of different sizes, thereby improving the usability of the storage mechanism 30.

[0064] Furthermore, in some embodiments of this application, the storage mechanism 30 further includes a bracket 307 disposed on the end of the base frame 301 away from the card outlet 304. The card pusher assembly 305 further includes a counterweight 3052, a pulley system, and a flexible line 3056. The counterweight 3052 is movably disposed on the bracket 307. The pulley system includes a first pulley 3053 disposed at the top of the bracket 307, a second pulley 3054 disposed on the end of the base frame 301 near the bracket 307, and a third pulley 3055 disposed on the end of the base frame 301 away from the bracket 307. One end of the flexible line 3056 is fixedly connected to the counterweight 3052, and the other end is fixedly connected to the card pusher 3051, that is, fixedly connected to the slide block 30511. The flexible line 3056 is also wound around the first pulley 3053, the second pulley 3054, and the third pulley 3055. With this configuration, when the card-retrieving robot 401 removes the fixed cards 70 one by one from the storage channel 303, the number of fixed cards 70 in the storage channel 303 gradually decreases. Under its own weight, the counterweight 3052 moves downward and pulls the slide block 30511 towards the card outlet 304 via the flexible line 3056. This allows the pusher plate 30512 to push the fixed cards 70 towards the card outlet 304 in real time, thus automatically pushing the fixed cards 70 out of the channel.

[0065] It should be noted that the counterweight 3052 can be a counterweight mark, a counterweight ball, or a counterweight block. The flexible wire 3056 can be a nylon wire or a steel wire core braided wire.

[0066] Furthermore, in some embodiments of this application, either of the two side plates 302 slides along the width direction to adjust the width of the storage channel 303 along the width direction. This arrangement is to accommodate fixing cards 70 of different sizes, thereby improving the adaptability of the automatic threading device.

[0067] And / or, the end of the base frame 301 away from the outlet 304 is vertically and vertically mounted relative to the bracket 307 to adjust the tilt between the base frame 301 and the bracket 307. Specifically, the end of the base frame 301 away from the card outlet 304 is raised or lowered via an electric actuator. The drive end of the electric actuator is fixedly connected to the base frame 301, and the electric actuator drives the end of the base frame 301 away from the card outlet 304 to rise or fall. Alternatively, the end of the base frame 301 away from the card outlet 304 is locked to the bracket 307 via a pin structure, thereby achieving a raise or lower setting. Alternatively, the weight of the counterweight 3052 itself is used to adjust the raise or lower setting of the end of the base frame 301 away from the card outlet 304 relative to the bracket 307. For example, by pulling the counterweight 3052 down or up, the height position of the counterweight 3052 is changed, and under the action of the pulley block and the flexible line 3056, the end of the base frame 301 away from the card outlet 304 can be driven to move down or up. It can be understood that the other end of the base frame 301 is rotatably connected to the frame 90.

[0068] By adjusting the inclination between the base frame 301 and the bracket 307, that is, by setting the storage channel 303 at an inclination, the fixed card 70 tends to move towards the card outlet 304 under the action of gravity, and under the push of the card pusher plate 30512, the fixed card 70 is more conveniently discharged, thereby improving the discharge efficiency of the fixed card 70 and improving production efficiency.

[0069] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0070] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic belt-threading device, characterized in that, include: A conveying mechanism is used to transport clothing to be processed along the conveying direction; A clamping mechanism is used to clamp and secure the garments to be processed. Storage mechanism for storing fixed cards; The first operating mechanism includes a card-retrieving robot and a positioning robot. The card-retrieving robot is used to grab a fixed card stored in the storage mechanism and transfer the fixed card to the positioning robot. The positioning robot is used to clamp and position the fixed card. The second operating mechanism includes a picking robot and a tensioning robot. The picking robot is used to pick up the waistband of the garment to be processed, and the tensioning robot is used to grip the waistband from the picking robot and move the waistband to the bottom of the fixing clip held and positioned by the positioning robot, and to adjust the waistband to a tensioned state. as well as The belt-threading mechanism includes a belt-threading robot arm, which is used to thread the taut belt through the slot of the fixing clip to fix the belt to the fixing clip.

2. The automatic belt-threading device as described in claim 1, characterized in that, The threading robot includes: Thread drive assembly; and A belt threading component is connected to the belt threading drive assembly, which drives the belt threading component to move along the conveying direction, the up-down direction, and the oblique direction, wherein the oblique direction forms an angle with the up-down direction. The belt threader is provided with a belt threading part. The belt threader moves upward along the vertical direction, so that the belt threading part pushes open the edge of the slot. The belt threader also moves obliquely upward along the diagonal direction, so that the belt threading part pushes the taut belt through the slot.

3. The automatic belt-threading device as described in claim 2, characterized in that, The strapping component includes: The connecting part is connected to the threading drive assembly; and The threading portion is connected to the connecting portion and extends along the oblique direction; The strapping part and the connecting part are integral components.

4. The automatic belt-threading device as described in claim 3, characterized in that, The threading part is a threading piece, and the outer surface of the threading piece is smooth.

5. The automatic belt-threading device as described in claim 2, characterized in that, The strapping drive assembly includes: Push driver; and Two sets of threading drive components are arranged at intervals and are both connected to the push drive component. The push drive component is used to drive the two sets of threading drive components to move. Each set of the threading drive components includes an upper and lower drive component connected to the push drive component and an oblique drive component connected to the upper and lower drive components. The upper and lower drive components drive the oblique drive component to move along the upper and lower direction. The oblique drive component is connected to a threading component through a connector. The oblique drive component drives the threading component to move along the oblique direction.

6. The automatic belt-threading device as described in claim 1, characterized in that, The automatic threading device has a width direction perpendicular to the conveying direction and the vertical direction, and the tensioning manipulator includes: Tensioning drive components; and A clamping assembly, connected to the tensioning drive, is used to clamp the belt or release the belt; In the clamping state, the tensioning drive drives the clamping assembly to move along the width direction and away from the end of the belt fixed to the garment to be processed, so that the section of the belt between the end fixed to the garment to be processed and the part clamped by the clamping assembly is in the tensioned state.

7. The automatic belt-threading device as described in claim 6, characterized in that, Along the vertical direction, the orthographic projection of the belt in the taut state overlaps with the orthographic projection of the fixing clip, and the vertical projection outline of the slot overlaps with the orthographic projection of the belt in the taut state.

8. The automatic belt-threading device as described in claim 1, characterized in that, The picking robot includes: Pick up driver components; and The pickup assembly includes a pickup power component connected to the pickup drive assembly and a pickup component that is driven by the pickup power component. The pickup drive assembly drives the pickup power component and the pickup component to move in a vertical direction. The pickup component is used to pick up the belt or release the belt.

9. The automatic belt-threading device as described in claim 8, characterized in that, The picking robot also includes: A holding member is connected to the pickup drive assembly, which drives the holding member to move along the vertical direction. The holding member is used to hold the belt or release the belt. When the holding member holds the waist belt, the picking member picks up the section of the waist belt located between the end of it fixed to the surgical gown and the portion held by the holding member.

10. The automatic belt-threading device as described in claim 1, characterized in that, The card-retrieval robotic arm includes: Card removal driver component; and The end effector includes a vacuum suction cup connected to the card retrieval drive assembly. The vacuum suction cup is used to pick up and fix the card. The card retrieval drive assembly drives the vacuum suction cup to move, so that the vacuum suction cup transfers the card to the positioning robot.

11. The automatic belt-threading device as described in claim 10, characterized in that, The end-effector further includes: The end-effector is connected to the card-retrieving drive assembly; A fixed plate is fixedly connected to the driving end of the end drive component, which is used to drive the fixed plate and the vacuum suction cup to move in the up and down direction. The edge of the slot is serrated. When the fixing plate moves downward along the vertical direction, the vacuum suction cup flexibly abuts against the fixing clip. The fixing plate has a flattening part, which is used to flatten the edge of the slot that is pushed up, so that the edge of the slot is on the same horizontal plane, so as to fix the belt by pressing the edges of the slot against each other.

12. The automatic belt-threading device as described in claim 1, characterized in that, The positioning robot includes: The positioning element has a positioning part for positioning the fixing clip; and A clamping component is used to cooperate with the positioning part to clamp the fixing card.

13. The automatic belt-threading device as described in claim 1, characterized in that, The storage mechanism includes: Base frame; and Two side plates, connected to the base and spaced apart along the width direction of the base frame, define a storage channel for accommodating the fixing card and a card outlet communicating with the storage channel and allowing the fixing card to pass through. Each side plate has a folded edge located within the storage channel and providing support for the fixing card. The card pusher assembly includes a card pusher movably connected to the base frame, at least partially located within the storage channel, the card pusher being used to push the fixed card located within the storage channel toward the card dispensing port.

14. The automatic belt-threading device as described in claim 13, characterized in that, The storage mechanism further includes a bracket located at the end of the base frame away from the card dispensing slot; the card pushing assembly further includes: The counterweight is movably mounted on the support. A pulley system includes a first pulley located at the top of the support, a second pulley located on the base frame near the support, and a third pulley located on the base frame away from the support; and The flexible line is fixedly connected at one end to the counterweight and at the other end to the pusher. The flexible line is also wound around the first pulley, the second pulley and the third pulley.

15. The automatic belt-threading device as described in claim 14, characterized in that, Either of the two side plates can slide along the width direction to adjust the width of the storage channel along the width direction; And / or, the end of the base frame away from the outlet is vertically and vertically mounted relative to the bracket to adjust the tilt between the base frame and the bracket.

16. The automatic belt-threading device as described in any one of claims 1-15, characterized in that, Also includes: The machine platform, wherein the conveying mechanism is mounted on the machine platform; as well as The frame is at least partially mounted on the machine platform; The pressing mechanism, the storage mechanism, the first operating mechanism, the second operating mechanism, and the threading mechanism are all connected to the frame.

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