Buffering manipulator device of linen spreading machine

Abstract

The utility model discloses a caching manipulator device of a linen spreading machine, which relates to the technical field of industrial washing equipment components, is mounted on a spreading machine frame and comprises a caching manipulator component, one end of the caching manipulator component is hinged to the spreading machine frame, the other end of the caching manipulator component is connected with a first driving part, and the first driving part drives the caching manipulator component to rotate. The rotating path of the temporary storage manipulator assembly passes through the no-load waiting station, the feed-in handover station and the cloth spreading handover station, a feed-in clamp assembly and left and right cloth spreading manipulator assemblies are further connected into the cloth spreading machine rack, cloth is fed into the feed-in clamp assembly, the temporary storage manipulator assembly moves from the no-load waiting station to the feed-in handover station, and the temporary storage manipulator assembly moves to the left and right cloth spreading manipulator assemblies. And the cloth on the feeding clamp assembly is clamped, then moved to the cloth spreading handover station and fed into the left and right cloth spreading manipulator assembly. The caching manipulator is additionally arranged, so that the waiting time of linen feeding is effectively shortened, and the effect of increasing the linen loading and unloading speed is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial washing equipment components, in particular to a cache manipulator device for a linen spreading machine. Background Art

[0002] A spreading machine is a device that automatically unfolds and arranges washed linens such as sheets and duvet covers and then feeds them into an ironing machine. The spreading machine is a device used in conjunction with an ironing machine.

[0003] The working principle of the spreading machine is as follows: First, the operator feeds two corners of the linen into the feeding clamp assembly. Then, the transmission mechanism at the feeding station of the spreading machine sends the clamped linen upward and waits for the hand manipulator clamps on the left and right sides of the spreading machine to transfer. After receiving the linen, the hand manipulator clamps of the spreading machine move to the set position in the middle and then unfold to both sides simultaneously until the linen is straightened. At this time, the shuttle board moves forward to clamp the linen, the linen smoothing device starts, and at the same time, the rear air door opens to generate negative pressure in the air duct to suck the linen into the air box. The shuttle board drives the front end of the linen to pull backward to the set position and then releases it, sending the linen to the conveyor belt.

[0004] Since during the process of waiting for the hand manipulator clamps on the left and right sides of the spreading machine to transfer, the operator needs to wait for the feeding clamp assembly to return to the origin before loading the linen again, which will greatly reduce the work efficiency. Content of the Utility Model

[0005] The purpose of the utility model is to provide a cache manipulator device for a linen spreading machine, which adds a cache manipulator device, effectively reduces the waiting time for feeding the linen, greatly improves the loading and unloading speed of the linen, and improves the work efficiency.

[0006] The above technical purpose of the utility model is achieved through the following technical solutions:

[0007] A cache manipulator device for a linen spreading machine is installed on the spreading machine frame and includes a cache manipulator assembly. One end of the cache manipulator assembly is hinged to the spreading machine frame, and the other end is connected to a first driving member. The first driving member drives the cache manipulator assembly to rotate. The rotation path of the cache manipulator assembly passes through an empty-load waiting station, a feeding transfer station, and a spreading transfer station. The empty-load waiting station is located between the feeding transfer station and the spreading transfer station.

[0008] A feeding clamp assembly and left and right spreading hand manipulator assemblies are also connected to the spreading machine frame. The fabric is fed into the feeding clamp assembly. The cache manipulator assembly moves from the empty-load waiting station to the feeding transfer station, clamps the fabric on the feeding clamp assembly, and then moves to the spreading transfer station to feed the fabric into the left and right spreading hand manipulator assemblies.

[0009] Further, the first driving member includes a cylinder assembly, one end of the cylinder assembly is hinged to the spreading machine frame, and the other end is hinged to the buffer manipulator assembly.

[0010] Further, the cylinder assembly is a double-exhaust cylinder, including a first cylinder and a second cylinder. The first cylinder and the second cylinder are connected to each other and have opposite output ends. The output end of the first cylinder is hinged to the spreading machine frame, and the output end of the second cylinder is hinged to the buffer manipulator assembly.

[0011] Further, the buffer manipulator assembly includes a clip manipulator assembly. The clip manipulator assembly includes at least two clip assemblies and a second driving member for driving the opening and closing of the clip assemblies. The two clip assemblies respectively clamp two corners of the fabric.

[0012] Further, the second driving member includes a clamping cylinder. The clip assembly includes a fixed clip flap and a movable clip flap. The middle of the movable clip flap is hinged to one side of the fixed clip flap. One end of the clamping cylinder is hinged to the fixed clip flap, and the other end is hinged to the upper end of the movable clip flap, driving the lower end of the movable clip flap to approach or move away from the lower end of the fixed clip flap.

[0013] Further, the clip manipulator assembly is slidably connected up and down to the buffer manipulator assembly. A third driving member for driving the sliding of the clip manipulator assembly is also connected to the buffer manipulator assembly. The clip manipulator assembly moves downward and aligns with the upper side of the fabric for clamping.

[0014] Further, the third driving member includes a lifting cylinder. One end of the lifting cylinder is connected to the buffer manipulator assembly, and the other end is connected to the clip manipulator assembly.

[0015] Further, a guiding member for guiding the sliding of the clip manipulator assembly is also connected to the buffer manipulator assembly.

[0016] Further, the guiding member includes a linear guide rail and a slider slidably connected to the linear guide rail. The clip manipulator assembly is connected to the slider.

[0017] In summary, the present utility model has the following beneficial effects:

[0018] The spreading machine with a buffer manipulator device can realize five action forms of the manipulator: loading state → intermediate full load state (i.e., waiting state) → handover state → handover completion state → intermediate no-load state, effectively reducing the waiting time for feeding the linen, greatly improving the loading and unloading speed of the linen, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of a buffer manipulator device of a linen spreading machine of the present utility model;

[0020] Figure 2 It is a three-dimensional structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model;

[0021] Figure 3 is Figure 2 an enlarged structure schematic diagram of part A in

[0022] Figure 4 It is a structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model from another perspective

[0023] Figure 5 It is a schematic diagram of the feeding clamp assembly part of a buffer manipulator device of a linen spreading machine of the present utility model

[0024] Figure 6 It is a schematic diagram of the left and right spreading manipulator assembly part of a buffer manipulator device of a linen spreading machine of the present utility model;

[0025] Figure 7 It is a structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model in the loading state;

[0026] Figure 8 is Figure 7 an enlarged structure schematic diagram of part B in

[0027] Figure 9 It is a structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model in the intermediate full-load state;

[0028] Figure 10 It is a structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model in the handover state;

[0029] Figure 11 It is a structure schematic diagram of a buffer manipulator device of a linen spreading machine of the present utility model in the intermediate no-load state.

[0030] In the figure, 1. Spreading machine frame; 2. Feeding clamp assembly; 21. Feeding slide; 22. Feeding clip; 23. Feeding clamping cylinder; 3. Front connecting rod of spreading machine frame; 31. Fixed bracket; 4. Rear connecting rod of spreading machine frame; 41. First optical axis support;

[0031] 5. Buffer manipulator assembly; 51. Cylinder assembly; 511. First joint bearing; 512. First cylinder; 513. Second cylinder; 52. Fixed plate assembly; 521. First ear; 522. Second optical axis support; 523. Second ear; 53. Lifting cylinder assembly; 54. Linear guide; 541. Slide block; 55. Clamp manipulator assembly; 531. Lifting cylinder; 532. Middle swing cylinder; 533. Second joint bearing; 551. Clamping cylinder; 552. Third joint bearing; 553. Clamp assembly; 554. Third ear;

[0032] 6. Left - right spreading manipulator assembly; 61. Spreading track; 62. Synchronous belt; 63. Synchronous pulley; 64. Servo motor set; 65. Roller set; 66. Spreading clamping cylinder; 67. Spreading machine manipulator clamp. Specific embodiments

[0033] The following further describes the specific embodiments of the present utility model in conjunction with the accompanying drawings. This embodiment does not constitute a limitation to the present utility model. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of this application.

[0034] A buffer manipulator device for a linen spreading machine, as Figures 1 to 3 shown, is installed on the spreading machine frame 1. The front connecting rod 3 and the rear connecting rod 4 of the spreading machine frame 1 are fixed on the spreading machine frame. The buffer manipulator device includes a buffer manipulator assembly 5. A corresponding fixed bracket 31 is fixed on the front connecting rod 3 of the spreading machine frame. One end of the buffer manipulator assembly 5 is hinged to the outer end of the fixed bracket 31, and the other end is connected to a first driving member, and the first driving member drives the buffer manipulator assembly 5 to rotate;

[0035] After the fabric is fed in, it is first transferred to the buffer manipulator assembly 5, and then transferred to the spreading device, so that the fabric is temporarily stored in the device through the buffer manipulator assembly 5, facilitating the immediate feeding of the fabric by the feeding part.

[0036] As Figure 2 and Figure 4 shown, the first driving member includes a cylinder assembly 51. A corresponding first optical axis support 41 is fixed on the rear connecting rod 4 of the spreading machine frame. One end of the cylinder assembly 51 is hinged to the first optical axis support 41, and the other end is hinged to the buffer manipulator assembly 5;

[0037] Specifically, the buffer manipulator assembly 5 includes a fixed plate assembly 52. The upper part of the fixed plate assembly 52 is hinged to the fixed bracket 31, and a first ear 521 is fixed to the back of the lower part, which is hinged to the cylinder assembly 51; the cylinder assembly 51 is a double-exhaust cylinder, including a first cylinder 512 and a second cylinder 513. The first cylinder 512 and the second cylinder 513 are connected to each other and have opposite output ends. The output ends of the first cylinder 512 and the second cylinder 513 are fixed with a first spherical plain bearing 511. The first spherical plain bearing 511 at the output end of the first cylinder 512 is hinged to the first optical axis support 41, and the first spherical plain bearing 511 at the output end of the second cylinder 513 is hinged to the first ear 521; it adopts two cylinders installed in parallel combination, which can double the stroke of the cylinder without changing its own length.

[0038] As Figure 2 and Figure 3 shown, the buffer manipulator assembly 5 further includes a clip manipulator assembly 55 connected to the fixed plate assembly 52. The clip manipulator assembly 55 includes at least two clip assemblies 553 and a second driving member for respectively driving the clip assemblies 553 to open and close. The two clip assemblies 553 respectively clamp two corners of the fabric;

[0039] The second driving member includes a clamping cylinder 551. Each clip assembly 553 includes two pairs of fixed clip petals and movable clip petals to clamp the fabric more stably. It can also be set to other quantities. Each fixed clip petal is integrally connected to the same fixed plate. The middle parts of the two movable clip petals are hinged to one side of the corresponding fixed clip petal. One end of the clamping cylinder 551 is hinged to the fixed clip petal, and the two sides of the other end are respectively hinged to the tail holes at the upper ends of the corresponding movable clip petals, driving the lower ends of the movable clip petals to approach or move away from the lower ends of the fixed clip petals, realizing clamping and opening, and controlling the clip assembly 553 to clamp the linen.

[0040] As Figure 2 and Figure 3 shown, in order to realize the up and down movement of the clip assembly 553 to facilitate moving to the upper side position of the fabric for clamping or moving upward away from the fabric position after opening, the clip manipulator assembly 55 is slidably connected up and down to the fixed plate assembly 52. The fixed plate assembly 52 is also connected with a third driving member for driving the clip manipulator assembly 55 to slide. The clip manipulator assembly 55 moves downward and aligns with the upper side of the fabric for clamping. The third driving member can be replaced by other linear driving structures;

[0041] The third driving member includes a lifting cylinder 531. A middle swing of the cylinder 532 is fixed on the main body of the lifting cylinder 531, and the output end is connected to a second spherical plain bearing 533. A corresponding second ear 523 is fixed outside the fixing plate assembly 52, and a third ear 554 is fixed in the clip manipulator assembly 55. The middle swing 532 of the lifting cylinder 531 is hinged to the second ear 523 of the buffer manipulator assembly 5, and the second spherical plain bearing 533 at the output end is hinged to the third ear 554 in the clip manipulator assembly 55;

[0042] A guiding member for guiding the sliding of the clip manipulator assembly 55 is further connected to the buffer manipulator assembly 5; the guiding member includes a linear guide rail 54 and a slider 541 slidably connected to the linear guide rail 54. A corresponding second optical axis support 522 is fixed on the fixing plate assembly 52. The linear guide rail 54 is fixed between the second optical axis supports 522, and the clip manipulator assembly 55 is fixedly connected to the slider 541.

[0043] As Figure 5 and Figure 6 shown, the rotation path of the buffer manipulator assembly 5 passes through the no-load waiting station, the feeding handover station, and the spreading handover station. The no-load waiting station is located between the feeding handover station and the spreading handover station.

[0044] A feeding clip assembly 2 and a left and right spreading manipulator assembly 6 are further connected to the spreading machine frame 1. The buffer manipulator assembly 5 waits at the no-load waiting station. When the fabric is fed into the feeding clip assembly 2, the buffer manipulator assembly 5 moves from the no-load waiting station to the feeding handover station, grabs the fabric on the feeding clip assembly 2, and then moves to the spreading handover station to feed the fabric into the left and right spreading manipulator assemblies 6. The feeding clip assembly 2 and the left and right spreading manipulator assemblies 6 are prior arts, and they can be replaced by other existing structures, such as other driving and grabbing structures for moving and grabbing work.

[0045] As Figure 5 and Figure 7 shown, the feeding clip assembly 2 includes two feeding slides 21 (linear modules) fixed in the spreading machine frame 1, which are respectively located on both sides of the feeding handover station. A feeding clip 22 is connected to the feeding slide 21 and is driven to reciprocate up and down along it. A drag chain is also connected to the feeding slide 21.

[0046] As Figure 8 shown, the structure of the feeding clip 22 is similar to that of the clip assembly 553. The feeding clip 22 includes a fixed flap, a movable flap, and a feeding clamping cylinder 23. The middle of the movable flap is hinged to one side of the fixed flap. One end of the feeding clamping cylinder 23 is hinged to the fixed flap, and the other end is hinged to the movable flap, driving the lower end of the movable flap to approach or move away from the fixed flap to achieve clamping and opening.

[0047] As Figure 6 andFigure 7 As shown in the figure, the left and right spreading manipulator assembly 6 includes a spreading track 61, a spreading machine manipulator clip 67 and a roller set 65. The spreading track 61 is fixed between the two side wall panels of the spreading machine frame 1. The roller set 65 is adapted to the upper and lower sides of the spreading track 61. The spreading machine manipulator clip 67 is suspended on the spreading track 61 by two sets of upper and lower roller sets 65;

[0048] Above the spreading machine manipulator clip 67 is also connected to the corresponding synchronous belt 62, which can also be replaced by other linear drive structures. The synchronous belt 62 is connected to the synchronous pulley 63. The synchronous pulley 63 is driven to rotate by the servo motor set 64, driving the spreading machine manipulator clip 67 to make a reciprocating movement left and right. The structure of the spreading machine manipulator clip 67 is similar to that of the clip assembly 553, including a fixed flap, a movable flap and a spreading clamping cylinder 66. The middle of the movable flap is hinged to one side of the fixed flap. One end of the spreading clamping cylinder 66 is hinged to the main body of the spreading machine manipulator clip 67, and the other end is hinged to the tail end of the movable flap, driving the lower end of the movable flap to approach or move away from the fixed flap.

[0049] Working principle:

[0050] Put the two corners of the linen into the feeding clip 22 respectively. When the linen is sensed by the upper sensor, the feeding clamping cylinder 23 extends the push rod to push the feeding clip 22 to clamp the linen. Then the feeding slide 21 drives the feeding clip 22 to move upward to send the clamped linen upward.

[0051] The buffer manipulator assembly 5 is in the middle no-load state. After detecting that the feeding clip 22 moves to the set position, the clip assembly 553 of the buffer manipulator assembly 5 starts at the no-load waiting station. The first cylinder 512 and the second cylinder 513 extend the push rods to the maximum stroke at the same time (one of them is already extended), making the buffer manipulator assembly 5 move forward. Then the lifting cylinder 531 extends the push rod to push the clip manipulator assembly 55 downward to the handover station (as Figure 7 shown), so that the two corners of the linen enter the clip assembly 553 at the same time. The two clamping cylinders 551 of the buffer manipulator assembly 5 extend the push rods to push the clip assembly 553 to clamp the two corners of the linen from the upper side. Then the feeding clip 22 releases the linen. At this time, it enters the loading state and completes the loading handover with the feeding clip assembly 2;

[0052] After the linen is handed over, the first cylinder 512 retracts the push rod, driving the clip manipulator assembly 55 to move backward and enter the middle full-load state, waiting to be sent into the left and right spreading manipulator assembly 6 (as Figure 9 shown): At the same time, the transmission mechanism on the cloth feeding table returns the feeding clip 22 to the starting point. The operator continues to feed the linen and then repeats the cycle;

[0053] After detecting that the clamp manipulator assembly 55 has moved to the intermediate fully-loaded state, an instruction is issued to drive the servo motor group 64, driving the spreader manipulator clamp 67 to move to the set handover station. Then, the second cylinder 513 also retracts the push rod, driving the clamp manipulator assembly 55 to move further backward to the handover station, entering the handover state for linen handover (as Figure 10 shown);

[0054] The spreader clamping cylinder 66 retracts the push rod, causing the spreader manipulator clamp 67 to clamp the linen, completing the linen handover; the buffer manipulator assembly 5 releases the linen by retracting the clamping cylinder 551, and then the lifting cylinder 531 retracts the push rod, causing the clamp manipulator assembly 55 to retract upward, entering the handover completed state;

[0055] Finally, the second cylinder 513 extends the push rod, and the buffer manipulator assembly 5 moves forward to the intermediate unloaded state (as Figure 11 shown) to wait; after receiving the linen (waiting for the clamp of the manipulator assembly 5 to return to the intermediate unloaded state), the left and right spreader manipulator assemblies 6 move to the set position in the middle and then unfold to both sides simultaneously until the linen is straightened.

[0056] Specifically, the buffer manipulator assembly 5 includes the following states:

[0057] Loading state: The cylinder assembly 51 travels to the maximum stroke, the lifting cylinder 531 travels to the maximum stroke, and the clamping cylinder 551 travels to the maximum stroke;

[0058] Intermediate fully-loaded state: The cylinder assembly 51 retracts to 1 / 2 stroke (i.e., only one of the cylinders retracts), and the lifting cylinder 531 and the clamping cylinder 551 maintain the maximum stroke;

[0059] Handover state: The cylinder assembly 51 retracts to the minimum stroke, the lifting cylinder 531 maintains the maximum stroke, and the clamping cylinder 551 maintains the maximum stroke;

[0060] Handover completed state: The cylinder assembly 51 maintains the minimum stroke, the lifting cylinder 531 retracts to the minimum stroke, and the clamping cylinder 551 retracts to the minimum stroke;

[0061] Intermediate unloaded state: The cylinder assembly 51 travels to 1 / 2 stroke, the lifting cylinder 531 maintains the minimum stroke, and the clamping cylinder 551 maintains the minimum stroke;

[0062] Combining the functions of these three cylinders, five motion states of the manipulator can ultimately be achieved: loading state → intermediate fully loaded state (i.e., waiting state) → handover state → handover completed state → intermediate empty state. After the action cycle, it is the working principle of the buffer manipulator device of the linen spreading machine, which is convenient for detecting the specific position of the buffer manipulator device; through calculation, the spreading machine with the buffer manipulator device added in this embodiment has at least about 10% higher efficiency than the traditional spreading machine.

[0063] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Those skilled in the art can make various modifications or equivalent replacements to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the technical solution of the present invention.

Claims

1. A linen spreading machine buffer robot device, characterized in that: The utility model is installed on the frame of the fabric spreading machine, and comprises a buffer robot assembly, one end of which is hinged to the frame of the fabric spreading machine, and the other end is connected to a first driving member, and the first driving member drives the buffer robot assembly to rotate, and the rotation path of the buffer robot assembly passes through the no-load waiting station, the feeding and handover station and the fabric spreading and handover station, and the no-load waiting station is located between the feeding and handover station and the fabric spreading and handover station. The fabric spreading machine frame is also connected to a feeding clamp assembly and left and right fabric spreading robot assemblies. The fabric is fed into the feeding clamp assembly, and the buffer robot assembly moves from the no-load waiting station to the feeding handover station, clamps the fabric on the feeding clamp assembly, and then moves to the fabric spreading handover station to feed the fabric into the left and right fabric spreading robot assemblies.

2. A linen spreading machine buffer robot device according to claim 1, characterized in that: The first driving member comprises a cylinder assembly, one end of which is hinged to the frame of the spreading machine, and the other end of which is hinged to the cache manipulator assembly.

3. The linen spreading machine buffer robot device according to claim 2, characterized in that: The cylinder assembly is a double-row cylinder, including a first cylinder and a second cylinder. The first cylinder and the second cylinder are connected to each other and have opposite output ends. The output end of the first cylinder is hinged to the spreading machine frame, and the output end of the second cylinder is hinged to the cache manipulator assembly.

4. The linen spreading machine buffer robot device according to claim 1, characterized in that: The buffer robot assembly includes a clip robot assembly, which includes at least two clip assemblies and a second driving member for driving the clip assemblies to open and close, and the two clip assemblies respectively clamp two corners of the cloth.

5. The linen spreading machine buffer robot device according to claim 4, characterized in that: The second driving member includes a clamping cylinder, and the clamp assembly includes a fixed clamping flap and a movable clamping flap. The middle part of the movable clamping flap is hinged to one side of the fixed clamping flap. One end of the clamping cylinder is hinged to the fixed clamping flap, and the other end is hinged to the upper end of the movable clamping flap, driving the lower end of the movable clamping flap to approach or move away from the lower end of the fixed clamping flap.

6. The linen spreading machine buffer robot device according to claim 4, characterized in that: The clip manipulator assembly slides up and down and is connected to the buffer manipulator assembly. The buffer manipulator assembly is also connected to a third driving member that drives the clip manipulator assembly to slide. The clip manipulator assembly moves downward and aligns with the upper side of the cloth to clamp it.

7. The linen spreading machine buffer robot device according to claim 6, characterized in that: The third driving member comprises a lifting cylinder, one end of which is connected to the buffer manipulator assembly, and the other end of which is connected to the clamp manipulator assembly.

8. The linen spreading machine buffer robot device according to claim 6, characterized in that: The cache robot assembly is also connected to a guide piece for guiding the sliding movement of the clip robot assembly.

9. A linen spreading machine buffer robot device according to claim 8, characterized in that: The guide member comprises a linear guide rail and a slider slidably connected to the linear guide rail, and the clamp manipulator assembly is connected to the slider.

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