Sock clamping manipulator

Abstract

The utility model discloses a sock clamping mechanical arm which comprises a first support, two opening and closing air cylinders are installed at the two ends of the first support, telescopic rods of the two opening and closing air cylinders are connected with a second support, the opening and closing air cylinders drive the second support to be close to or away from the first support, and a plurality of guide columns are arranged on the first support. N clamping block units are connected to the multiple guide columns in a sliding mode, the other ends of the N clamping block units are connected with M sets of folding hinges, and one ends of the M sets of folding hinges are connected with hinge air cylinders. The multiple clamping block units are arranged on the two guide columns in a grouped and staggered mode, so that when all the clamping block units are pulled open, the overall width is not large, and the size of equipment is greatly reduced; meanwhile, a large number of X-shaped hinge frames are used on the clamping block units and the M sets of folding hinges and used for adjusting the amplitude at equal intervals, an opening and closing air cylinder drives the clamping block units and the sock clamping plates to be opened and closed so that socks can be conveniently taken and unloaded, an original point fixing mechanism is designed at an original point connecting pin so that one ends of the M sets of folding hinges can be located at the original point all the time, and the stability and reliability during working are kept.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, specifically a sock-clamping robotic arm. Background Technology

[0002] Sock-setting and removing machines are very common production equipment in sock manufacturing. Pairs of socks are placed in spaced rows on a shaping plate, first steam-shaped, then gripped and removed from the plate by a robotic arm, and finally placed together. However, current robotic arms have low stability during operation, often failing to remove socks or failing to arrange them neatly during transport. Therefore, improvements to existing sock-gripping robotic arms are needed. Utility Model Content

[0003] Technical problems to be solved

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a sock-clamping robotic hand.

[0005] Technical solution

[0006] To achieve the above objectives, this utility model provides the following technical solution: a sock-clamping robot, comprising a first support, with two opening and closing cylinders installed at both ends of the first support, and a second support connected to the telescopic rods of the two opening and closing cylinders. The second support is arranged side by side on one side of the first support. The opening and closing cylinders drive the second support to move closer to or away from the first support. The first support is provided with multiple guide posts, and N clamping block units are slidably connected to the multiple guide posts. One end of each of the N clamping block units is connected to N pairs of sock clamping plates, and the other end of each of the N clamping block units is connected to M sets of folding hinges. The M sets of folding hinges are slidably connected end to end to the first support, and one end of each of the M sets of folding hinges is connected to a hinge cylinder. The hinge cylinder drives the M sets of folding hinges to unfold or fold. The N clamping block units, driven by the opening and closing cylinders, can simultaneously open or clamp the N pairs of sock clamping plates.

[0007] More specifically, two sets of guide posts are fixedly connected to the first bracket, and the N clamping block units are divided into two groups and slidably connected to the two sets of guide posts respectively.

[0008] More specifically, the clamping unit includes a pair of parallel and spaced-apart left and right clamping plates. Two sets of X-shaped hinges are cross-connected between the left and right clamping plates. The two sets of X-shaped hinges are connected by four end connecting pins and one central connecting pin. The four end connecting pins are movably disposed in guide grooves on the left and right clamping plates. Two of the four end connecting pins are configured with drive connecting pins. A second bracket is provided with a track groove that matches the drive connecting pins. The drive connecting pins are disposed in the track grooves of the second bracket. The left and right clamping plates are respectively provided with guide post mating holes. Guide post sliding sleeves are installed in the guide post mating holes. The guide posts pass through the guide post mating holes. The two sets of X-shaped hinges are connected to a top bracket by a central connecting pin. A pair of clamping sock plates are fixedly connected to the lower ends of the left and right clamping plates.

[0009] More specifically, the lower ends of the N pairs of sock clamps in the N clamping block units are located on the same straight line.

[0010] More specifically, the M-group folding hinge includes multiple cross-connecting pins, the lower ends of which are connected to the top bracket, and the upper ends of which are connected to a slide block. A slide rail that matches the slide block is mounted on the first bracket, and the slide block is slidably connected to the slide rail.

[0011] More specifically, the slide rail includes a first slide rail mounted on a first bracket, a second slide rail connected to a slider at one end of the first slide rail, and a slide block of a plurality of cross connecting pins slidably connected to the second slide rail.

[0012] More specifically, a third opening and closing cylinder is provided between the two opening and closing cylinders. The third opening and closing cylinder is connected to the first bracket, and the piston rod of the third opening and closing cylinder is connected to the second bracket.

[0013] More specifically, among the multiple cross-connecting pins is an origin connecting pin, which is connected to an origin fixing mechanism.

[0014] More specifically, the origin fixing mechanism includes an origin connecting plate connected to the origin connecting pin, with origin guide pins connected to both ends of the origin connecting plate. The origin guide pins are inserted into the origin guide sleeve, which can move up and down. The origin guide sleeve is fixedly connected to the first bracket.

[0015] More specifically, an origin spring is installed at the upper end of the origin guide pin.

[0016] Beneficial effects:

[0017] Compared with existing technologies, this sock-clamping robot has the following advantages: By grouping and staggering multiple clamping units on two guide pillars, the overall width is not large when fully extended, greatly reducing the size of the device. At the same time, X-shaped hinges (folding hinges) are used extensively in the clamping units and the M-group folding hinges. The distance is adjusted by changing the angle of the X-shaped hinges. The M-group folding hinges are used for equal-interval amplitude adjustment. The opening and closing cylinder drives the clamping units and sock-clamping plates to open and close, facilitating the removal and unloading of socks. The origin connection pin is designed with an origin fixing mechanism to ensure that one end of the M-group folding hinge is always located at the origin, maintaining its stability and reliability during operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the sock-clamping robotic arm of this utility model;

[0019] Figure 2 This is a schematic diagram of the clamping block unit and the M-group folding hinge structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the first and second supports of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the clamping block unit of this utility model. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figures 1-4As shown, this utility model provides a technical solution: an embodiment of a sock-clamping robot, including a first support 1, with two opening and closing cylinders 2 installed at both ends of the first support 1. The telescopic rods of the two opening and closing cylinders 2 are connected to a second support 3. The second support 3 is arranged side by side on one side of the first support 1. The opening and closing cylinders 2 drive the second support 3 to move closer to or away from the first support 1. The first support 1 is provided with a plurality of guide posts 11, and N clamping block units 4 are slidably connected to the plurality of guide posts 11. One end of the N clamping block units 4 is connected to N pairs of sock clamping plates 5 (preferably 6 groups in this embodiment). The other end of the six clamping block units is connected to M groups of folding hinges 6 (M is an integer). The M groups of folding hinges 6 are slidably connected end to end on the first support 1. One end of the M groups of folding hinges 6 is connected to a hinge cylinder 7. The hinge cylinder 7 drives the M groups of folding hinges to unfold or fold. The six clamping block units 4 are driven by the opening and closing cylinders 2 to enable the six pairs of sock clamping plates 5 to open or clamp simultaneously. When the sock clamping robot is working, the hinge cylinder 7 drives the M-group folding hinge to unfold, which in turn drives the 6 clamping block units to open at equal intervals. The opening and closing cylinder 2 drives the second bracket 3 away from the first bracket 1, which in turn causes the drive connecting pin 441 to move away from the first bracket, so that N pairs of sock clamping plates 5 can be clamped at the same time.

[0024] Two sets of guide posts 11 are fixedly connected to the first bracket 1, and the six clamping block units 4 are divided into two groups and slidably connected to the two sets of guide posts 11 respectively. Figure 3 As shown, the first support 1 includes a left side plate 11C and a right side plate 11D. A first set of guide posts 11A and a second set of guide posts 11B are connected between the left side plate 11C and the right side plate 11D. Both the first set of guide posts 11A and the second set of guide posts 11B include two guide posts arranged vertically. Three of the six clamping block units are slidably connected to the first set of guide posts 11A, and the other three clamping block units are slidably connected to the second set of guide posts 11B, arranged in an alternating manner. This design structure reduces the overall length of the first support 1, which is conducive to the overall miniaturization design of the equipment and reduces the space occupied by the equipment.

[0025] The clamping unit 4 includes a pair of parallel and spaced-apart left clamping plate 41 and right clamping plate 42. Two sets of X-shaped hinges 43 are cross-connected between the left and right clamping plate 41 and right clamping plate 42. The two sets of X-shaped hinges 43 are connected by four end connecting pins 44 and a central connecting pin 442. All four end connecting pins 44 are movably mounted in guide grooves on the left and right clamping plates. Two of the four end connecting pins 44 are configured with drive connecting pins 441. The second bracket 3 is provided with... The drive connecting pin 441 is matched with the track groove 31. The drive connecting pin 441 is set in the track groove 31 of the second bracket 3. The left side plate 41 and the right side plate 42 of the clamping block are respectively provided with guide post matching holes 45. The guide post sliding sleeve 46 is installed in the guide post matching hole 45. The guide post 11 passes through the guide post matching hole 45. Two sets of X-shaped hinges 43 are connected to a top bracket 47 by a central connecting pin. A pair of clamping sock plates 5 are fixedly connected to the lower ends of the left side plate 41 and the right side plate 42 of the clamping block. In this design, when the three opening and closing cylinders drive the second bracket 3 away from the first bracket 1, they will drive the drive connecting pin 441 to move synchronously, thereby causing the angle of the X-shaped hinges 43 to change (the width becomes narrower), and finally causing the left side plate 41 and the right side plate 42 of the clamping block to close, thereby shortening the distance between the pair of clamping sock plates 5, making them clamped, which is convenient for unloading from the shaping plate and handling. When it needs to be opened, only three opening and closing cylinders need to be driven in opposite directions to increase the distance between the pair of clamping plates 5, thus opening them for easy unloading. Throughout the process, the clamping block unit 4 slides laterally along the guide post, and the four end connecting pins 44 move within the guide groove, constantly switching the pair of clamping plates 5 between open and closed states.

[0026] The lower ends of the N pairs of sock clamping plates 5 of the N clamping block units 4 are located on the same straight line. Since the socks are arranged in a straight line array on the shaping plate, the lower ends of the sock clamping plates 5 also need to be designed in a matching straight line array when taking out the socks.

[0027] The M-group folding hinge includes multiple cross-connecting pins 48. The lower ends of the multiple cross-connecting pins 48 are connected to the top bracket 47, and the upper ends of the multiple cross-connecting pins 48 are connected to the slide block 49. The first bracket 1 is equipped with a slide rail 12 that matches the slide block 49, and the slide block 49 is slidably connected to the slide rail 12. When the M-group folding hinge is extended, the multiple cross-connecting pins 48 are arranged in an equally spaced extension pattern. When the M-group folding hinge is shortened, the multiple cross-connecting pins 48 are arranged in an equally spaced shortening pattern, always maintaining an equal spacing for amplitude adjustment. In order to prevent instability in movement during amplitude adjustment, the slide block 49 needs to slide in cooperation with the slide rail 12 to guide its lateral movement, so that it always maintains a straight lateral movement. At the same time, the lower ends of the cross-connecting pins 48 are connected to the top bracket 47. When the M-group folding hinge is adjusted at equal intervals, it also drives the clamping block unit 4 to adjust its amplitude, so that it can adapt to the same spacing for taking off and removing socks.

[0028] The slide rail 12 includes a first slide rail mounted on a first bracket, a second slide rail 121 connected to a slider at one end of the first slide rail, and a slide block of one of the plurality of cross-connecting pins 48 slidably connected to the second slide rail 121. Since the plurality of cross-connecting pins 48 also shorten at equal intervals when the M-group folding hinges are shortened, the second slide rail 121 is provided to prevent them from interfering with each other. This avoids collisions and minimizes the time interval between their shortened arrangement.

[0029] A third opening / closing cylinder 21 is disposed between the two opening / closing cylinders 2. The third opening / closing cylinder 21 is connected to the first support 1, and the piston rod of the third opening / closing cylinder 21 is connected to the second support 3. The two opening / closing cylinders apply force at both ends, while the third opening / closing cylinder 21 applies force in the middle of the second support 3. The second support 3 is subjected to more balanced force and will not deform.

[0030] Among the multiple cross-connecting pins 48, there is an origin connecting pin 480, which is connected to an origin fixing mechanism. When the M-group folding hinge is adjusted at equal intervals, one end of its position is driven by the hinge cylinder 7, while the other end needs to be fixed at the origin. Therefore, an origin fixing mechanism needs to be designed to keep the end position stationary.

[0031] The origin fixing mechanism includes an origin connecting plate 481 connected to the origin connecting pin 480. Origin guide pins 482 are connected to both ends of the origin connecting plate 481. The origin guide pins 482 are vertically movably inserted into the origin guide sleeve 483, which is fixedly connected to the first bracket 1. Working principle: Since the origin guide sleeve 483 is fixedly connected to the first bracket, its position on the first bracket remains unchanged. This limits the lateral position of the origin guide pin 482 to remain constant with the first bracket. When the hinge cylinder 7 drives the M-group folding hinges to adjust at equal intervals, the origin end of the M-group folding hinges always remains in a fixed position, facilitating the adjustment operation of the M-group folding hinges.

[0032] An origin spring 484 is installed at the upper end of the origin guide pin. The origin spring 484 keeps the origin connecting plate 481 elastically tightened at the origin position, giving it a certain longitudinal movement margin and avoiding rigid connection to the M-group folding hinge.

[0033] Working principle: In the initial state, the drive mechanism (usually a linear drive module) moves the robot to the positioning plate. The positioning plate is fitted with an array of socks arranged at equal intervals. Then, the hinge cylinder 7 drives the M sets of folding hinges to lengthen, and the cross connecting pins 48 are also lengthened at equal intervals. This drives the six clamping block units 4 to also lengthen at equal intervals to fit the socks to be picked up on the positioning plate array. Then, the three opening and closing cylinders drive the six pairs of sock clamping plates 5 to open. The drive mechanism then drives the sock clamping plates to penetrate into both sides of the sock. Then, the three opening and closing cylinders drive the six pairs of sock clamping plates 5 to clamp the left and right sides of the sock, removing the sock. Then, the drive mechanism moves the robot to a preset position. Then, the hinge cylinder 7 drives the M sets of folding hinges to shorten and place them together. Then, the opening and closing cylinders drive the six pairs of sock clamping plates 5 to open, releasing the sock. Finally, the array of socks arranged at equal intervals is placed together without gaps, which facilitates subsequent operation processes.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sock-clamping robotic arm, characterized in that: The system includes a first support (1), with two opening and closing cylinders (2) installed at both ends. The telescopic rods of the two opening and closing cylinders (2) are connected to a second support (3). The second support (3) is arranged side by side on one side of the first support (1). The opening and closing cylinders (2) drive the second support (3) to move closer to or away from the first support (1). The first support (1) is provided with multiple guide posts (11), and N clamping block units (4) are slidably connected to the multiple guide posts (11). N clamping units (4) are connected to N pairs of sock clamps (5) at one end, and M sets of folding hinges (6) are connected to the other end of the N clamping units. The M sets of folding hinges (6) are slidably connected end to end on the first bracket (1). One end of the M sets of folding hinges (6) is connected to a hinge cylinder (7). The hinge cylinder (7) drives the M sets of folding hinges to unfold or fold. The N clamping units (4) are driven by the opening and closing cylinder (2) to enable the N pairs of sock clamps (5) to open or clamp at the same time.

2. The sock-clamping robotic arm according to claim 1, characterized in that: Two sets of guide posts (11) are fixedly connected to the first bracket (1), and the N clamping block units (4) are divided into two groups and slidably connected to the two sets of guide posts (11).

3. The sock-clamping robotic arm according to claim 2, characterized in that: The clamping unit (4) includes a pair of parallel and spaced-apart left clamping plate (41) and right clamping plate (42). Two sets of X-shaped hinges (43) are provided between the left clamping plate (41) and the right clamping plate (42) and are cross-connected. The two sets of X-shaped hinges (43) are connected by four end connecting pins (44) and one central connecting pin (442). The four end connecting pins (44) are movably disposed in the guide grooves on the left clamping plate and the right clamping plate. Two drive connecting pins (441) are disposed among the four end connecting pins (44). The second bracket (3) is provided with a drive connecting pin. The drive connecting pin (441) is located in the track groove (31) of the second bracket (3). The left side plate (41) and the right side plate (42) of the clamping block are respectively provided with guide post matching holes (45). A guide post sliding sleeve (46) is installed in the guide post matching hole (45). The guide post (11) passes through the guide post matching hole (45). Two sets of X-shaped hinges (43) are connected to a top bracket (47) by a central connecting pin. A pair of sock plates (5) are fixedly connected to the lower ends of the left side plate (41) and the right side plate (42) of the clamping block.

4. The sock-clamping robotic arm according to claim 1, characterized in that: The lower ends of the N pairs of sock plates (5) of the N clamping block units (4) are located on the same straight line.

5. A sock-clamping robotic arm according to claim 1, characterized in that: The M-group folding hinge includes multiple cross-connecting pins (48), the lower ends of which are connected to the top bracket (47), and the upper ends of which are connected to a slide (49). A slide rail (12) matching the slide (49) is installed on the first bracket (1), and the slide (49) is slidably connected to the slide rail (12).

6. A sock-clamping robotic arm according to claim 5, characterized in that: The slide rail (12) includes a first slide rail mounted on a first bracket, a second slide rail (121) connected to a slider at one end of the first slide rail, and a slide block of a plurality of cross connecting pins (48) slidably connected to the second slide rail (121).

7. A sock-clamping robotic arm according to claim 1, characterized in that: A third opening and closing cylinder (21) is provided between the two opening and closing cylinders (2). The third opening and closing cylinder (21) is connected to the first bracket (1), and the piston rod of the third opening and closing cylinder (21) is connected to the second bracket (3).

8. A sock-clamping robotic arm according to claim 5, characterized in that: Among the multiple cross-connecting pins (48) is an origin connecting pin (480), which is connected to an origin fixing mechanism.

9. A sock-clamping robotic arm according to claim 8, characterized in that: The origin fixing mechanism includes an origin connecting plate (481) connected to the origin connecting pin (480). The origin connecting plate (481) is connected to the origin guide pin (482) at both ends. The origin guide pin (482) is inserted into the origin guide sleeve (483) which can move up and down. The origin guide sleeve (483) is fixedly connected to the first bracket (1).

10. A sock-clamping robotic arm according to claim 9, characterized in that: An origin spring (484) is installed at the upper end of the origin guide pin.

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