Clothes clamping manipulator

Abstract

The utility model discloses a clothes clamping manipulator which comprises a driving part, a grabbing device and a rotating arm connected with the driving part and the grabbing device, and the driving part drives the rotating arm to rotate and drives the grabbing device to move. The base plate is connected with the rotating arm, the pressing plate is pivoted to the front end of the base plate, the pressing plate driving mechanism is used for driving the pressing plate to rotate, the clamping mechanism is located above the pressing plate, a clothes clamping space is formed between the pressing plate and a clamping base body of the clamping mechanism, the pressing plate is driven by the pressing plate driving mechanism to rotate, and the clamping mechanism is located above the pressing plate. And the clothes are clamped between the pressing plate and the clamping seat body. The rotary arm is adopted to drive the grabbing device to operate, the structure is simple, the pressing plate driving mechanism and the clamping mechanism in the grabbing device are matched with each other to grab and clamp clothes, the pressing plate driving mechanism and the clamping mechanism independently work through the respective driving mechanisms, and operation is stable.

Description

TECHNICAL FIELD

[0001] The utility model relates to the automation field, especially to a clothes clamping manipulator. BACKGROUND

[0002] The conventional clothes clamping manipulator usually adopts a linear moving module to drive the clamps to clamp the clothes. The common linear moving module on the market includes a linear motor module and a screw block module. The driving device of this type is large in size and needs a beam larger than the whole stroke to support the clamps when moving. Since clothes are light industrial products, the weight is light. The linear moving module as the driving device of the manipulator is not only heavy and occupies a large space, but also high in cost.

[0003] In view of the deficiencies of the prior art, the applicant previously proposed the following technical solution. See the utility model with Chinese patent number 202220646332.7, which discloses a clothes clamping manipulator. The technical solution adopted is as follows: the manipulator includes a telescopic mechanism and an adsorption mechanism arranged in the movable end of the telescopic mechanism and used for sucking clothes. The telescopic mechanism includes a fixed seat and a movable seat, a telescopic link assembly for connecting the fixed seat and the movable seat, and a telescopic driving device for driving the movable seat to move relative to the fixed seat. The adsorption mechanism is installed on the movable seat. The telescopic link assembly is used to push the movable seat to drive the adsorption mechanism to move. The telescopic property of the telescopic link assembly can not only reduce the size of the space occupied by the mechanism in operation.

[0004] The above prior art solution has the following deficiencies:

[0005] Firstly, the mechanism design is too complex.

[0006] Secondly, the clothes clamping manipulator completes the extraction of clothes through the adsorption mechanism. Although the adsorption mechanism is provided with a needle suction cup, the clamping force is still insufficient to cause the clothes to slip off during the clothes extraction process.

[0007] Therefore, the present inventors have improved the following technical solution. UTILITY MODEL CONTENTS

[0008] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a clothes clamping manipulator.

[0009] In order to solve the above technical problems, the utility model discloses the following technical scheme: a clothes clamping mechanical hand, including drive part, grabbing device and the rotation arm of connecting drive part and grabbing device, drive part drive rotation arm rotates, thereby drive grabbing device moves, grabbing device includes: with the base plate of rotation arm connection, the pressing plate of pivot connection in base plate front end, the pressing plate drive mechanism for driving the rotation of pressing plate, and the clamping mechanism of the pressing plate top, the pressing plate with the clamping seat body between clamping mechanism constitutes clothes clamping space, and the rotation of pressing plate is driven through pressing plate drive mechanism, and clothes is clamped between pressing plate and clamping seat body.

[0010] Further, in the above technical solution, the drive part includes: a fixed seat, and a first drive motor and a first speed reduction mechanism mounted on the fixed seat; the rotating arm includes: an arm body, a first rotating shaft and a second rotating shaft mounted on both ends of the arm body, and a first transmission mechanism connected between the first rotating shaft and the second rotating shaft; the first drive motor drives the first rotating shaft to rotate through the first speed reduction mechanism, and the arm body fixed with the first rotating shaft rotates accordingly; the second rotating shaft extends into the grabbing device and is pivotally connected with the base plate.

[0011] Further, in the above technical solution, the first transmission mechanism is any one of a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism.

[0012] Further, in the above technical solution, the pressing plate drive mechanism mounted on the base plate includes: a pressing plate motor, a gear set, a worm, a turbine, and a pressing plate shaft pivotally connected with the pressing plate; the pressing plate motor drives the worm, which is arranged parallel to the pressing plate motor, to rotate through the gear set after speed reduction; the worm drives the pressing plate shaft to rotate through the turbine, thereby driving the pressing plate connected with the pressing plate shaft to rotate.

[0013] Further, in the above technical solution, the output gear of the gear set is mounted on a linkage shaft; the worm rotates synchronously with the linkage shaft and is slidably sleeved on the linkage shaft; a slidable sleeve and a spring that can rotate relative to each other are also sleeved on the linkage shaft, and the spring acts on the sleeve to generate pressure on the sleeve and the worm.

[0014] Further, in the above technical solution, the linkage shaft is mounted on an upper base plate fixedly connected with the base plate, and a sliding groove parallel to the axial direction of the linkage shaft is formed in the upper base plate; a sliding piece extends from the sleeve and falls into the sliding groove; a position detector corresponding to the sliding piece is arranged on the upper base plate at a position corresponding to the sliding groove.

[0015] Further, in the technical scheme, the clamping mechanism comprises a clamping seat body fixedly connected with the base plate, a clamping motor installed on the clamping seat body, a gear shaft set driven by a driving end of the clamping motor, a needle seat, and a needle installed on the needle seat; the needle seat is provided with a gear rack portion engaged with the gear shaft set; the clamping motor drives the gear shaft set to rotate; the gear shaft set cooperates with the gear rack portion to drive the needle seat to move, so that the needle installed on the needle seat extends out of the clamping seat body.

[0016] Further, in the technical scheme, the clamping seat body comprises a connecting plate fixedly connected with the base plate, and a clamping box body located in front of the connecting plate; the clamping motor is installed on the connecting plate; the gear shaft set and the needle seat are installed in the clamping box body, and a needle hole for the needle to extend out is formed in a lower end surface of the clamping box body.

[0017] Further, in the technical scheme, the clamping box body has an inclined side plate; the needle seat is slidably installed on the side plate through a guide rail; when the needle seat moves, the needle extends out of the clamping box body in an inclined downward direction.

[0018] Further, in the technical scheme, the gear shaft set comprises a main gear shaft connected with the clamping motor, a slave gear shaft engaged with the main gear shaft, and a left gear shaft and a right gear shaft engaged with the main gear shaft and the slave gear shaft respectively; the left gear shaft simultaneously drives a plurality of parallel needle seats distributed on the left side of the clamping box body; the right gear shaft simultaneously drives a plurality of parallel needle seats distributed on the right side of the clamping box body; the needle seats located on the left and right sides of the clamping box body drive the needle to extend out in the left and right directions and to pierce the clothes to be clamped.

[0019] After the technical scheme is adopted, the utility model has the following beneficial effects compared with the prior art:

[0020] 1. In the utility model, the rotating arm drives the grabbing device to run, and the structure is simple.

[0021] 2. The pressing plate driving mechanism and the clamping mechanism in the grabbing device are matched with each other to realize the grabbing and clamping of the clothes; the two mechanisms independently work through respective driving mechanisms and run stably.

[0022] 3. The clamping mechanism in the utility model adopts the retractable needle; during work, the needle can pierce the clothes, so that the clothes are stably clamped and prevented from falling. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a perspective view of the utility model;

[0024] Figure 2 is a perspective view of the utility model from another angle;

[0025] Figure 3 is a perspective exploded view of the utility model;

[0026] Figure 4 is a perspective exploded view of the utility model;

[0027] Figure 5 is a perspective exploded view of the utility model;

[0028] Figure 6 is a perspective view of the utility model after removing the clamping mechanism of the grabbing device;

[0029] Figure 7 is a perspective exploded view of Figure 6 ;

[0030] Figure 8 is a perspective view of the clamping mechanism of the utility model;

[0031] Figure 9 is a perspective exploded view of Figure 8 ;

[0032] Figure 10 is a perspective exploded view of Figure 8 another angle. DETAILED DESCRIPTION

[0033] The utility model is further illustrated below in combination with specific embodiments and drawings.

[0034] As shown in Figure 1 , Figure 2 , the utility model discloses a clothes clamping manipulator, which comprises a driving part 10, a grabbing device 30 and a rotating arm 20 connecting the driving part 10 and the grabbing device 30. The rotating arm 20 is driven to rotate by the driving part 10, so that the grabbing device 30 is moved.

[0035] The driving part 10 comprises a fixed seat 11, a first driving motor 12 and a first speed reduction mechanism 13 installed on the fixed seat 11. The fixed seat 11 serves as a bearing seat of the utility model and can be installed in other automatic equipment through the fixed seat 11. The first driving motor 12 can be a stepping motor to realize accurate control. The first speed reduction mechanism 13 can be a gear set mechanism to reduce the rotating speed and increase the torque of the first driving motor 12. In the utility model, the first speed reduction mechanism 13 can be a worm gear mechanism as a speed reduction mechanism.

[0036] As shown in Figure 3As shown, the rotating arm 20 comprises an arm body 21, a first rotating shaft 22 and a second rotating shaft 23 installed at both ends of the arm body 21, and a first transmission mechanism 24 connected between the first rotating shaft 22 and the second rotating shaft 23. The first rotating shaft 22 serves as an output shaft of the first speed reduction mechanism 13, and is fixedly connected with the arm body 21. When the first driving motor 12 drives the first rotating shaft 22 to rotate through the first speed reduction mechanism 13, the first rotating shaft 22 drives the arm body 21 fixedly connected therewith to rotate, so as to move the whole grabbing device 30 to a designated position.

[0037] The first transmission mechanism 24 can be any one of a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, and a toothed belt transmission mechanism. The toothed belt transmission mechanism is selected in the utility model, and specifically comprises a first pulley 241 fixedly connected with the first rotating shaft 22, a second pulley 242 pivotally connected with the second rotating shaft 23, and a toothed belt 243 connected between the first pulley 241 and the second pulley 242.

[0038] The second rotating shaft 23 extends to the grabbing device 30 at one end and is pivotally connected with the base plate 31. A torsional spring 231 is sleeved on the second rotating shaft 23, and both ends of the torsional spring 231 act between the second pulley 242 and the base plate 31, so that the base plate 31 has a certain elastic activity redundancy through the torsional spring 231.

[0039] When the first rotating shaft 13 rotates, the second pulley 242 synchronously rotates through the toothed belt 243, and the grabbing device 30 moves with the arm body 21. At the same time, the second pulley 242 rotates relative to the base plate 31 through the toothed belt 243, the torsion acting on the torsional spring 231 increases, the base plate 31 is driven to reset under the action of the elastic force of the torsional spring 231, the whole grabbing device 30 forms reset rotation, so that the grabbing device 30 reaches a designated position.

[0040] See Figures 3 to 7 As shown, the grabbing device 30 comprises a base plate 31 connected with the rotating arm 20, a pressing plate 32 pivotally connected to the front end of the base plate 31, a pressing plate driving mechanism 4 for driving the pressing plate 32 to rotate, and a clamping mechanism 5 located above the pressing plate 32, and the pressing plate 32 and the clamping seat body 51 of the clamping mechanism 5 constitute a clothes clamping space, and the pressing plate 32 is driven to rotate by the pressing plate driving mechanism 4, so as to clamp the clothes between the pressing plate 32 and the clamping seat body 51.

[0041] The base plate 31 is fixedly installed with an upper base plate 33 and a lower base plate 34, and the upper and lower base plates 33 and 34 are used for auxiliary positioning assembly of the pressing plate driving mechanism 4. A shell 300 is sleeved on the base plate 31.

[0042] The substrate 31 is used to carry the gripping device 30, and the substrate 31 is pivoted with the second rotating shaft 23. The pressing plate driving mechanism 4 is installed on the substrate 31, and the pressing plate driving mechanism 4 comprises a pressing plate motor 41, a gear set 43, a worm 44, a turbine 45, and a pressing plate shaft 47 pivoted with the pressing plate 32. The turbine 45 and the pressing plate shaft 47 are connected through the second gear mechanism 46.

[0043] The pressing plate motor 41 is connected to the gear set 43 through a gear reduction box. The worm 44 is driven to rotate by the gear set 43, and the worm 44 drives the pressing plate shaft 47 to rotate through the turbine 45 and the second gear mechanism 46, so as to drive the pressing plate 32 connected with the pressing plate shaft 47 to rotate, thereby enabling the pressing plate 32 to rotate and clamping clothes between the pressing plate 32 and the clamping seat body 51.

[0044] The output gear 431 in the gear set 43 is installed on a connecting shaft 432; the worm 44 rotates synchronously with the connecting shaft 432 and is slidably sleeved on the connecting shaft 432; a slide sleeve 433 that can rotate relative to the connecting shaft 432 and a spring 434 that acts on the slide sleeve 433 are further sleeved on the connecting shaft 432, and the spring 434 generates pressure on the slide sleeve 433 and the worm 44.

[0045] The connecting shaft 432 is installed on the upper substrate 33 fixedly connected with the substrate 31, and a sliding groove 331 parallel to the axial direction of the connecting shaft 432 is formed in the upper substrate 33; a sliding piece 4331 extending from the slide sleeve 433 falls into the sliding groove 331. A position detector 6 is arranged on the upper substrate 33 at a position corresponding to the sliding groove 331. During the rotation of the connecting shaft 432, the worm 44 is slidably sleeved on the connecting shaft 432, and the worm 44 generates axial displacement during rotation. The spring 434 pushes the slide sleeve 433 to generate axial displacement with the worm 44, so that the position of the sliding piece 4331 changes, and the position of the sliding piece 4331 is detected by the position detector 6.

[0046] In combination Figures 8 to 10 As shown, the clamping mechanism 5 is located above the pressing plate driving mechanism 4 and the pressing plate 32, and the clamping mechanism 5 comprises a clamping seat body 51 fixedly connected with the substrate 31, a clamping motor 52 installed on the clamping seat body 51, a gear shaft set 53 driven by the driving end of the clamping motor 52, a needle seat 54, and a piercing needle 55 installed on the needle seat 54.

[0047] The needle seat 54 is provided with a rack portion 541 engaged with the gear shaft set 53, the clamping motor 52 drives the gear shaft set 53 to rotate, the needle seat 54 is driven to move by the cooperation of the gear shaft set 53 and the rack portion 541, and the piercing needle 55 installed on the needle seat 54 extends out of the clamping seat body 51.

[0048] The clamping seat body 51 comprises a connecting plate 511 fixedly connected with the base plate 41, a clamping box 512 located in front of the connecting plate 511, the clamping motor 52 is installed on the connecting plate 511, the gear shaft group 53 and the needle seat 54 are installed in the clamping box 512, and the needle hole 510 for the lancet needle 55 to extend out is formed in the lower end surface of the clamping box 512.

[0049] The clamping box 512 is roughly in the shape of a trapezoid with the upper part being wide and the lower part being narrow, and has inclined side plates 5121 located on the left and right sides, the needle seat 54 is slidably installed on the side plates 5121 through guide rails, and the lancet needle 55 inclines downward and extends out of the clamping box 512 when the needle seat 54 moves.

[0050] The gear shaft group 53 comprises a main gear shaft 531 connected with the clamping motor 52, a slave gear shaft 532 engaged with the main gear shaft 531, and a left gear shaft 533 and a right gear shaft 534 engaged with the main gear shaft 531 and the slave gear shaft 532 respectively; the left gear shaft 533 simultaneously drives a plurality of needle seats 54 arranged in parallel and distributed on the left side of the clamping box 512; and the right gear shaft 534 simultaneously drives a plurality of needle seats 54 arranged in parallel and distributed on the right side of the clamping box 512.

[0051] The needle seats 54 on the left and right sides are driven by the left gear shaft 533 and the right gear shaft 534 to slide along the side plates 5121. The needle seats 54 on the left and right sides of the clamping box 512 drive the lancet needles 55 to extend out from the left and right directions and pierce into the clothes clamped.

[0052] During operation, the driving part 10 drives the rotating arm 20 to rotate, thereby driving the grabbing device 30 to move to a specified position. Then, the pressing plate driving mechanism 4 drives the pressing plate 32 to rotate upward, thereby clamping the clothes at the specified position. After the pressing plate 32 rotates by a certain angle, the position detector 6 detects that the sliding sheet 4331 moves to a specified position, and the clamping mechanism 5 starts to work, and the lancet needles 55 on the left and right sides extend out of the needle holes 510 respectively, thereby clamping the clothes clamped by the pressing plate 32. Finally, the whole mechanical hand can be driven to move to a specified position by other mechanisms, and the clamping mechanism 5 and the pressing plate 32 are reset in sequence, thereby putting down the clothes grabbed, and the cycle is continuously repeated.

[0053] Of course, the above only describes specific embodiments of the utility model, and does not limit the utility model implementation range, and equivalent changes or modifications made according to the structure, features and principles described in the utility model patent application scope should be included in the utility model patent application scope.

Claims

1. A laundry gripping robot, comprising: The drive part (10) drives the rotating arm (20) to rotate and drives the grabbing device (30) to move, characterized in that: The grabbing device (30) comprises a base plate (31) connected with the rotating arm (20), a pressing plate (32) pivotally connected to the front end of the base plate (31), a pressing plate driving mechanism (4) for driving the pressing plate (32) to rotate, and a clamping mechanism (5) located above the pressing plate (32), wherein the pressing plate (32) and the clamping seat (51) of the clamping mechanism (5) form a clothes clamping space, and the pressing plate (32) is driven by the pressing plate driving mechanism (4) to rotate, so that the clothes is clamped between the pressing plate (32) and the clamping seat (51).

2. The laundry gripping robot according to claim 1, wherein: The drive part (10) comprises a fixed seat (11), a first driving motor (12) and a first speed reduction mechanism (13) mounted on the fixed seat (11); the rotating arm (20) comprises an arm body (21), a first rotating shaft (22) and a second rotating shaft (23) mounted at both ends of the arm body (21), and a first transmission mechanism (24) connected between the first rotating shaft (22) and the second rotating shaft (23). The first driving motor (12) drives the first rotating shaft (22) and the arm body (21) fixed with the first rotating shaft (22) to rotate through the first speed reduction mechanism (13), and the second rotating shaft (23) extends into the grabbing device (30) and is pivotally connected with the base plate (31).

3. The laundry gripping robot according to claim 2, wherein: The first transmission mechanism (24) is any one of a toothed belt transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism.

4. The laundry gripping robot according to claim 1, wherein: The pressing plate driving mechanism (4) mounted on the base plate (31) comprises a pressing plate motor (41), a gear set (43), a worm (44), a turbine (45), and a pressing plate shaft (47) pivotally connected with the pressing plate (32), wherein the pressing plate motor (41) drives the worm (44) arranged side by side with the pressing plate motor (41) to rotate through the gear set (43) after speed reduction, the worm (44) drives the pressing plate shaft (47) to rotate through the turbine (45), so as to drive the pressing plate (32) connected with the pressing plate shaft (47) to rotate.

5. The laundry gripping robot according to claim 4, wherein: The output gear (431) in the gear set (43) is mounted on a linkage shaft (432); the worm (44) rotates synchronously with the linkage shaft (432) and is slidably sleeved on the linkage shaft (432); a sliding sleeve (433) and a spring (434) that can rotate relative to the linkage shaft (432) are also sleeved on the linkage shaft (432), and the spring (434) acts on the sliding sleeve (433) to generate pressure on the sliding sleeve (433) and the worm (44).

6. The laundry gripping robot according to claim 5, wherein: The linkage shaft (432) is mounted on the upper base plate (33) fixedly connected with the base plate (31), and a sliding groove (331) parallel to the axial direction of the linkage shaft (432) is formed in the upper base plate (33). The sliding sleeve (433) extends a sliding sheet (4331) which falls into the sliding groove (331); A position detector (6) corresponding to the sliding sheet (4331) is arranged on the upper base plate (33) at a position corresponding to the sliding groove (331).

7. The laundry gripping robot according to any one of claims 1-6, wherein: The clamping mechanism (5) comprises a clamping seat body (51) fixedly connected with the base plate (31), a clamping motor (52) mounted on the clamping seat body (51), a gear shaft group (53) driven by the driving end of the clamping motor (52), a needle seat (54), and a piercing needle (55) mounted on the needle seat (54). The needle seat (54) is provided with a rack portion (541) engaged with the gear shaft group (53), the clamping motor (52) drives the gear shaft group (53) to rotate, and the needle seat (54) is driven to move through the cooperation of the gear shaft group (53) and the rack portion (541), so that the piercing needle (55) mounted on the needle seat (54) extends out of the clamping seat body (51).

8. The laundry gripping robot according to claim 7, wherein: The clamping seat body (51) comprises a connecting plate (511) fixedly connected with the base plate (31), and a clamping box body (512) located in front of the connecting plate (511), the clamping motor (52) is mounted on the connecting plate (511), the gear shaft group (53) and the needle seat (54) are mounted in the clamping box body (512), and a needle hole (510) is formed in the lower end surface of the clamping box body (512) for the piercing needle (55) to extend out.

9. The laundry gripping robot according to claim 8, wherein: The clamping box body (512) has an inclined side plate (5121), the needle seat (54) is slidably mounted on the side plate (5121) through a guide rail, and the piercing needle (55) extends downwardly out of the clamping box body (512) when the needle seat (54) moves.

10. The laundry gripping robot according to claim 7, wherein: The gear shaft group (53) comprises a main gear shaft (531) connected with the clamping motor (52), a slave gear shaft (532) engaged with the main gear shaft (531), and a left gear shaft (533) and a right gear shaft (534) engaged with the main gear shaft (531) and the slave gear shaft (532), respectively. The left gear shaft (533) simultaneously drives a plurality of parallel needle seats (54) distributed on the left side of the clamping box body (512); The right gear shaft (534) simultaneously drives a plurality of parallel needle seats (54) distributed on the right side of the clamping box body (512); The needle seats (54) on the left and right sides of the clamping box body (512) drive the piercing needles (55) to extend from left and right directions and pierce the clothes being clamped.

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