Ramie sorting manipulator based on flexible pneumatic driving

Abstract

The utility model relates to the technical field of ramie sorting, in particular to a ramie sorting manipulator based on flexible pneumatic driving, which comprises a primary telescopic cylinder and a clamping mechanism, the first-stage telescopic air cylinder is in driving connection with a second-stage telescopic air cylinder, the second-stage telescopic air cylinder is in driving connection with a connecting arm, a sleeve is arranged on the second-stage telescopic air cylinder, and a diffuse reflection sensor is arranged in the sleeve; the clamping mechanism comprises a fixing frame arranged on the connecting arm, two mounting blocks symmetrically distributed on the fixing frame, a rotating arm rotationally connected with the mounting blocks, a chuck arranged on the rotating arm, a three-stage telescopic air cylinder arranged in the connecting arm and a lifting plate in driving connection with the three-stage telescopic air cylinder. The two ends of the connecting rods are rotationally connected with the rotating arm and the lifting plate respectively. The clamping force can be adjusted according to the size of ramie stalks, damage to ramie fibers is reduced, and the practicability of the device is improved.

Description

Technical Field

[0001] This utility model relates to the field of ramie sorting technology, and in particular to a ramie sorting robot based on flexible pneumatic drive. Background Technology

[0002] Ramie fiber is an excellent textile raw material that can be made into various high-end clothing fabrics. During processing, ramie requires sorting to classify the fibers according to indicators such as length, fineness, and strength, meeting the fiber quality requirements of different products. This process also removes impurities such as hemp fibers, outer skin, and weeds, making the ramie fibers purer and thus improving the quality of ramie products.

[0003] Chinese Patent CN212800635U discloses a ramie fiber picking mechanism and its sorting and impurity removal device, including a gripping robot and an elastic clamping mechanism for pressing the fibers. The gripping robot includes a primary telescopic arm, a secondary telescopic arm, and a gripping claw. The secondary telescopic arm is connected to the primary telescopic arm, and the gripping claw is connected to the secondary telescopic arm. The elastic clamping mechanism is fixedly connected to the primary telescopic arm. The elastic clamping mechanism on the robot is connected to the primary telescopic arm. When picking up hard strips or filaments, the elastic clamping mechanism presses down the ramie fibers around the hard strip or filament. The gripping claw grasps the hard strip or filament and lifts it upwards. During the upward lifting process, the elastic clamping mechanism provides elastic pressure to the fibers, ensuring that the hard strip or filament can be lifted smoothly while also pressing down other ramie fibers, preventing other ramie fibers from being carried away. This facilitates the separation of ramie hard strips or filaments from other ramie fibers, improving the fiber separation effect.

[0004] However, the above technical solution has the following shortcomings: the gripping manipulator of the device is a manipulator with gripping function in the prior art. Although it can grip ramie, it cannot adjust the gripping force of the manipulator according to the curvature of the stem, which can easily increase the damage to the ramie fibers and reduce the practicality of the device. Utility Model Content

[0005] The purpose of this invention is to address the problems existing in the background technology by proposing a ramie sorting robot based on flexible pneumatic drive, which can adjust the gripping force according to the size of the ramie stalk, reduce damage to the ramie fiber, and improve the practicality of the device.

[0006] The technical solution of this utility model is based on a flexible pneumatically driven ramie sorting robot, including a primary telescopic cylinder and a gripping mechanism; the primary telescopic cylinder drives and connects to a secondary telescopic cylinder, the secondary telescopic cylinder drives and connects to a connecting arm, a sleeve is provided on the secondary telescopic cylinder, and a diffuse reflection sensor is provided inside the sleeve; the gripping mechanism includes a fixed frame provided on the connecting arm, two mounting blocks symmetrically distributed on the fixed frame, a rotating arm rotatably connected to the mounting blocks, a gripper provided on the rotating arm, a tertiary telescopic cylinder provided inside the connecting arm, a lifting plate driven and connected to the tertiary telescopic cylinder, and two connecting rods whose ends are respectively rotatably connected to the rotating arm and the lifting plate.

[0007] Preferably, the connecting arm and the clamping mechanism are located inside the sleeve.

[0008] Preferably, the rotating arm has a bent portion, and a through hole is provided at the bent portion.

[0009] Preferably, the sleeve is provided with eight pressing mechanisms arranged in a ring array. Each pressing mechanism includes three slide rods slidably connected to the sleeve, a pressure plate disposed on the slide rod, a convex ring coaxially disposed on the slide rod, and springs disposed at both ends on the convex ring and the sleeve respectively; the convex ring is slidably disposed inside the sleeve.

[0010] Preferably, the convex ring is provided with two guide blocks, and the inside of the sleeve is provided with two sliding grooves for the guide blocks to slide vertically.

[0011] Preferably, eight pressure plates are connected in sequence to form a ring, and an elastic pad is provided on the lower surface of the pressure plates.

[0012] Preferably, the primary telescopic cylinder is provided with a mounting plate having four mounting holes.

[0013] Compared with the prior art, the present invention has the following beneficial technical effects:

[0014] This invention utilizes a clamping mechanism to first measure the size and position of the ramie stalk to be clamped. Based on the measured data, it positions the height of the clamping heads and controls the distance between the two clamping heads during clamping. This ensures stable clamping of the ramie stalk while preventing excessive clamping force that could wear down the ramie fibers. It also adapts to different ramie stalk curvatures. Furthermore, a pressing mechanism ensures that any ramie stalks not being clamped remain stable during the clamping process, preventing them from being pulled along with the stalk. This design demonstrates excellent practicality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a structural cross-sectional view of an embodiment of the present utility model;

[0017] Figure 3 This is a schematic diagram of the clamping mechanism of this utility model;

[0018] Figure 4 for Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0019] Reference numerals: 1. Secondary telescopic cylinder; 2. Connecting arm; 3. Fixing frame; 4. Mounting block; 5. Rotating arm; 6. Bending part; 7. Clamp; 8. Tertiary telescopic cylinder; 9. Lifting plate; 10. Connecting rod; 11. Sleeve; 12. Diffuse reflection sensor; 13. Slide rod; 14. Pressure plate; 15. Convex ring; 16. Spring; 17. Guide block; 18. Slide groove; 19. Elastic pad; 20. Primary telescopic cylinder; 21. Mounting plate. Detailed Implementation

[0020] Example 1

[0021] like Figures 1-4 As shown, the ramie sorting robot based on flexible pneumatic drive proposed in this embodiment includes a primary telescopic cylinder 20 and a gripping mechanism; the primary telescopic cylinder 20 is driven and connected to a secondary telescopic cylinder 1, the secondary telescopic cylinder 1 is driven and connected to a connecting arm 2, a sleeve 11 is provided on the secondary telescopic cylinder 1, and a diffuse reflection sensor 12 is provided inside the sleeve 11.

[0022] The clamping mechanism includes a fixed frame 3 mounted on the connecting arm 2, two mounting blocks 4 symmetrically distributed on the fixed frame 3, a rotating arm 5 rotatably connected to the mounting blocks 4, a chuck 7 mounted on the rotating arm 5, a three-stage telescopic cylinder 8 mounted inside the connecting arm 2, a lifting plate 9 drivenly connected to the three-stage telescopic cylinder 8, and two connecting rods 10 whose ends are rotatably connected to the rotating arm 5 and the lifting plate 9 respectively. The connecting arm 2 and the clamping mechanism are located inside the sleeve 11. The rotating arm 5 has a bent portion 6, and a through hole is provided at the bent portion 6. The through hole is used to provide space for the connecting rods 10 to rotate.

[0023] In this embodiment, when ramie stalks are gripped for sorting, the first-stage telescopic cylinder 20 drives the second-stage telescopic cylinder 1 and the sleeve 11 to descend, allowing the diffuse reflection sensor 12 inside the sleeve 11 to measure the size and position of the ramie to be gripped. Then, the second-stage telescopic cylinder 1 drives the connecting arm 2 to descend, causing the gripping mechanism to descend to the gripping position. Then, the third-stage telescopic cylinder 8 is activated to drive the lifting plate 9 to rise. The rise of the lifting plate 9 causes the connecting rod 10 to rotate, which in turn causes the rotating arm 5 to rotate, bringing the grippers 7 closer together. The distance between the grippers 7 can be controlled by the measured size of the ramie stalks, ensuring stable gripping of the ramie stalks while avoiding excessive gripping force that could wear down the ramie fibers. This achieves the function of adapting to different ramie stalk curvatures and has good practicality.

[0024] Example 2

[0025] like Figure 2 and Figure 4 As shown, the ramie sorting robot based on flexible pneumatic drive proposed in this embodiment, compared with the first embodiment, has eight pressing mechanisms arranged in a ring array on the sleeve 11. The pressing mechanism includes three sliding rods 13 slidably connected to the sleeve 11, pressure plates 14 arranged on the sliding rods 13, a convex ring 15 coaxially arranged on the sliding rods 13, and springs 16 with their two ends respectively arranged on the convex ring 15 and the sleeve 11. The convex ring 15 is slidably arranged inside the sleeve 11, and the eight pressure plates 14 are connected in sequence to form a ring. An elastic pad 19 is provided on the lower surface of the pressure plate 14. The elastic pad 19 is used to avoid damage to the ramie fibers caused by the hard pressure plate 14.

[0026] Two guide blocks 17 are provided on the convex ring 15, and two slide grooves 18 are provided inside the sleeve 11 for the guide blocks 17 to slide vertically. The guide blocks 17 and slide grooves 18 can guide and limit the movement of the slide rod 13, prevent the spring 16 from bending and twisting when it extends and retracts, and ensure the service life of the spring 16.

[0027] In this embodiment, when the primary telescopic cylinder 20 drives the secondary telescopic cylinder 1 to descend, the sleeve 11 moves downward until the pressure plate 14 presses firmly against the ramie stalk, at which point the primary telescopic cylinder 20 stops being driven. At this time, the ring formed by the pressure plate 14 presses down on the ramie to be clamped and provides sufficient clamping space. During the downward pressing process, the sliding rod 13 slides into the sleeve 11 and compresses the spring 16, providing downward pressure to the pressure plate 14. When the ramie stalk is gripped, the clamp 7 drives the ramie stalk to move upward, so that the pressing mechanism pressing down on the ramie stalk is subjected to an upward force, reducing the clamping force of the pressure plate 14 on the clamped ramie stalk, thereby sorting the ramie stalk away. At the same time, the force on the ramie that is not clamped remains basically unchanged, avoiding the situation of being clamped along with the ramie.

[0028] Example 3

[0029] like Figure 1 As shown, the ramie sorting robot based on flexible pneumatic drive proposed in this embodiment differs from Embodiment 1 in that a mounting plate 21 with four mounting holes is provided on the primary telescopic cylinder 20. The mounting plate 21 is fixed to the sliding seat on the cross slide rail through the mounting holes to drive the robot. The cross slide rail adopts the structural design described in the patent with publication number CN210281370U. Furthermore, the robot is combined with an image processing system. Through the image processing system, the accurate position of the ramie fiber can be located, and the gripping mechanism can be accurately moved to the position above the ramie through the cross slide rail.

[0030] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A flexible pneumatic driving based ramie sorting manipulator, characterized in that, The utility model relates to a kind of multi-joint manipulator, including: Primary telescopic cylinder (20) is drivenly connected with secondary telescopic cylinder (1), secondary telescopic cylinder (1) is drivenly connected with connecting arm (2), sleeve (11) is provided on secondary telescopic cylinder (1), and diffuse reflection sensor (12) is provided in the inside of sleeve (11); Clamping mechanism, including the fixed frame (3) being provided on connecting arm (2), two installation blocks (4) being symmetrically distributed on fixed frame (3), rotatable arm (5) being rotatably connected with installation block (4), chuck (7) being provided on rotatable arm (5), tertiary telescopic cylinder (8) being provided in the inside of connecting arm (2), lifting plate (9) being drivenly connected with tertiary telescopic cylinder (8), and two connecting rods (10) being rotatably connected with rotatable arm (5) and lifting plate (9) respectively at both ends.

2. The flexible pneumatic driving based ramie sorting manipulator according to claim 1, wherein, Connecting arm (2) and clamping mechanism are arranged in the inside of sleeve (11).

3. The flexible pneumatic driving based ramie sorting manipulator according to claim 1, wherein, Rotatable arm (5) has bending portion (6) on it, and through hole is provided at bending portion (6).

4. The flexible pneumatic driving based ramie sorting manipulator according to claim 1, characterized in that, Sleeve (11) is provided with eight press mechanisms of annular array distribution, press mechanism includes three slide rods (13) slidably connected on sleeve (11), pressing plate (14) being provided on slide rod (13), convex ring (15) being coaxially provided on slide rod (13), and spring (16) being provided at both ends on convex ring (15) and sleeve (11) respectively;Convex ring (15) is slidably arranged in the inside of sleeve (11).

5. The flexible pneumatic driving based ramie sorting manipulator according to claim 4, characterized in that, Two guide blocks (17) are provided on convex ring (15), and two sliding grooves (18) for the vertical sliding of guide block (17) are provided in the inside of sleeve (11).

6. The flexible pneumatic driving based ramie sorting manipulator according to claim 4, characterized in that, Eight pressing plates (14) are sequentially connected and form a ring, and the lower surface of pressing plate (14) is provided with elastic pad (19).

7. The flexible pneumatic driving based ramie sorting manipulator according to claim 1, characterized in that, Primary telescopic cylinder (20) is provided with mounting plate (21) with four mounting holes.

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