Glove demolding manipulator and glove demolding device

Abstract

The utility model relates to a glove demoulding manipulator and a glove demoulding device.The glove demoulding manipulator comprises a bottom plate, a glove wrist clamping and expanding mechanism, a manipulator pushing mechanism, a wrist opening flanging clamping mechanism and a sliding block push-pull mechanism, a hook finger is located on the inner side of the glove wrist clamping and expanding mechanism, and one end of the hook finger is connected with a first rotating shaft; and when swinging to the upper part, the hook fingers are positioned on the inner sides of clamping pieces in the wrist opening flanging clamping mechanism and are opposite to the clamping pieces in direction. The connecting rod, the driving frame and the second rotating shaft are connected, the driving frame is in sliding connection with the glove wrist clamping and expanding mechanism to drive the hook fingers to swing, and a vertical sliding groove is formed in the lower portion of the driving frame; the horizontal rod is connected with the upper end of the connecting rod and is in sliding connection with the vertical sliding groove. The direction of the hook fingers is opposite to the direction of the clamping pieces, and the contact area of the hook fingers acting on the gloves is larger than the action point area of the clamping force between the clamping pieces and the twisting roller, so that the demoulding success rate of the gloves can be ensured, and the breakage rate of the gloves during demoulding can be reduced.

Description

Technical Field

[0001] This utility model relates to a glove production equipment, specifically a glove demolding robot and a glove demolding device. Background Technology

[0002] Chinese patent CN114750347A discloses a rubber glove demolding machine that does not require air blowing. Its structure consists of a synchronous chain on the machine body, several walking frames spanning two sets of synchronous chains, and a demolding robot on each walking frame. The demolding robot moves back and forth on the walking frame.

[0003] The demolding robot includes: a base plate with wheels mounted on it to straddle a traveling guide rail for reciprocating movement on the traveling frame; a glove wrist clamping and expanding mechanism mounted on the base plate for clamping the wrist of the glove on the hand mold using clamping plates, and expanding the glove wrist opening for demolding after the glove wrist opening is rolled onto the clamping plates; a robot pushing mechanism connected to the base plate for controlling the glove wrist clamping and expanding mechanism to perform clamping and expanding actions sequentially while controlling the demolding robot to move along the traveling guide rail; a wrist opening flanging clamping mechanism connected to the glove wrist clamping and expanding mechanism for rolling the glove wrist opening onto the clamping plates and clamping the glove wrist opening after the clamping plates in the glove wrist clamping and expanding mechanism clamp the glove wrist; and a slider pushing and pulling mechanism connected to the base plate for pushing and pulling the wrist opening flanging clamping mechanism to perform a rolling action on the wrist opening edge of the glove on the hand mold.

[0004] This demolding machine uses a purely mechanical method to demold gloves on the production line. There is no air blowing process or air jet mechanism. This eliminates the need for air compression equipment, avoids the corresponding energy consumption, reduces production costs, and avoids the high-decibel noise pollution generated by air blowing. It is beneficial to the environment and the health of production workers, and improves the environmental protection standards of glove production.

[0005] However, in this glove release machine, the wrist cuff of the glove is folded onto the clamping plate holding the glove, and the folded part is clamped between the clamping plate and the rubber wheel. The glove is peeled off by the clamping force between the clamping plate and the rubber wheel. When peeling the glove off the hand mold, in rare cases, the adhesion between the glove and the hand mold is too strong, causing the folded part to detach from the clamping plate and the rubber wheel, resulting in release failure or glove damage. Therefore, there is an urgent need to improve the existing glove release machine to reduce the occurrence of glove release failure or glove damage. Utility Model Content

[0006] The purpose of this invention is to provide a glove demolding robot and a glove demolding device to solve the problem of glove demolding failure or glove damage during demolding in existing glove demolding machines.

[0007] This utility model is implemented as follows: a glove demolding robot includes a base plate, a glove wrist clamping and expanding mechanism, a robot pushing mechanism, a wrist opening flange clamping mechanism, a slider pushing and pulling mechanism, and also includes a hook finger. The hook finger is located inside the glove wrist clamping and expanding mechanism. One end of the hook finger is connected to the glove wrist clamping and expanding mechanism through a first rotating shaft. The hook finger is driven by a swing driving mechanism to swing up and down around the first rotating shaft. When the hook finger swings to the top, it is located inside the clamping piece in the wrist opening flange clamping mechanism and is opposite to the direction of the clamping piece.

[0008] As a further improvement of this utility model, the swing drive mechanism includes:

[0009] A connecting rod, the middle part of which is connected to the base plate via a horizontal second pivot, and a first roller is provided at the lower end of the connecting rod;

[0010] A drive frame is slidably connected to the glove wrist clamping and expanding mechanism. A first rack is provided on the upper part of the drive frame, and a first gear is provided on the first rotating shaft. The first rack meshes with the first gear. A vertical sliding groove is provided on the lower part of the drive frame.

[0011] A horizontal bar is connected to the upper end of the connecting rod, and the horizontal bar extends into the vertical groove and is slidably connected to the vertical groove;

[0012] A first reset spring, connected to the drive frame, is used to give the drive frame a tendency to drive the hook to swing downwards.

[0013] As a further improvement of this utility model, two horizontal shafts are arranged side by side on the inner side of the wrist flange clamping mechanism, and two horizontal elongated holes are opened on the drive frame, with the two horizontal shafts slidably connected to the two horizontal elongated holes.

[0014] As a further improvement of this utility model, the glove wrist clamping and expanding mechanism includes a first swing frame, the lower end of the first swing frame is connected to the base plate through a third rotating shaft, a slide rail is provided at the upper end of the first swing frame, a clamping piece is movably disposed at the upper end of the first swing frame, an elastic element is provided between the clamping piece and the first swing frame, the elastic element is used to drive the clamping piece closer to the hand mold, and a horizontal push rod is provided on the inner side of the lower end of the first swing frame.

[0015] As a further improvement of this utility model, the robotic arm pushing mechanism includes a first sliding frame that is vertically slidably disposed on the base plate, a triangular top block is disposed on the top of the first sliding frame, the triangular top block is used to push the horizontal push rod to make the first swing frame swing around the third rotating axis, and a second roller is disposed at the lower end of the first sliding frame.

[0016] As a further improvement of this utility model, the wrist-edge clamping mechanism includes a second swing frame, the middle part of which is hinged to the first swing frame. A slider is provided on the upper part of the second swing frame, and the slider is slidably connected to the slide rail. A rolling roller is provided on the slider, and a second rack is provided on the inner side of the slide rail. A second gear is provided on the roller shaft of the rolling roller, and the second gear meshes with the second rack. A second return spring is provided between the lower end of the second swing frame and the first swing frame.

[0017] As a further improvement of this utility model, a connecting frame is provided on the first swing frame, and the middle part of the second swing frame is hinged to the connecting frame.

[0018] As a further improvement of this utility model, the slider push-pull mechanism includes a second sliding frame vertically slidably disposed on the base plate, a first sliding sleeve provided at the lower part of the second sliding frame, a guide rod provided inside the first sliding sleeve, a return spring sleeved on the guide rod, the return spring being located between the upper end of the guide rod and the first sliding sleeve, a wheel seat rotatably connected to the lower end of the guide rod, and a third roller shafted on the wheel seat; an inclined guide surface provided at the upper part of the second sliding frame, a second sliding sleeve sleeved at the end of the third rotating shaft, a mounting frame connected to the second sliding sleeve, a guide wheel shafted on the mounting frame, the guide wheel contacting the inclined guide surface, and the end face of the second sliding sleeve contacting the lower end of the second swing frame.

[0019] This utility model also discloses a glove demolding device, including a body, a flexible drive device, and a walking frame. A glove demolding robot is mounted on the walking frame. A first guide rail, a second guide rail, and a third guide rail are mounted on the body. The first guide rail is used to drive the swing drive mechanism. The second guide rail is used to control the up-and-down movement of the robot's pushing mechanism. The third guide rail is used to control the cyclical guiding operation of the glove demolding robot on the walking frame and the up-and-down movement of the slider pushing and pulling mechanism.

[0020] This invention improves upon existing glove demolding robots by adding a hook and a swing drive mechanism to drive the hook's swing. After the glove demolding robot completes the glove flipping action, the swing drive mechanism drives the hook to swing upwards, hooking the glove's wrist opening. The hook expands along with the glove's wrist clamping and expanding mechanism, and the hook and clamping plate open the glove's wrist opening. When the glove demolding robot moves away from the hand mold along the walking frame, the hook holds the glove and peels it off the hand mold. The addition of the hook ensures stable peeling of the glove and improves the pulling force during peeling, preventing damage to the glove and thus ensuring the stable operation of the glove demolding equipment and the high yield rate of production. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the glove demolding robot of this utility model.

[0022] Figure 2 This is a three-dimensional view of the glove demolding robot of this utility model from another angle.

[0023] Figure 3 This is the front view of the glove demolding robot of this utility model.

[0024] Figure 4 This is a side view of the glove demolding robot of this utility model.

[0025] Figure 5 This is a cross-sectional view of the glove demolding robot of this utility model.

[0026] Figure 6 This is a structural diagram of another installation method for the clip of this utility model.

[0027] In the diagram: 1. Base plate; 2. Walking frame; 3. First swing frame; 4. Connecting frame; 5. Slide rail; 6. Clamping plate; 7. Second swing frame; 8. Slider; 9. Rolling roller; 10. First rotating shaft; 11. Connecting rod; 12. Horizontal rod; 13. Drive frame; 14. First rack; 15. First gear; 16. Hook finger; 17. Horizontal shaft; 18. Horizontal elongated hole; 19. Second rack; 20. Second gear; 21. First return spring; 22. Second return spring; 23. First roller; 24. First sliding frame; 25. Triangular top block; 26. Second roller; 27. Horizontal push rod; 28. Second rotating shaft; 29. ​​Second sliding frame; 30. First sliding sleeve; 31. Guide rod; 32. Return spring; 33. Wheel seat; 34. Third roller; 35. Inclined guide surface; 36. Second sliding sleeve; 37. Upper traveling wheel; 38. Lower traveling wheel; 39. Third rotating shaft; 40. Guide wheel; 2-1. Traveling guide rail; 6-1. Guide rod. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Example 1

[0031] join Figures 1 to 5 This embodiment is a glove demolding robot, which is the core part of the glove demolding equipment and is used to realize the demolding action of the glove.

[0032] The glove demolding robot in this embodiment mainly includes a base plate 1, a glove wrist clamping and expanding mechanism, a robot pushing mechanism, a wrist edge flipping and clamping mechanism, and a slider 8 push-pull mechanism.

[0033] The base plate 1 is mounted on the traveling frame 2. The traveling frame 2 includes two horizontally arranged and parallel traveling guide rails 2-1. Two upper traveling wheels 37 and two lower traveling wheels 38 are respectively arranged on the left and right sides of the base plate 1. The upper traveling wheels 37 and the lower traveling wheels 38 are respectively mounted on different rotating shafts. The traveling guide rails 2-1 are located between the upper traveling wheels 37 and the lower traveling wheels 38. The base plate 1 can move back and forth along the traveling guide rails 2-1.

[0034] In this application, in order to ensure the stability of demolding and reduce the damage of gloves during demolding, the glove demolding robot also includes a hook finger 16. The hook finger 16 is specifically a sheet-like kidney-shaped structure. The hook finger 16 is located inside the glove wrist clamping and expanding mechanism. One end of the hook finger 16 is connected to the first swing frame 3 or the connecting frame 4 on the first swing frame 3 of the glove wrist clamping and expanding mechanism through the first rotating shaft 10. The hook finger 16 is driven by the swing drive mechanism to swing up and down around the first rotating shaft 10. The first rotating shaft 10 is set approximately horizontally and perpendicular to the length direction of the walking frame 2. When the hook finger 16 swings to the top, it is located inside the clamping piece 6 in the wrist flange clamping mechanism and is opposite to the direction of the clamping piece 6.

[0035] The swing drive mechanism specifically includes a connecting rod 11, a drive frame 13, and a horizontal rod 12. The connecting rod 11 is generally vertical, and its middle part is connected to the base plate 1 via a horizontal second rotating shaft 28. To simplify the structure, the second rotating shaft 28 can be the rotating shaft of the upper traveling wheel 37 at the rear of the base plate 1. A first roller 23 is provided at the lower end of the connecting rod 11. The rotating shaft of the first roller 23 is approximately vertical, and the first roller 23 contacts the first guide rail on the body of the glove demolding device. When the traveling frame 2 moves, the connecting rod 11 swings around the second rotating shaft 28 by changing the front and rear position of the first guide rail. A drive frame 13 is installed on the first swing frame 3 of the glove wrist clamping and expanding mechanism. The drive frame 13 is horizontally slidably connected to the first swing frame 3. A first rack 14 is provided on the upper part of the drive frame 13. A vertical groove is provided on the lower part of the drive frame 13. A horizontal rod 12 is connected to the upper end of the connecting rod 11. The end of the horizontal rod 12 extends into the vertical groove of the drive frame 13. When the connecting rod 11 swings, the horizontal rod 12 at its upper end moves in both the up and down and forward and backward directions. This causes the horizontal rod 12 to slide in the vertical groove while driving the drive frame 13 and the first rack 14 on the upper part of the drive frame 13 to move forward and backward.

[0036] A first gear 15 is provided on the first rotating shaft 10. The first rotating shaft 10, the first gear 15 and the hook finger 16 rotate synchronously. The first gear 15 meshes with the first rack 14. When the first rack 14 moves back and forth, it drives the hook finger 16 to swing up and down, so that the hook finger 16 swings from the lower rear to the upper rear and the hook finger 16 returns to its original position from the upper rear to the lower rear.

[0037] The first pendulum frame 3 is provided with a connecting frame 4 extending to the second pendulum frame 7. The connecting frame 4 has two horizontal shafts 17, and correspondingly, the drive frame 13 has two horizontal elongated holes 18. The two horizontal shafts 17 are slidably connected to the two horizontal elongated holes 18, respectively, achieving a horizontal sliding connection between the drive frame 13 and the first pendulum frame 3. To reduce friction, bearings are installed on the horizontal shafts 17. A baffle is also installed at the end of the horizontal shaft 17 to prevent the drive frame 13 from detaching from the horizontal shaft 17.

[0038] Since the first pendulum frame 3 swings in the left and right direction, and the drive frame 13 also swings in the left and right direction along with the first pendulum frame 3, the left and right swing of the drive frame 13 will not affect the transmission between the horizontal rod 12 and the drive frame 13 because the drive frame 13 is connected to the horizontal rod 12 through a vertical groove.

[0039] Meanwhile, a first reset spring 21 is provided between the drive frame 13 and the first swing frame 3. When the connecting rod 11 swings and drives the drive frame 13 to move backward, it stretches the first reset spring 21. The first reset spring 21 has a tendency to move the drive frame 13 forward and reset, so that the first roller 23 and the first guide rail maintain stable contact.

[0040] There are two glove wrist clamping and expanding mechanisms, located on the left and right sides above the base plate 1, respectively. The glove wrist clamping and expanding mechanisms specifically include a first swing frame 3, etc. The lower end of the first swing frame 3 is connected to the base plate 1 via a third rotating shaft 39. The third rotating shaft 39 is mounted on the upper surface of the base plate 1 via a bearing seat. The axial direction of the third rotating shaft 39 is consistent with the length direction of the walking frame 2. A horizontal push rod 27 is provided on the inner side of the lower end of the first swing frame 3. The robotic arm pushing mechanism is used to push the horizontal push rod 27, causing the first swing frame 3 to swing left and right around the third rotating shaft 39. A tension spring is provided between the two first swing frames 3, causing the two first swing frames 3 to tend to move closer to each other. A slide rail 5 is provided at the upper end of the first swing frame 3. Generally, two parallel slide rails 5 are provided at the upper end of each first swing frame 3. A slider 8 is slidably mounted on the two slide rails 5. The two ends of the two slide rails 5 are connected by connecting parts, and the two connecting parts at both ends of the slide rails 5 are axially connected to the first swing frame 3. The clamping piece 6 and the connecting part at one end of the slide rail 5 are movably connected. An elastic element is provided between the clamping piece 6 and the slide rail 5. The elastic element is used to drive the clamping piece 6 to approach the hand mold between the two first swing frames 3.

[0041] This utility model provides two ways to achieve a movable connection between the clamp 6 and the connecting part at one end of the slide rail 5, one of which is as follows: Figure 1 , Figure 2 As shown, the clamping piece 6 is hinged to one end of the slide rail 5, and the clamping piece 6 is driven to swing by the elasticity of the elastic element; another type is as follows Figure 6 As shown, a guide rod 6-1 is provided on the inner side of the clamp 6. The guide rod 6-1 passes through the connecting part at one end of the slide rail 5 and is slidably connected to the connecting part at one end of the slide rail 5. The guide rod 6-1 of the clamp 6 is driven to slide by the elasticity of the elastic element.

[0042] The expansion of the glove wrist clamping and expanding mechanism is driven by a robotic arm pushing mechanism. This mechanism includes a first sliding frame 24 vertically slidable on a base plate 1, extending vertically through the base plate 1. A triangular top block 25 is positioned at the top of the first sliding frame 24, with its inclined surface contacting a roller at the end of a horizontal push rod 27. A second roller 26 is positioned at the lower end of the first sliding frame 24. The second roller 26 contacts a second guide rail on the glove demolding device body. Changing the position of the second guide rail in both the front-back and up-down directions drives the first sliding frame 24 to move up and down. When the first sliding frame 24 moves upward, the triangular top block 25 at the top pushes open the two horizontal push rods 27 on both sides, thus expanding the two first swing frames 3.

[0043] Furthermore, a vertical elongated hole is provided on the first sliding frame 24, and bearings are respectively installed on the upper and lower surfaces of the base plate 1. The bearings are connected to the vertical elongated hole, and the bearings guide the up and down movement of the first sliding frame 24, while reducing the friction force when the first sliding frame 24 moves up and down.

[0044] The wrist-edge clamping mechanism includes a second swing frame 7, the middle of which is hinged to the connecting frame 4 on the first swing frame 3. A slider 8 is provided on the upper part of the second swing frame 7, and the connecting shaft on the slider 8 is connected to a vertical elongated hole on the second swing frame 7. At the same time, the slider 8 is slidably connected to the slide rail 5. A rolling roller 9 is provided on the slider 8, and a second rack 19 is provided on the inner side of the slide rail 5. A second gear 20 is provided on the roller shaft of the rolling roller 9, and the second gear 20 meshes with the second rack 19. When the second swing frame 7 swings, it drives the slider 8 at its upper end to move along the slide rail 5. Through gear and rack transmission, the rolling roller 9 rotates and moves to the outside of the clamping piece 6. A second return spring 22 is provided between the lower end of the second swing frame 7 and the first swing frame 3. The second return spring 22 keeps the slider 8 at the upper end of the second swing frame 7 at the end of the slide rail 5.

[0045] The swing of the second swing frame 7 (the movement of the slider 8 along the slide rail 5) is driven by a slider push-pull mechanism. The slider push-pull mechanism includes a second sliding frame 29 vertically slidably mounted on the base plate 1. The second sliding frame 29 vertically penetrates the base plate 1. A first sliding sleeve 30 is provided at the lower part of the second sliding frame 29. A guide rod 31 is provided inside the first sliding sleeve 30. A return spring 32 is sleeved on the guide rod 31. The return spring 32 is located between the upper end of the guide rod 31 and the first sliding sleeve 30. A wheel seat 33 is rotatably connected to the lower end of the guide rod 31. A thrust bearing is provided between the wheel seat 33 and the first sliding sleeve 30. A third roller 34 is axled on the wheel seat 33. The third roller 34 contacts the third guide rail on the body of the glove demolding device. By changing the position of the third guide rail in the front-back direction and the up-down direction, the second sliding frame 29 is driven to move up and down, while the base plate 1 moves along the traveling frame 2. In use, the third roller 34 is located below the third guide rail. The return spring 32 causes the third roller 34 to press upward against the third guide rail. A semi-circular groove is provided on the third roller 34, and the semi-circular groove contacts the surface of the third guide rail.

[0046] Rollers are provided on the upper surface of the base to guide the second sliding frame 29.

[0047] A second sliding sleeve 36 is fitted onto the ends of each of the two third rotating shafts 39. A mounting bracket is connected to both second sliding sleeves 36, and a guide wheel 40 is axled onto the mounting bracket. An inclined guide surface 35 is provided on the upper part of the second sliding frame 29, and the guide wheel 40 contacts the inclined guide surface 35. The end face of the second sliding sleeve 36 contacts the lower end of the second swing frame 7. When the second sliding frame 29 moves downward, the inclined guide surface 35 presses against the second sliding frame 29, causing the second sliding sleeve 36 to move backward. The second sliding sleeve 36 pushes the lower end of the second swing frame 7, causing the second swing frame 7 to swing. To reduce the friction between the second sliding sleeve 36 and the second swing frame 7, a roller is installed at the lower end of the second swing frame 7.

[0048] Example 2

[0049] This embodiment is a glove demolding device, including a body, a flexible drive device, and a walking frame 2. A flexible drive device is installed on each of the front and rear sides of the body. Specifically, the flexible drive device can be a sprocket and chain mechanism with two parallel chains. Several walking frames 2 are evenly arranged along the chain direction, with each end of a walking frame 2 connected to one of the two chains. A glove demolding robot as described in Embodiment 1 is installed on each walking frame 2. A first guide rail, a second guide rail, and a third guide rail are provided on the body. The first guide rail drives the swing drive mechanism, the second guide rail controls the up-and-down movement of the robot's pushing mechanism, and the third guide rail controls the movement of the glove demolding robot on the walking frame 2, the up-and-down movement of the slider pushing and pulling mechanism, and the overall cyclical guidance of the robot. The first and second guide rails are located on the upper part of the body, and the third guide rail is arranged in a ring on the body. The shapes of the first, second, and third guide rails are determined according to requirements.

[0050] The working principle of this utility model is as follows:

[0051] The walking frame 2 is driven by a chain to move along the left and right length of the machine body. The glove demolding robot is controlled by the first guide rail, the second guide rail and the third guide rail on the machine body to move along the walking frame 2 and perform the glove demolding action at the same time. First, the two first swing frames 3 expand to allow the hand mold to enter between the two first swing frames 3 from above. Then, the two first swing frames 3 move closer to each other, so that the two clamping pieces 6 are placed against the wrist opening of the glove. Then, the second swing frame 7 swings to drive the rolling roller 9 to approach the clamping piece 6. Through the rolling of the rolling roller 9, the wrist opening of the glove is flipped backward and overlapped on the clamping piece 6. The clamping piece 6 and the rolling roller 9 clamp the flipped-up wrist opening of the glove. The two first swing frames 3 expand again. When a gap is formed between the clamping piece 6 and the hand mold, the hook finger 16 swings upward and inserts into the gap between the glove and the hand mold. The two first swing frames 3 continue to expand, and the two hook fingers 16 stably open the wrist opening of the glove. At this time, the glove demolding robot moves forward along the walking frame 2 and peels the glove forward from the hand mold. The hand mold moves upward and leaves between the two first swing frames 3.

[0052] Since the direction of the hook finger 16 is opposite to the direction of the clamping plate 6, and the contact area of ​​the hook finger 16 acting on the glove is greater than the area of ​​the clamping force between the clamping plate 6 and the rolling roller 9, the success rate of glove demolding can be guaranteed and the damage rate of the glove during demolding can be reduced.

[0053] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A glove demolding robot, comprising a base plate, a glove wrist clamping mechanism, a robot pushing mechanism, a wrist opening flanging clamping mechanism, a slider pushing and pulling mechanism, characterized in that, It also includes a hook finger, which is located inside the glove wrist clamping and expanding mechanism. One end of the hook finger is connected to the glove wrist clamping and expanding mechanism through a first rotating shaft. The hook finger is driven by a swing driving mechanism to swing up and down around the first rotating shaft. When the hook finger swings to the top, it is located inside the clamping piece in the wrist opening flange clamping mechanism and is opposite to the direction of the clamping piece.

2. The glove demolding robot of claim 1, wherein, The swing drive mechanism includes: A connecting rod, the middle part of which is connected to the base plate via a horizontal second pivot, and a first roller is provided at the lower end of the connecting rod; A drive frame is slidably connected to the glove wrist clamping and expanding mechanism. A first rack is provided on the upper part of the drive frame, and a first gear is provided on the first rotating shaft. The first rack meshes with the first gear. A vertical sliding groove is provided on the lower part of the drive frame. A horizontal bar is connected to the upper end of the connecting rod, and the horizontal bar extends into the vertical groove and is slidably connected to the vertical groove; A first reset spring, connected to the drive frame, is used to give the drive frame a tendency to drive the hook to swing downwards.

3. The glove demolding robot of claim 2, wherein, Two horizontal shafts are arranged side by side on the inner side of the wrist flange clamping mechanism, and two horizontal elongated holes are opened on the drive frame. The two horizontal shafts are slidably connected to the two horizontal elongated holes.

4. The glove demolding robot of claim 1, wherein, The glove wrist clamping and expanding mechanism includes a first swing frame, the lower end of which is connected to the base plate via a third rotating shaft. A slide rail is provided at the upper end of the first swing frame. A clamping piece is movably disposed at the upper end of the first swing frame. An elastic element is provided between the clamping piece and the first swing frame. The elastic element is used to drive the clamping piece closer to the hand mold. A horizontal push rod is provided on the inner side of the lower end of the first swing frame.

5. The glove demolding robot of claim 4, wherein, The robotic arm pushing mechanism includes a first sliding frame that is vertically slidably mounted on the base plate. A triangular jack is provided at the top of the first sliding frame. The triangular jack is used to push the horizontal push rod to make the first swing frame swing around the third pivot. A second roller is provided at the lower end of the first sliding frame.

6. The glove demolding robot of claim 4, wherein, The wrist-edge clamping mechanism includes a second swing frame, the middle of which is hinged to the first swing frame. A slider is provided on the upper part of the second swing frame, and the slider is slidably connected to the slide rail. A rolling roller is provided on the slider. A second rack is provided on the inner side of the slide rail. A second gear is provided on the roller shaft of the rolling roller, and the second gear meshes with the second rack. A second return spring is provided between the lower end of the second swing frame and the first swing frame.

7. The glove demolding robot of claim 6, wherein, A connecting frame is provided on the first pendulum frame, and the middle part of the second pendulum frame is hinged to the connecting frame.

8. The glove demolding robot of claim 7, wherein, The slider push-pull mechanism includes a second sliding frame vertically slidably mounted on the base plate, a first sliding sleeve at the lower part of the second sliding frame, a guide rod inside the first sliding sleeve, a return spring sleeved on the guide rod, the return spring being located between the upper end of the guide rod and the first sliding sleeve, a wheel seat rotatably connected to the lower end of the guide rod, and a third roller shafted onto the wheel seat; an inclined guide surface is provided at the upper part of the second sliding frame, a second sliding sleeve sleeved at the end of the third rotating shaft, a mounting frame connected to the second sliding sleeve, a guide wheel shafted onto the mounting frame, the guide wheel contacting the inclined guide surface, and the end face of the second sliding sleeve contacting the lower end of the second swing frame.

9. A glove demolding apparatus comprising a machine body, a flexible drive, a walking frame, characterized in that, The glove demolding robot as described in claim 1 is provided on the walking frame. A first guide rail, a second guide rail, and a third guide rail are provided on the machine body. The first guide rail is used to drive the swing drive mechanism. The second guide rail is used to control the up and down movement of the robot's pushing mechanism. The third guide rail is used to control the cyclic guiding operation of the glove demolding robot on the walking frame and the up and down movement of the slider pushing and pulling mechanism.

Images