CN217943341U

CN217943341U - Clothes extracting manipulator

Info

Publication number: CN217943341U
Application number: CN202220646332.7U
Authority: CN
Inventors: 王其健
Original assignee: Dongguan Jinquan Automation Equipment Co ltd
Current assignee: Dongguan Jinquan Automation Equipment Co ltd
Priority date: 2022-03-22
Filing date: 2022-03-22
Publication date: 2022-12-02
Anticipated expiration: 2032-03-22

Abstract

The utility model discloses a clothing draws manipulator, it includes: telescopic machanism and set up in telescopic machanism expansion end is used for absorbing the adsorption equipment of clothing, telescopic machanism including fixing base and sliding seat, be used for connecting the fixing base with the flexible link assembly of sliding seat and being used for the drive the sliding seat is relative the flexible drive arrangement that the fixing base removed, adsorption equipment install in on the sliding seat. Adopt flexible link assembly to promote the sliding seat and drive adsorption apparatus and construct and remove, utilize flexible link assembly's elasticity not only can reduce the shared space size of mechanism operation, adopt flexible link assembly with low costs moreover to can be through adopting the light material preparation in order to alleviate mechanism's weight, secondly, flexible link assembly simple structure does benefit to the installation and maintains.

Description

Clothes extracting manipulator

The technical field is as follows:

the utility model relates to an automatic field refers in particular to a clothing draws manipulator.

The background art comprises the following steps:

the manipulator that the tradition is used for drawing the clothes adopts the linear motion module to drive the clamp to accomplish the clamp of clothes usually and gets, and common linear motion module includes linear electric motor module, lead screw slider module etc. on the market, and this type's drive arrangement is bulky, needs to have the crossbeam that is greater than whole stroke when driving the clamp and remove to do the support. And because the clothes belong to light industrial products, light in weight, not only heavy occupation space is big as the drive arrangement of manipulator to adoption straight line mobile module, and is with high costs moreover.

In view of the above, the present inventors propose the following.

The utility model has the following contents:

an object of the utility model is to overcome prior art not enough, provide a clothing and draw manipulator.

In order to solve the technical problem, the utility model discloses a following technical scheme: a laundry extraction robot, comprising: telescopic machanism and set up in telescopic machanism expansion end is used for absorbing the adsorption equipment of clothing, telescopic machanism including fixing base and sliding seat, be used for connecting the fixing base with the flexible link assembly of sliding seat and being used for the drive the sliding seat is relative the flexible drive arrangement that the fixing base removed, adsorption equipment install in on the sliding seat.

Further, in the above technical solution, the telescopic link assembly includes a first swing arm, a second swing arm, a third swing arm and a fourth swing arm, wherein one end of the first swing arm and one end of the second swing arm are hinged to each other, and the other ends of the first swing arm and the second swing arm are hinged to the fixed seat and the movable seat respectively; one ends of the third swing arm and the fourth swing arm are hinged to each other, and the other ends of the third swing arm and the fourth swing arm are hinged to the fixed seat and the movable seat respectively.

Furthermore, in the above technical solution, the other ends of the first swing arm and the second swing arm are respectively provided with a first gear part and a second gear part, the other end of the third swing arm is provided with a third gear part meshed with the first gear part, and the other end of the fourth swing arm is provided with a fourth gear part meshed with the second gear part; the telescopic driving device is a motor, and an output shaft of the telescopic driving device is connected with the first gear part and/or the second gear part.

Furthermore, in the above technical scheme, the fixing base is further provided with a first stroke sensor and a second stroke sensor which are distributed at a certain angle, and the output shaft is provided with an inductive switch which can swing between the first stroke sensor and the second stroke sensor.

Furthermore, in the above technical solution, a buffer for preventing collision is further disposed between the fixed seat and the movable seat, and the adsorption mechanism is a needle-type suction cup.

Furthermore, in the above technical solution, the movable seat is further provided with a clamping mechanism, and the clamping mechanism includes a clamping device which is hinged to the fixed seat and can be matched with the adsorption mechanism to clamp the clothes, and a clamping driving device for driving the clamping device to fold toward the adsorption mechanism.

Further, in the above technical solution, one side of the adsorption mechanism is provided with an upper clamping block which is matched with the clamping device to clamp the clothes.

Furthermore, in the above technical solution, the clamping device includes a swing plate hinged to the fixing base, and a lower clamping block mounted on the swing plate and matched with the adsorption mechanism and the upper clamping block to clamp the clothes.

Further, in the above technical solution, the clamping driving device includes a motor and a pulley set for connecting the motor and the swing plate.

Further, in the above technical solution, the swing plate is provided with at least two floating rods movably connected to the lower clamp block and a floating spring sleeved on the floating rods and located between the lower clamp block and the swing plate, the floating rods penetrate through the swing plate, the lower clamp block is mounted at one end of the floating rods, and the other end of the floating rods is provided with a stop portion located at the back of the swing plate to prevent the lower clamp block from being disengaged.

After the technical scheme is adopted, compared with the prior art, the utility model has following beneficial effect:

1. the utility model discloses in adopt flexible link assembly to promote the sliding seat and drive adsorption apparatus and construct and remove, utilize flexible link assembly's elasticity not only can reduce the shared space size of mechanism's operation, adopt flexible link assembly with low costs moreover to can be through adopting the light material preparation in order to alleviate mechanism's weight, secondly, the link assembly simple structure that contracts does benefit to the installation and maintains.

2. The utility model discloses in support down the clamp splice through set up the floating lever on the wobble plate to floating spring is established to the cover on the floating lever, makes down the clamp splice can be to the clothing floating adjustment clamping space size of different thickness, thereby is suitable for the clothing clamp to different thickness and gets.

Description of the drawings:

fig. 1 is a first perspective view of the present invention;

fig. 2 is an exploded view of the present invention;

fig. 3 is a second perspective view of the present invention.

The specific implementation mode is as follows:

the present invention will be further described with reference to the following specific embodiments and accompanying drawings.

Referring to fig. 1 to 3, there is provided a robot for extracting laundry, including: telescopic machanism 1 and set up in telescopic machanism 1 well expansion end is used for absorbing the adsorption apparatus 2 of clothing, telescopic machanism 1 is including fixing base 11 and sliding seat 12, be used for connecting fixing base 11 with the flexible link assembly 3 of sliding seat 12 and be used for the drive sliding seat 12 is relative the flexible drive arrangement 13 of fixing base 11 removal, adsorption apparatus 2 install in on the sliding seat 12. Adopt telescopic link assembly 3 to promote sliding seat 12 and drive adsorption apparatus structure 2 and remove, utilize telescopic link assembly 3's elasticity not only can reduce the shared space size of mechanism's operation, adopt telescopic link assembly 3 with low costs moreover to can be through adopting the light material preparation in order to alleviate mechanism's weight, secondly, telescopic link assembly 3 simple structure does benefit to the installation and maintains.

The telescopic connecting rod assembly 3 comprises a first swing arm 31, a second swing arm 32, a third swing arm 33 and a fourth swing arm 34, wherein one end of the first swing arm 31 is hinged with one end of the second swing arm 32, and the other end of the first swing arm 31 is hinged with the other end of the second swing arm 32 on the fixed seat 11 and the movable seat 12 respectively; one end of the third swing arm 33 is hinged to one end of the fourth swing arm 34, and the other end of the third swing arm 33 is hinged to the fixed seat 11 and the movable seat 12, respectively. Through with first swing arm 31, second swing arm 32 and third swing arm 33, fourth swing arm 34 symmetry erection joint fixing base 11 and sliding seat 12, and then form two arm of forces and support sliding seat 12, do the motion that opens and shuts by two arm of forces simultaneously and promote sliding seat 12 to remove, can make the motion more stable, difficult production is rocked.

The other ends of the first swing arm 31 and the second swing arm 32 are respectively provided with a first gear part 311 and a second gear part 321, the other end of the third swing arm 33 is provided with a third gear part 331 engaged with the first gear part 311, and the other end of the fourth swing arm 34 is provided with a fourth gear part 341 engaged with the second gear part 321; the telescopic driving means 13 is a motor, and the output shaft 131 of the telescopic driving means 13 is connected to the first gear part 311 and/or the second gear part 321. The first gear part 311 and the third gear part 331 which are meshed with each other are respectively arranged at the other ends of the first swing arm 31 and the third swing arm 32, so that the first swing arm 31 and the third swing arm 33 can be driven to synchronously move through one motor and symmetrically open and close to swing, the number of driving devices is saved, and the structure is simpler; next, a second gear portion 321 and a fourth gear portion 341 engaged with each other are respectively disposed at the other ends of the second swing arm 32 and the fourth swing arm 34 to ensure the consistency and synchronization of the relative movement between the first swing arm 31 and the second swing arm 32 and the third swing arm 33 and the fourth swing arm 34.

The fixed seat 11 is further provided with a first stroke sensor 14 and a second stroke sensor 15 which are distributed at a certain angle, and the output shaft 131 is provided with an inductive switch 16 which can swing between the first stroke sensor 14 and the second stroke sensor 15. The inductive switch 16 is in inductive contact with the first stroke sensor 14 and/or the second stroke sensor 15, so that the telescopic driving device 13 is controlled to stop working, and the telescopic driving device 13 is prevented from pushing the telescopic connecting rod assembly 3 to collide with the fixed seat 11 and the movable seat 12.

A buffer 17 for preventing collision is further arranged between the fixed seat 11 and the movable seat 12, and the adsorption mechanism 2 is a needle type sucker.

The movable seat 12 is further provided with a clamping mechanism 4, and the clamping mechanism 4 includes a clamping device 41 which is hinged to the fixed seat 11 and can be matched with the adsorption mechanism 2 to clamp the clothes, and a clamping driving device 42 for driving the clamping device 41 to close the adsorption mechanism 2. An upper clamping block 43 matched with the clamping device 41 for clamping the clothes is arranged on one side of the adsorption mechanism 2.

The clamping device 41 includes a swing plate 411 hinged to the fixed seat 11, and a lower clamping block 412 mounted on the swing plate 411 and cooperating with the adsorption mechanism 2 and the upper clamping block 43 to clamp the clothes. The clamping driving device 42 includes a motor 421 and a pulley set 422 for connecting the motor 421 and the swing plate 411.

The swing plate 411 is provided with at least two floating rods 413 movably connected with the lower clamping block 412 and a floating spring 414 sleeved on the floating rods 413 and positioned between the lower clamping block 412 and the swing plate 411, the floating rods 413 penetrate through the swing plate 411, the lower clamping block 412 is installed at one end of the floating rods 413, and the other end of the floating rods 413 is provided with a stop portion 415 positioned at the back of the swing plate 411 to prevent the lower clamping block 412 from being separated. The floating rod 413 is arranged on the swing plate 411 to support the lower clamping block 412, and the floating spring 414 is sleeved on the floating rod 413, so that the clamping space of the lower clamping block 412 can be adjusted in a floating mode according to clothes with different thicknesses, and the clamping device is suitable for clamping clothes with different thicknesses.

To sum up, the utility model discloses the during operation promotes adsorption apparatus structure 2 and clamping mechanism 4 by telescopic machanism 1 and moves forward to setting for the position, particularly: the telescopic driving device 13 drives the first gear part 311 on the first swing arm 31 to rotate, and the first gear part 311 drives the third gear part 331 on the third swing arm 33, so that the first swing arm 31 and the third swing arm 33 approach each other to push the movable seat 12 away from the fixed seat 11, and the first swing arm 31 and the third swing arm 33 respectively drive the second swing arm 32 and the fourth swing arm 34 to push the movable seat 12 away from the fixed seat 1, thereby completing the extension of the adsorption mechanism 2 and the clamping mechanism 4; further, the adsorption mechanism 2 moves downwards to contact with the clothes, and the clothes are adsorbed after the adsorption mechanism 2 is subjected to certain pressure; further, after the adsorption mechanism 2 grabs the clothes, the clothes move upwards to a set height, and the clamping driving device 42 in the clamping mechanism 4 pushes the clamping device 41 to close the adsorption mechanism 2 and the upper clamping block 43 to clamp the clothes, so that the clothes are prevented from falling; further, the telescopic mechanism 1 pushes the adsorption mechanism 2 and the clamping mechanism 4 to retreat to the original positions, the clothes are taken out, and then the mechanical arm is moved to a discharge hole by the carrying mechanism.

Of course, the above description is only an exemplary embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes and modifications made by the constructions, features, and principles of the present invention in accordance with the claims of the present invention are intended to be included in the scope of the present invention.

Claims

1. A robot for extracting laundry, comprising: telescopic machanism (1) and set up in the expansion end is arranged in absorbing adsorption apparatus structure (2) of clothing in telescopic machanism (1), telescopic machanism (1) is including fixing base (11) and sliding seat (12), be used for connecting fixing base (11) with flexible link assembly (3) of sliding seat (12) and be used for the drive sliding seat (12) are relative flexible drive arrangement (13) that fixing base (11) removed, adsorption apparatus structure (2) install in on sliding seat (12).

2. A robot for extracting laundry according to claim 1, characterized in that: the telescopic connecting rod assembly (3) comprises a first swing arm (31), a second swing arm (32), a third swing arm (33) and a fourth swing arm (34), wherein one end of the first swing arm (31) is hinged to one end of the second swing arm (32), and the other end of the first swing arm (31) is hinged to the fixed seat (11) and the other end of the second swing arm (32) are hinged to the movable seat (12) respectively; one ends of the third swing arm (33) and the fourth swing arm (34) are hinged to each other, and the other ends of the third swing arm (33) and the fourth swing arm (34) are hinged to the fixed seat (11) and the movable seat (12) respectively.

3. A robot for extracting laundry according to claim 2, characterized in that: the other ends of the first swing arm (31) and the second swing arm (32) are respectively provided with a first gear part (311) and a second gear part (321), the other end of the third swing arm (33) is provided with a third gear part (331) meshed with the first gear part (311), and the other end of the fourth swing arm (34) is provided with a fourth gear part (341) meshed with the second gear part (321); the telescopic driving device (13) is a motor, and an output shaft (131) of the telescopic driving device (13) is connected with the first gear part (311) and/or the second gear part (321).

4. A laundry extraction robot as claimed in claim 3, characterized in that: still be provided with first stroke sensor (14) and second stroke sensor (15) that are certain angle distribution on fixing base (11), install on output shaft (131) can in first stroke sensor (14) with wobbling inductive switch (16) between second stroke sensor (15).

5. A laundry extraction robot as claimed in claim 1, characterized in that: a buffer (17) for preventing collision is further arranged between the fixed seat (11) and the movable seat (12), and the adsorption mechanism (2) is a needle type sucker.

6. The robot for extracting laundry according to any one of claims 1 to 5, wherein: the movable seat (12) is further provided with a clamping mechanism (4), and the clamping mechanism (4) comprises a clamping device (41) which is hinged to the fixed seat (11) and can be matched with the adsorption mechanism (2) to clamp the clothes, and a clamping driving device (42) which is used for driving the clamping device (41) to fold towards the adsorption mechanism (2).

7. The laundry extraction robot of claim 6, wherein: an upper clamping block (43) matched with the clamping device (41) to clamp the clothes is arranged on one side of the adsorption mechanism (2).

8. The robot for extracting clothes according to claim 7, characterized in that: the clamping device (41) comprises a swinging plate (411) which is hinged to the fixed seat (11) and a lower clamping block (412) which is arranged on the swinging plate (411) and matched with the adsorption mechanism (2) and the upper clamping block (43) to clamp the clothes.

9. The clothes extraction robot of claim 8, wherein: the clamping driving device (42) comprises a motor (421) and a belt pulley set (422) for connecting the motor (421) and the swinging plate (411).

10. A laundry extraction robot as claimed in claim 8, characterized in that: the swing plate (411) is at least provided with two floating rods (413) movably connected with the lower clamping blocks (412) and floating springs (414) sleeved on the floating rods (413) and positioned between the lower clamping blocks (412) and the swing plate (411), the floating rods (413) penetrate through the swing plate (411), the lower clamping blocks (412) are installed at one end of the floating rods (413), and the other end of the floating rods (413) is provided with a stop part (415) positioned at the back of the swing plate (411) to prevent the lower clamping blocks (412) from being separated.