CN-121974141-A - Clamping mechanism and clothes dispensing equipment

CN121974141ACN 121974141 ACN121974141 ACN 121974141ACN-121974141-A

Abstract

The invention provides a clamping mechanism and clothes dispensing equipment, and relates to the technical field of automatic dispensing equipment. The clamping mechanism comprises a mounting seat, a movable pressing mechanism and an elastic piece, wherein the mounting seat can move at least along the up-down direction. The movable pressing mechanism comprises a rotating assembly which is rotationally connected with the mounting seat around a horizontal axis, a clamping jaw assembly which is arranged at the first end of the rotating assembly, a clamping end of the clamping jaw assembly protrudes downwards relative to the rotating assembly, and an elastic piece is connected with the rotating assembly and the mounting seat. When the mounting seat moves downwards, the clamping jaw assembly is propped against the object to be picked up, the rotating assembly is driven to rotate around the horizontal axis, the first end is lifted upwards, the elastic piece deforms to apply downward acting force to the rotating assembly, and the clamping jaw assembly generates continuous pressing force. According to the invention, the rotating assembly is matched with the elastic piece, the mounting seat is downwards moved to be converted into the continuous pressing force of the clamping jaw assembly, and the clamping action of the clamping jaw is combined to form a compound acting force, so that the problem that flexible clothes are easy to slip during clamping is solved, and the clamping stability is improved.

Inventors

YIN RUIZHI
XIA QIAN
Tang Xionggang

Assignees

深圳市智莱科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (11)

1. A gripping mechanism, comprising: a mount movable at least in the up-down direction; The movable pressing mechanism comprises a rotating assembly which is rotationally connected with the mounting seat around a horizontal axis and a clamping jaw assembly which is arranged at the first end of the rotating assembly, and the clamping end of the clamping jaw assembly is downwards protruded relative to the rotating assembly; The elastic piece is connected between the rotating assembly and the mounting seat; the clamping jaw assembly is pressed downwards to enable the rotating assembly to rotate around the horizontal axis in the process of downwards moving the mounting seat, the first end of the rotating assembly is further enabled to rotate upwards, the elastic piece is deformed to apply downward acting force to the rotating assembly, and therefore the clamping jaw assembly applies pressing force to the object to be picked in the process of clamping the object to be picked.
2. The gripping mechanism of claim 1, wherein the rotating assembly comprises a rotating body and a turntable disposed at one end of the rotating body, the other end of the rotating body corresponding to the first end of the rotating assembly, the turntable rotatably coupled to a side of the mounting base; The elastic piece comprises a spring, the upper end of the spring is connected with the peripheral wall of the turntable, and the lower end of the spring is connected with the side part of the mounting seat.
3. The clamping mechanism according to claim 2, wherein the turntable is provided with an arc-shaped limiting hole extending along the circumferential direction, and a limiting pin is arranged on the side part of the mounting seat and penetrates through the limiting hole to limit the rotation angle of the turntable relative to the mounting seat; in the process of downwards propping against the object to be picked up, the turntable rotates around the horizontal axis, and the limiting pin is transferred from the first contact end to the second contact end in the limiting hole.
4. The gripping mechanism according to claim 3, further comprising a detector and a sensing piece, wherein the detector is disposed at a side portion of the mounting base, and the sensing piece is disposed at an outer peripheral wall of the turntable so as to extend into a detection area of the detector as the turntable rotates to be sensed by the detector; in the process that the limiting pin is transferred from the first contact end to the second contact end in the limiting hole, the sensing piece gradually stretches into a detection area of the detector, so that the clamping end is turned from open to closed when the sensing piece is sensed by the detector.
5. The clamping mechanism according to claim 4, wherein the rotating body comprises a telescopic cylinder and a connecting plate, the connecting plate is fixedly connected between the telescopic cylinder and the turntable and is clamped into a clamping groove extending radially of the turntable; the piston rod of the telescopic cylinder extends to the direction away from the turntable, and the clamping jaw assembly is arranged at the end part of the piston rod.
6. The clamping mechanism according to claim 5, wherein the outer peripheral wall of the turntable has two symmetrically arranged vertical surfaces, and the clamping groove is connected with the two vertical surfaces in a penetrating way; The sensing piece and the spring are fixed on one vertical surface, which is close to one side of the clamping jaw assembly, of the two vertical surfaces.
7. The clamping mechanism of claim 5, wherein the clamping jaw assembly comprises a pneumatic clamping jaw, the pneumatic clamping jaw comprising a connecting portion and a clamping finger disposed at a lower end of the connecting portion, the connecting portion being connected to a piston rod of the telescopic cylinder, the clamping finger forming the clamping end; The clamping fingers are at least two, a plurality of contact pins are arranged at the bottom end of each clamping finger at intervals, and the tips of the contact pins are obliquely arranged inwards.
8. The gripping mechanism of claim 7, wherein the inner side of the gripping finger is provided with a plurality of first anti-slip grooves arranged parallel to each other and a plurality of second anti-slip grooves arranged parallel to each other, wherein: The first anti-slip grooves penetrate through the plurality of second anti-slip grooves, the second anti-slip grooves penetrate through the plurality of first anti-slip grooves, and/or the extending direction of the first anti-slip grooves is perpendicular to the extending direction of the second anti-slip grooves.
9. The gripping mechanism of claim 7, further comprising a detecting member disposed outside of the connecting portion of the pneumatic gripping jaw to detect whether an object to be picked up is below the pneumatic gripping jaw and/or to measure a distance between the pneumatic gripping jaw and the object to be picked up.
10. The clamping mechanism according to any one of claims 1 to 9, wherein a hanger is provided on a side of the mounting base facing away from the rotating assembly, the hanger being used for attaching a drag chain, and a pipeline is provided on an inner side of the drag chain, the pipeline being used for conveying a power source required for movement of the rotating assembly and the jaw assembly.
11. A clothes dispensing apparatus comprising the gripping mechanism according to any one of claims 1 to 10; the goods shelf is used for storing the clothes to be sent out; the driving mechanism is connected with the mounting seat of the clamping mechanism in a driving manner and is used for driving the mounting seat to move at least along the up-down direction so as to clamp the clothes to be released from the goods shelf and convey the clothes to be released to a preset release position.

Description

Clamping mechanism and clothes dispensing equipment Technical Field The invention belongs to the technical field of automatic dispensing equipment, and particularly relates to a clamping mechanism and clothes dispensing equipment. Background In the automatic dispensing scene of flexible articles such as clothes, the automatic processing is challenged due to the characteristics of soft texture, easy deformation, easy adhesion in a stacking state, no rigid supporting structure and the like of the clothes. In the prior art, part of the scheme adopts a clamping jaw opening and closing clamping structure, however, the structure is too simple, and in the clamping process, clothes easily slide relatively between the clamping jaws due to the self flexible characteristic, so that the slipping phenomenon frequently occurs. In addition, the structure that the sucking disc adsorbs is adopted in the scheme, but is difficult to form stable sealed chamber between sucking disc and the clothing, and then leads to adsorbing unstably, and the gas leakage causes the easy problem of landing of clothing equally. Disclosure of Invention In view of the above, the invention provides a clamping mechanism and a clothes dispensing device, which aim to solve the problem that the flexible clothes are easy to slide off when clamped in the prior art. The technical scheme of the invention is realized as follows: The invention provides a clamping mechanism which comprises a mounting seat, a movable pressing mechanism and an elastic piece, wherein the mounting seat at least can move in the up-down direction, the movable pressing mechanism comprises a rotating assembly which is connected with the mounting seat in a rotating mode around a horizontal axis, a clamping jaw assembly which is arranged at the first end of the rotating assembly, the clamping end of the clamping jaw assembly protrudes downwards relative to the rotating assembly, the elastic piece is connected between the rotating assembly and the mounting seat, in the process of downwards moving the mounting seat, the clamping jaw assembly downwards presses an object to be picked to enable the rotating assembly to rotate around the horizontal axis, the first end of the rotating assembly further upwards rotates, and the elastic piece deforms to apply downward acting force on the rotating assembly, so that the clamping jaw assembly applies pressing force on the object to be picked in the process of clamping the object to be picked. In one embodiment, the rotating assembly comprises a rotating body and a turntable arranged at one end of the rotating body, the other end of the rotating body corresponds to the first end of the rotating assembly, the turntable is rotatably connected to the side part of the mounting seat, the elastic piece comprises a spring, the upper end of the spring is connected with the peripheral wall of the turntable, and the lower end of the spring is connected to the side part of the mounting seat. In one embodiment, the turntable is provided with an arc-shaped limiting hole extending along the circumferential direction, a limiting pin is arranged on the side part of the mounting seat and penetrates through the limiting hole to limit the rotation angle of the turntable relative to the mounting seat, wherein the turntable rotates around the horizontal axis in the process that the clamping jaw assembly downwards abuts against an object to be picked, and the limiting pin is transferred from the first contact end to the second contact end in the limiting hole. In one embodiment, the device further comprises a detector and a sensing piece, wherein the detector is arranged on the side part of the mounting seat, the sensing piece is arranged on the peripheral wall of the rotary table and is used for extending into a detection area of the detector along with rotation of the rotary table to be sensed by the detector, and the sensing piece gradually extends into the detection area of the detector in the process that the limiting pin is transferred from the first contact end to the second contact end in the limiting hole, so that the clamping end is turned from open to closed when the sensing piece is sensed by the detector. In one embodiment, the rotating body comprises a telescopic cylinder and a connecting plate, the connecting plate is fixedly connected between the telescopic cylinder and the turntable and is clamped into a clamping groove extending radially of the turntable, a piston rod of the telescopic cylinder extends in a direction away from the turntable, and the clamping jaw assembly is arranged at the end part of the piston rod. In one embodiment, the outer peripheral wall of the turntable is provided with two vertical surfaces which are symmetrically arranged, the clamping groove is in through connection with the two vertical surfaces, and the induction piece and the spring are fixed on one vertical surface, close to one side of the clamping jaw assembly, of the