A cheese yarn clamping mechanism based on vision

Abstract

The invention discloses a cheese clamping mechanism based on vision, including a mounting plate, a driving assembly; a mounting ring, two driven shaft seats and a driving shaft seat are arranged on the outer side of the mounting ring; an active clamping claw assembly, including a rotating arm, a main rotating shaft is fixed to one end of the rotating arm, and a connecting plate is fixed to the end; the main rotating shaft is installed in the driving shaft seat and passes through the mounting plate; a waist hole is opened at the other end of the connecting plate, and the waist hole is sleeved on the connecting column; a main clamping claw is arranged at the other end of the rotating arm; two driven clamping claws, including a slave rotating shaft and a slave clamping claw; the slave rotating shaft is installed in the driven shaft seat and passes through the mounting plate; a linkage assembly, including a driving wheel and two driven wheels, the driving wheel is installed at the other end of the main rotating shaft, and the driven wheel is installed at the other end of the slave rotating shaft; the driving wheel and the driven wheel are connected by a synchronous belt. The cheese position can be quickly positioned and reliably grasped, and the loading and unloading efficiency of the cheese can be improved with the manipulator, and the production and employment costs of the enterprise can be reduced.

Description

Technical Field

[0001] The invention relates to weaving, in particular to a cheese yarn clamping mechanism based on vision. Background Art

[0002] Cheese is the output of the winding process in the spinning mill of the textile industry. It is the bobbin yarn dropped from the spinning frame or twisting machine in the previous process. According to the requirements of the subsequent process of the yarn such as weaving or knitting factories, it is rewound into a cone yarn on the winding machine through a grooved drum or a rapidly reciprocating yarn guide hook. The currently used cheese yarn clamping mechanism is inconvenient to clamp, complicated to operate, and has low efficiency. Summary of the invention

[0003] In order to solve the defects of the above-mentioned prior art, the present invention provides a vision-based cheese yarn clamping mechanism, which can realize rapid positioning of the cheese yarn position and reliable gripping. In conjunction with a robot arm, the cheese yarn loading and unloading efficiency is improved and the production and labor costs of the enterprise are reduced.

[0004] To achieve the above technical objectives, the present invention adopts the following technical solutions: a visual-based cheese yarn clamping mechanism, including a mounting plate, and also including:

[0005] The driving assembly comprises a driving device, the driving device is drivingly connected to a slider, and a connecting column is fixed to the slider;

[0006] A mounting ring, wherein two driven shaft seats and one driving shaft seat are arranged on the outer side of the mounting ring;

[0007] The active clamp assembly comprises a rotating arm, one end of which is fixed with a main rotating shaft, and the end is fixed with a connecting plate; the main rotating shaft is installed in the active shaft seat and passes through the mounting plate; the other end of the connecting plate is provided with a waist hole, and the waist hole is sleeved on the connecting column; the other end of the rotating arm is provided with a main clamp;

[0008] Two driven clamping jaws, including a driven shaft and a driven clamping jaw; the driven shaft is installed in the driven shaft seat and passes through the mounting plate;

[0009] The linkage assembly comprises a driving wheel and two driven wheels, wherein the driving wheel is mounted on the other end of the main rotating shaft, and the driven wheel is mounted on the other end of the slave rotating shaft; the driving wheel and the driven wheels are connected by a synchronous belt.

[0010] Furthermore, the drive assembly also includes a screw rod, which is installed on a screw rod seat, one end of the screw rod is connected to a second wheel, the end of the drive device is provided with a first wheel, and the first wheel and the second wheel are connected by a belt; the slider is threaded on the screw rod.

[0011] Furthermore, a guide rail is fixed on the mounting plate, and one end of the sliding block is slidably disposed on the guide rail; and an extension direction of the guide rail is parallel to the screw rod.

[0012] Furthermore, a groove is formed at the other end of the rotating arm, a guide rod is fixed in the groove, the outer end of the guide rod is sleeved with the main clamping jaw, a plate is fixed on the main clamping jaw, a spring is fixed on the plate, and the spring is sleeved on the guide rod;

[0013] Furthermore, a sensing column is fixed on the flat plate, a receiving groove is formed on the rotating arm, and a touch detection switch is installed in the receiving groove.

[0014] Furthermore, a mounting flange is provided on the mounting plate.

[0015] Furthermore, a visual sensor is provided at the center of the mounting circle, and the visual sensor is mounted on the mounting plate through a bracket.

[0016] Furthermore, a detection switch is provided on the mounting plate, and the detection switch is provided on one side of the connecting plate.

[0017] Furthermore, a laser sensor is provided on the mounting plate.

[0018] In summary, the present invention has achieved the following technical effects:

[0019] 1. The present invention is provided with a driving assembly, which utilizes the principle of a screw rod to drive the slider to perform linear motion, thereby driving the clamping claw to rotate through the waist hole, and has a compact structure and is easy to operate;

[0020] 2. The present invention is provided with three clamping jaws, wherein the driving assembly is used to drive the active clamping jaw to move, and then the linkage assembly is used to drive two driven clamping jaws to move, so as to clamp the cheese yarn;

[0021] 3. The present invention adopts a three-claw clamping method with high centering accuracy and is suitable for yarn tubes of various diameters and specifications, meeting the needs of flexible production. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an external view of a clamping mechanism provided by an embodiment of the present invention;

[0023] Figure 2 It is a partial exploded view of the internal structure;

[0024] Figure 3 It is a schematic diagram of linkage components;

[0025] Figure 4 is a schematic diagram of the active gripper assembly;

[0026] In the figure, 1. active clamping jaw assembly, 101. rotating arm, 102. main rotating shaft, 103. connecting plate, 104. waist hole, 105. accommodating groove, 106. groove, 107. guide rod, 108. spring, 109. main clamping jaw, 110. plate, 111. induction column, 112. touch detection switch, 2. driven clamping jaw, 201. slave rotating shaft, 202. slave clamping jaw, 3. driving device, 4. first wheel, 5. second wheel, 6. screw seat, 7. screw, 8. slider, 9. connecting column, 10. guide rail, 11. mounting ring, 12. driven shaft seat, 13. active shaft seat, 14. driven wheel, 15. synchronous belt, 16. active wheel, 17. mounting plate, 18. mounting flange, 19. cheese yarn, 20. anti-collision rib, 21. visual sensor, 22. detection switch, 23. laser sensor. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0028] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0029] Example:

[0030] like Figure 1-2 As shown, a vision-based cheese yarn clamping mechanism includes a mounting plate 17, on which a mounting flange 18 is provided, which is connected to a manipulator (not shown) through the mounting flange 18, and the manipulator can clamp the cheese yarn with the clamping mechanism. It also includes,

[0031] Drive components such as Figure 2 As shown, it includes a driving device 3, which is connected to a slider 8, and a connecting column 9 is fixed on the slider 8; specifically, the driving assembly also includes a screw rod 7, which is mounted on a screw rod seat 6, and one end of the screw rod 7 is connected to a second wheel 5, and a first wheel 4 is provided at the end of the driving device 3, and the first wheel 4 and the second wheel 5 are connected by a belt; further, the slider 8 is threaded on the screw rod 7, and in addition, a guide rail 10 is fixed on the mounting plate 17, and one end of the slider 8 is slidably arranged on the guide rail 10, and the extension direction of the guide rail 10 is parallel to the screw rod 7. When the driving device 3 drives the screw rod 7 to rotate through the first wheel 4 and the second wheel 5, the slider 8 moves along the screw rod 7 under the action of the thread, and the slider 8 can move linearly along the guide rail 10, so that the connecting column 9 moves linearly.

[0032] In this embodiment, the driving device 3 adopts a servo motor.

[0033] Mounting ring 11, such as Figure 2As shown, the mounting ring 11 is a ring-shaped structure, and two driven shaft seats 12 and a driving shaft seat 13 are arranged on the outer side of the mounting ring 11 .

[0034] Active gripper assembly 1, such as Figure 2 As shown, it includes a rotating arm 101, one end of which is fixed with a main rotating shaft 102, and the end is fixed with a connecting plate 103; the main rotating shaft 102 is installed in the active shaft seat 13 and passes through the mounting plate 17, so that the main rotating shaft 102 can rotate in the active shaft seat 13; the other end of the connecting plate 103 is provided with a waist hole 104, and the waist hole 104 is sleeved on the connecting column 9. When the connecting column 9 moves linearly, the connecting plate 103 can be moved under the action of the waist hole 104, so that the main rotating shaft 102 rotates around the active shaft seat 13; the other end of the rotating arm 101 is provided with a main clamping jaw 109, which can rotate with the rotation of the main rotating shaft 102.

[0035] Furthermore, if Figure 4 As shown, a groove 106 is formed at the other end of the rotating arm 101, a guide rod 107 is fixed in the groove 106, a main clamping jaw 109 is sleeved on the outer end of the guide rod 107, a plate 110 is fixed on the main clamping jaw 109, a spring 108 is fixed on the plate 110, and the spring 108 is sleeved on the guide rod 107, so that the plate 110 has a certain movement space; a sensing column 111 is fixed on the plate 110, and a receiving groove 105 is formed on the rotating arm 101, and a touch detection switch 112 is installed in the receiving groove 105. When the main clamping jaw 109 contacts the cheese 19 ( Figure 1 When the flat plate 110 moves toward the rotating arm 101 under the action of the robot (not shown) and enters the cheese yarn hole, the main clamping jaw 109 moves along the guide rod 107 under the action of the spring 108, and the sensing column 111 moves with the flat plate 110, so that the sensing column 111 triggers the touch detection switch 112 to control the robot (not shown) to stop moving, thereby clamping the cheese yarn 19.

[0036] Two driven clamping jaws 2, such as Figure 2 As shown, it includes a slave shaft 201 and a slave clamp 202 ; the slave shaft 201 is installed in the driven shaft seat 12 and passes through the mounting plate 17 .

[0037] Linkage components, such as Figure 3 As shown, it includes a driving wheel 16 and two driven wheels 14. The driving wheel 16 is installed at the other end of the main shaft 102, and the driven wheel 14 is installed at the other end of the slave shaft 201. The driving wheel 16 and the driven wheel 14 are connected by a synchronous belt 15. Figure 2When the main shaft 102 rotates, the driving wheel 16 rotates accordingly, and drives the two driven wheels 14 to rotate through the synchronous belt 15, thereby driving the slave shaft 201 to rotate, and also driving the slave clamps 202 to rotate, so that one main clamp 109 and two slave clamps 202 move at the same time, thereby controlling the opening and closing of the three clamps to clamp the cheese yarn 19.

[0038] like Figure 2 As shown, a visual sensor 21 is provided at the center of the mounting circle 11 , and the visual sensor 21 is mounted on the mounting plate 17 through a bracket.

[0039] like Figure 2 As shown, a detection switch 22 is provided on the mounting plate 17 , and the detection switch 22 is provided on one side of the connecting plate 103 .

[0040] like Figure 2 As shown, a laser sensor 23 is provided on the mounting plate 17 .

[0041] Working principle:

[0042] like Figure 1-4 As shown, the present invention is connected to a manipulator (not shown) via an installation flange 18, and adopts a three-jaw centering and clamping principle. Through the action of a driving device 3, a screw rod 7, and a slider 8, a main clamp 109 and two slave clamps 202 are synchronously rotated outward, thereby achieving precise centering and clamping of the yarn tube.

[0043] In the preparation state before clamping, the three clamping jaws are in the middle starting position, and the detection switch 22 sends an origin signal.

[0044] When the robot moves above the cheese, the visual sensor 21 installed in the center accurately identifies the position.

[0045] In the non-clamping state, the main clamping jaw 109 is kept at the lower end due to the spring force of the spring 108. During the grabbing process, the main clamping jaw 109 enters the bobbin tube, and the bobbin is detected by the laser sensor 23 on the clamping mechanism.

[0046] After the clamping jaws are in place, the driving device 3 drives the slider 8 to make linear reciprocating motion through the screw rod 7. One end of the rotating arm 101 is installed on the slider, and rotates around the main rotating shaft 102 as the slider moves. The other end of the main rotating shaft 102 is installed with a synchronous belt 15, a driving wheel 16, and a driven wheel 14, so that the slave clamping jaw 202 rotates synchronously with the main clamping jaw 109, and finally realizes the centering clamping of the yarn tube.

[0047] The clamping mechanism is surrounded by a flexible material to form an anti-collision retaining edge 20.

[0048] The visual sensor 21, the detection switch 22, the laser sensor 23, and the touch detection switch 112 described in this embodiment can use common models on the market to achieve the functions required by the present invention, which belongs to the prior art and will not be described in detail here.

[0049] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A vision-based cheese yarn clamping mechanism, comprising a mounting plate (17), characterized in that: Also includes, A driving assembly comprises a driving device (3), wherein the driving device (3) is drivingly connected to a slider (8), and a connecting column (9) is fixed to the slider (8); A mounting ring (11), wherein two driven shaft seats (12) and a driving shaft seat (13) are arranged on the outer side of the mounting ring (11); An active clamping jaw assembly (1) comprises a rotating arm (101), one end of which is fixed with a main rotating shaft (102), and the end is fixed with a connecting plate (103); the main rotating shaft (102) is installed in the active shaft seat (13) and passes through the mounting plate (17); the other end of the connecting plate (103) is provided with a waist hole (104), and the waist hole (104) is sleeved on the connecting column (9); the other end of the rotating arm (101) is provided with a main clamping jaw (109); Two driven clamping jaws (2) comprising a driven shaft (201) and a driven clamping jaw (202); the driven shaft (201) is installed in the driven shaft seat (12) and passes through the mounting plate (17); A linkage assembly comprises a driving wheel (16) and two driven wheels (14), wherein the driving wheel (16) is mounted on the other end of the main rotating shaft (102), and the driven wheel (14) is mounted on the other end of the slave rotating shaft (201); the driving wheel (16) and the driven wheel (14) are connected via a synchronous belt (15); The driving assembly further comprises a screw rod (7), the screw rod (7) being mounted on a screw rod seat (6), one end of the screw rod (7) being connected to a second wheel (5), the end of the driving device (3) being provided with a first wheel (4), the first wheel (4) being connected to the second wheel (5) via a belt; the slider (8) being threadedly mounted on the screw rod (7); A guide rail (10) is fixed on the mounting plate (17), and one end of the slider (8) is slidably disposed on the guide rail (10); the extension direction of the guide rail (10) is parallel to the screw rod (7); The other end of the rotating arm (101) is provided with a groove (106), a guide rod (107) is fixed in the groove (106), the outer end of the guide rod (107) is sleeved with the main clamping jaw (109), a plate (110) is fixed on the main clamping jaw (109), a spring (108) is fixed on the plate (110), and the spring (108) is sleeved on the guide rod (107).

2. A vision-based cheese yarn clamping mechanism according to claim 1, characterized in that: A sensing column (111) is fixed on the flat plate (110), a receiving groove (105) is formed on the rotating arm (101), and a touch detection switch is installed in the receiving groove (105).

3. A vision-based cheese yarn clamping mechanism according to claim 1, characterized in that: The mounting plate (17) is provided with a mounting flange (18).

4. A vision-based cheese yarn clamping mechanism according to claim 1, characterized in that: A visual sensor (21) is provided at the center of the mounting circle (11), and the visual sensor (21) is mounted on the mounting plate (17) via a bracket.

5. The vision-based cheese yarn clamping mechanism according to claim 1, characterized in that: The mounting plate (17) is provided with a detection switch (22), and the detection switch (22) is arranged on one side of the connecting plate (103).

6. A vision-based cheese yarn clamping mechanism according to claim 1, characterized in that: A laser sensor (23) is provided on the mounting plate (17).

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