A dual-arm composite robot for loading and unloading of double twisting machines

Abstract

The present invention is a dual-arm composite robot for loading and unloading materials of a two-for-one twister, comprising an automatic positioning trolley for positioning the loading and unloading stations of the two-for-one twister; the automatic positioning trolley is provided with two mechanical arms, and the two mechanical arms are respectively provided with an upper clamping device and a lower clamping device, and the upper clamping device and the lower clamping device are both provided with image recognition devices, and the upper clamping device and the lower clamping device respectively identify and grab or place the materials at the upper and lower parts of the two-for-one twister according to the specified timing through the image recognition device; the automatic positioning trolley is also provided with an upper material taking device and a lower material taking device, and the upper material taking device and the lower material taking device are respectively used to remove the fixation of the two-for-one twister to the upper and lower materials, so as to facilitate the grabbing of the upper and lower clamping devices. The upper and lower clamping jaws cooperate with each other, and the accurate grabbing of the materials at the loading and unloading stations is realized through image recognition, and the grabbing stroke of the upper and lower clamping jaws is relatively fixed, easy to realize, and improves the grabbing efficiency.

Description

Technical Field

[0001] The invention relates to a double-arm composite robot used for loading and unloading materials on a two-for-one twisting machine, belonging to the technical field of textile automation equipment. Background Art

[0002] Textile automation refers to the application of automation technology in the textile industry. The textile industry has many processes, many machines, and high labor intensity. The realization of manual operation and product inspection automation, automatic detection, adjustment and optimal control of various process parameters, and the establishment of production management automation systems are the hallmarks of modern textile production. Textile automation plays an important role in ensuring product quality, improving labor productivity, reducing labor intensity, avoiding environmental pollution, and increasing product colors. After the 1980s, computer group control and computer networks combined with automated management were established one after another. The development of textile automation has promoted the rapid development of the textile industry. Modern textile automation is mainly manifested in single machine automation, production process automation, auxiliary design automation, and management automation.

[0003] The two-for-one twister is a twisting device, that is, a doubling device (multiple strands are combined into one strand), which can achieve two twists in one turn, and the twisting efficiency is doubled compared to traditional twisting equipment. The two-for-one twister is divided into two layers, with the original yarn barrel placed on the bottom layer. The two-for-one twister draws the original yarn through the drawing device, and twists the drawn yarn into one strand through the twisting device and wraps it around the twisting yarn barrel to complete the twisting.

[0004] Since the yarn tubes and spindles need to be taken and placed before and after the two-for-one twister works, obstacles such as the two-for-one twister wire rods need to be pushed aside during the taking and placing process, and the process is relatively complicated. In the prior art, taking and placing the original yarn requires manual operation by multiple workers in the entire assembly line, which is inefficient and causes a huge waste of manpower and material resources. In addition, since the shapes of spindles and bobbins are different, the outer diameters range from 30mm to 200mm, especially the bobbins are conical, and the existing clamps need to be replaced according to different shapes. There are many types of models, which are inconvenient to use and inefficient, resulting in a longer production cycle and a large driven load, which increases the load of the entire equipment. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to overcome the above problems, a double-arm composite robot for loading and unloading materials on a two-for-one twister is provided, which can automatically load and unload materials and can universally pick and place spindles and bobbins.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a double-arm composite robot for loading and unloading materials of a two-for-one twister, comprising an automatic positioning trolley for positioning the loading and unloading stations of the two-for-one twister; the automatic positioning trolley is provided with two mechanical arms, and the two mechanical arms are respectively provided with an upper clamping jaw device and a lower clamping jaw device, and the upper clamping jaw device and the lower clamping jaw device are both provided with image recognition devices, and the upper clamping jaw device and the lower clamping jaw device respectively identify and grab or place the materials on the upper and lower parts of the two-for-one twister according to the specified timing through the image recognition device; the automatic positioning trolley is also provided with an upper material picking device and a lower material picking device, and the upper material picking device and the lower material picking device are respectively used to remove the fixation of the two-for-one twister to the upper and lower materials, so as to facilitate the grabbing by the upper clamping jaw device and the lower clamping jaw device.

[0007] The beneficial effects of the present invention are:

[0008] (1) The present invention provides an automatic positioning trolley, which automatically cruises into a designated loading and unloading station of a two-for-one twisting machine, and after completing the loading and unloading work of one station, it can automatically cruise into the next loading and unloading station without manual intervention.

[0009] (2) The present invention is provided with two mechanical arms, and an upper clamping device and a lower clamping device are respectively provided on the two mechanical arms. Image recognition devices are respectively provided on the upper clamping device and the lower clamping device. The upper clamping device and the lower clamping device respectively identify and grasp or place the materials on the upper and lower parts of the twisting machine through the image recognition devices according to the specified timing. The upper and lower clamping devices cooperate with each other to realize the precise grasping of the materials at the loading and unloading stations through image recognition. The grasping stroke of the upper and lower clamping devices is relatively fixed, easy to realize, and improves the grasping efficiency.

[0010] (3) The present invention is also provided with an upper material taking device and a lower material taking device, and the upper material taking device and the lower material taking device are respectively used to remove the fixation of the upper and lower materials by the two-for-one twister, so as to facilitate the grasping of the upper clamping device and the lower clamping device, thereby further improving the grasping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0012] Figure 1 Schematic diagram of a dual-arm composite robot for loading and unloading a two-for-one twister provided in an embodiment of the present invention;

[0013] Figure 2 is a schematic diagram of an upper clamping jaw device provided in an embodiment of the present invention;

[0014] Figure 3 is a schematic diagram of a lower clamping jaw device provided in an embodiment of the present invention;

[0015] Figure 4It is a schematic diagram of a dual-arm compound robot for loading and unloading materials of a two-for-one twister including a first material rack and a second material rack provided in an embodiment of the present invention.

[0016] Markings in the figure: 100-automatic positioning trolley, 101-car body, 102-control cabinet, 200-upper clamping device, 201-upper material taking device, 202-image recognition device of the upper clamping device, 203-lower clamping jaw, 204-upper clamping jaw, 205-positioning groove, 206-first torque driving device, 207-upper connecting rod, 208-lower connecting rod, 209-upper slider, 210-lower slider, 211-first signal receiving device, 30 0-lower clamping device, 301-lower material taking device, 302-mechanical clamping plate, 303-connecting plate, 304-I-shaped slide groove, 305-concave slider, 306-second torque driving device, 401-second material rack, 402-first material rack, 403-pressure sensing device, 404-preset grabbing position of the second material rack, 405-preset grabbing position of the first material rack, 406-rotating mechanism, 501-marking point on the loading and unloading station of the twisting machine. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application. Example 1

[0018] A dual-arm composite robot for loading and unloading materials on a two-for-one twister comprises an automatic positioning trolley 100 for positioning the loading and unloading stations of the two-for-one twister; the automatic positioning trolley is provided with two mechanical arms, and the two mechanical arms are respectively provided with an upper clamping jaw device 200 and a lower clamping jaw device 300, and the upper clamping jaw device 200 and the lower clamping jaw device 300 are both provided with image recognition devices, and the upper clamping jaw device 200 and the lower clamping jaw device 300 respectively identify and grab or place the materials on the upper and lower parts of the two-for-one twister through the image recognition device according to a specified timing; the automatic positioning trolley is also provided with an upper material taking device 201 and a lower material taking device 301, and the upper material taking device 201 and the lower material taking device 301 are respectively used to remove the fixation of the two-for-one twister to the upper and lower materials, so as to facilitate the upper clamping jaw device 200 and the lower clamping jaw device 300 to grab.

[0019] In this embodiment, the automatic positioning trolley 100 can be a mobile device with an automatic cruise function such as an AGV trolley, and a moving track can be set for the automatic positioning trolley, and the moving track can be an electromagnetic track, or an optical element can be set on the automatic positioning trolley 100, and the positioning point on the loading and unloading station of the two-for-one twister can be scanned by laser or other means to drive into the designated station. The designated station can be entered for operation without manual intervention throughout the process.

[0020] In this embodiment, the automatic positioning vehicle is provided with two mechanical arms, and the two mechanical arms are respectively provided with an upper clamping device 200 and a lower clamping device 300. The two mechanical arms, the upper clamping device 200 and the lower clamping device 300 are preferably made of metal, and can be made of hard plastic or other materials according to the use environment. The two mechanical arms can complete the movement of a specified stroke under a specified command, and can also open and close the upper clamping device 200 and the lower clamping device 300 to complete the grasping under a specified command.

[0021] In this embodiment, the image recognition device can be a device for processing, analyzing, and understanding images. The image recognition device can complete operation steps such as image acquisition, image preprocessing, feature extraction, and image recognition. The image equipment device can be equipped with a CCD camera. The CCD camera can capture the position and material of the loading and unloading stations of the doubling machine, and perform three-dimensional image reconstruction based on the digital grayscale image obtained by the capture. During the reconstruction process, a spatial coordinate system can be established with a specified point as the origin, image feature points can be selected, and the three-dimensional coordinate information of the feature points can be calculated. The image recognition device completes the material grabbing or placement at the loading and unloading stations based on the three-dimensional coordinate information.

[0022] In this embodiment, the two-for-one twister is used to fix the material. To facilitate the completion of the two-for-one twisting, the material needs to be fixed. The common fixing device is the two-for-one twister conductor rod. The upper clamping device 201 and the lower clamping device 202 can be moved to the grabbing points of the loading and unloading stations through the image recognition device. The upper feeding device and the lower feeding device can be paddles or levers. The upper feeding device and the lower feeding device can be driven by a motor, such as a servo motor, etc. The motor can be arranged in the upper clamping device and the lower clamping device. Example 2

[0023] In this embodiment, the upper clamping jaw device 200 includes an upper clamping jaw 204 and a lower clamping jaw 203 driven by a first torque driving device 206 to move relative to each other. The upper clamping jaw 204 and the lower clamping jaw 203 are preferably made of metal material, and hard plastic material can be used according to the needs of the use environment. The lower clamping jaw 204 includes a lower clamping plate with three jaws, and positioning grooves 205 are symmetrically arranged on the two side jaws of the lower clamping plate. In view of the difference in the shape of the bobbin and the spindle, the present invention sets a lower clamping jaw with three jaws. The upper clamping jaw comprises an upper clamping plate, which is located between the two side clamping jaws of the lower clamping plate and covers the middle clamping jaw of the lower clamping plate when clamped. When grabbing the spindle, the spindle is mainly fixed by the middle clamping jaw and the upper clamping plate. When grabbing the bobbin, since the bobbin is conical, the claw shape is easy to slide when grasping. The present invention provides corresponding positioning grooves on the two side claws to respectively fix the two ends of the conical bobbin. After the upper clamping jaw covers and presses the bobbin, the bobbin will not fall, and the bobbin can be quickly fixed when grabbing.

[0024] In this embodiment, the first torque driving device 206 includes a driving motor, which is preferably a servo motor, which can output torque more accurately. The upper clamping jaw 204 and the lower clamping jaw 203 are respectively arranged on the track through an upper slider 209 and a lower slider 210, and the upper slider 209 and the lower slider 210 can slide up and down along the track. The upper slider 209 and the lower slider 210 are respectively connected to the driving motor through an upper connecting rod 207 and a lower connecting rod 208. The driving motor drives the upper connecting rod 207 and the lower connecting rod 208 to bring The upper slider 209 and the lower slider 210 are moved up and down, thereby driving the upper clamp 204 and the lower clamp 203 to achieve clamping. In the present invention, the upper connecting rod 207 and the lower connecting rod 208 move synchronously, and after the movement, the upper and lower sliders are driven to move at the same time. When sliding to both ends respectively, the upper clamp 204 and the lower clamp 203 are separated. When the upper and lower sliders move relatively, the upper clamp 204 and the lower clamp 203 fit together to grab the spindle or bobbin. The present invention uses an upper and lower connecting rod to drive the slider, the overall stroke is long, the required torque is small, and it is more convenient to use a servo motor for precise control.

[0025] In this embodiment, the track is arranged at the front end of the frame, the drive motor is arranged at the rear end of the frame, the upper connecting rod 207 and the lower connecting rod 208 are respectively arranged on both sides of the frame, and are connected to the sides of the upper slider 209 and the lower slider 210. The above arrangement can ensure the synchronization of the movement of the upper connecting rod 207 and the lower connecting rod 208.

[0026] In this embodiment, the driving motor is a servo motor, and the servo motor is connected to a cam-connecting rod mechanism arranged in the driving slide groove. The ends of the upper connecting rod and the lower connecting rod are respectively connected to the driving slider arranged in the driving slide groove. The servo motor drives the driving slider to move up and down through the cam-connecting rod mechanism. The present invention adopts sliders to connect the two ends of the upper and lower connecting rods, and forms a multi-stage connecting rod with the upper and lower support rods to produce the largest motion stroke with the smallest volume.

[0027] In this embodiment, the upper connecting rod and the lower connecting rod can be rotatably connected to the driving slider through cam followers respectively. Through the cam follower and the driving slider, the rear end movement trajectory is smaller.

[0028] In this embodiment, the first torque driving device 206 can be connected to the first signal receiving device 211. The first torque driving device 206 adjusts the torque through the signal received by the signal receiving device 211. The present invention is a grasping component in the automatic feeding equipment of the textile equipment. Through the cooperation of the signal receiving device and the image recognition device of the whole machine, the size of the grasped object can be identified. After identification, the torque of the first torque driving device 206 is adjusted to control the opening and closing angles of the upper and lower claws, so as to grasp objects of different sizes.

[0029] In this embodiment, a protective shell is also provided on the frame, which can protect the present invention from working in a humid or dusty environment for a long time and prevent structures such as the torque drive device from getting damp or damaged. A robotic arm connecting plate is also provided at the lower end of the frame for connecting to a multi-stage robotic arm for position movement control. Example 3

[0030] In this embodiment, the lower clamping jaw 300 device includes two mechanical clamps 302 that are driven to open and close relative to each other by the second torque driving device 300; at least one of the two mechanical clamps 302 is provided with a lower material taking device 301, and the lower material taking device is a paddle, which paddles the first double twisting machine conductor rod parallel to the horizontal plane.

[0031] In this embodiment, the second torque driving device 306 is connected to the two mechanical clamping plates 302, and the second torque driving device 306 can be a servo motor, a stepping motor, etc. The second torque driving device 306 can convert the rotational motion into a linear motion according to the received pulse signal to drive the two mechanical clamping plates 302 to move relatively open and close along the mechanical clamping plates, and can also change the angle between the two mechanical clamping plates 302. For example, the output end of the second torque driving device 306 can be connected to a screw, and the mechanical clamping plate can be provided with a positioning nut that cooperates with the screw, and the mechanical clamping plate can be reciprocated linearly by the rotation of the screw.

[0032] In this embodiment, the second torque driving device 306 is connected to the two mechanical splints 302, and the two mechanical splints 302 are opened and closed by outputting torque. The second torque driving device 306 can be a servo motor, and the servo motor can operate at a certain speed according to the received pulse signal. The output end of the servo motor can be connected to the at least two mechanical splints 302 through a screw rod, and the connecting ends of the two mechanical splints can move on the screw rod to achieve the opening and closing of the two mechanical splints. The second torque driving device can adjust the opening and closing size of the mechanical splint according to preset parameters, or can adjust the opening and closing of the mechanical splint according to the received signal. The opening and closing can be to adjust the distance between the two mechanical splints, or to adjust the angle between the two mechanical splints. One of the two mechanical splints can be immovable.

[0033] In this embodiment, the arrangement of the two mechanical clamping plates 302, such as the angle and distance between the clamping plates, is not specifically limited in this specification and can be determined according to the required clamping strength. The two mechanical clamping plates can be movably connected to the connecting plate, and can be connected by grooves and sliders, or by rails and rollers.

[0034] In this embodiment, the gripping direction of the two mechanical clamps 302 is perpendicular to the connecting plate and downward, and the gripping direction can be the clamping direction of the mechanical clamps to clamp the target object. The connecting end of the mechanical clamp 302 and the connecting plate can extend along the setting direction of the connecting plate, and the connecting plate can be parallel to the horizontal plane. Since the original yarn of the double twister is placed in the yarn barrel of the lower layer, the clamping direction can be perpendicular to the horizontal plane, which is convenient for reaching into the yarn barrel to take and place the original yarn.

[0035] In this embodiment, at least one of the at least two mechanical clamps 302 moves the second two-for-one twister conductor rod perpendicular to the horizontal plane. The two-for-one twister conductor rod is used to guide the yarn to the twisting device for twisting. In the process of taking and placing the original yarn, the conductor rod needs to be moved aside. At least one mechanical clamp can move axially along a plane perpendicular to the horizontal plane, and can also move horizontally to move aside the conductor rod perpendicular to the horizontal plane.

[0036] In this embodiment, at least one of the at least two mechanical clamps is provided with a paddle, and the paddle can be provided on a mechanical clamp that can be moved along the axial direction of the gripping direction, or on another clamp. The paddle can be parallel to the horizontal plane, and is used to move the first two-for-one twister wire rod upward in a direction perpendicular to the horizontal plane. The paddle and the movable mechanical clamp can move the two-for-one twister wire rod according to a preset timing.

[0037] In this embodiment, the connecting plate is provided with an I-shaped chute 304, and the two mechanical clamps 302 can be respectively provided with a concave slider 305 engaged with the I-shaped chute, and the concave slider 305 can slide on the I-shaped chute 304. The concave sliders 305 respectively provided on the two mechanical clamps are engaged in different directions with the I-shaped chute 304. For example, two mechanical clamps are provided, and the concave slider of one mechanical clamp is engaged with the upper part of the I-shaped chute, and the concave groove of the other mechanical clamp is engaged with the lower part of the I-shaped chute. The different engagement directions of the concave slider 305 and the I-shaped chute 304 increase the movement stroke of the mechanical clamp 302, and can adapt to more sizes of raw yarns. At the same time, the concave slider 305 is connected to the second torque control module 306, and the different positions of the settings are also conducive to independent control between the mechanical clamps 302.

[0038] In this embodiment, the servo motor may include a motor that controls the rotation angle by controlling the length of the pulse time. The output end of the servo motor is connected to the first transmission screw. The two mechanical clamps 302 can be provided with nuts or screws that cooperate with the first transmission screw and are connected to the first transmission screw to convert the rotational motion of the servo motor into the linear motion of the two mechanical clamps 302, so as to control the opening and closing of the at least two mechanical clamps 302.

[0039] In this embodiment, the output end of the servo motor can be connected to the second transmission screw. Since the paddle is arranged on the mechanical clamping plate and is far away from the servo motor, a paddle screw is arranged on the paddle to be connected to the second transmission screw. The paddle screw can be arranged inside the mechanical clamping plate or outside the mechanical clamping plate. Through the mutual cooperation between the screws, the paddle can move the first double twister wire rod in a direction perpendicular to the horizontal plane.

[0040] In this embodiment, the second torque driving device 306 can be connected to a second signal receiving device 307, and the torque driving device adjusts the torque through the signal received by the signal receiving device. The signal receiving device cooperates with the image recognition device of the whole machine, and can identify the size of the grasped object, and adjust the torque of the torque driving device after identification to control the opening and closing angles of the upper and lower claws, so as to grasp objects of different sizes. By providing a paddle and at least one mechanical clamping plate that can be moved to pry open the conductor rod of the double twister, the efficiency and accuracy of taking and placing the raw yarn are improved, the structure is simple, and manpower and material resources are greatly saved. Example 4

[0041] In this embodiment, the dual-arm robot includes a first material rack 402 and a second material rack 401, wherein the first material rack 402 and the second material rack 401 move with the automatic positioning trolley 100, and the upper clamping device 200 and the lower clamping device 300 grab or place materials from the first material rack 402 and the second material rack 401 respectively.

[0042] In this embodiment, the first material rack 402 may correspond to the upper clamping device 200, and the second material rack 401 may correspond to the lower clamping device 300. During the loading process, the lower clamping device 300 clamps the spindle and places it in the lower station of the two-for-one twister, the spindle is placed on the second material rack 401, the upper clamping device 200 clamps the yarn tube and places it in the upper station of the two-for-one twister, the yarn tube is placed on the first material rack 402, and the upper clamping device 200 clamps the yarn tube and places it in the upper station of the two-for-one twister. During the unloading process, the lower clamping device 300 takes out the yarn tube from the lower station of the two-for-one twister and places it on the second material rack 401, and the upper clamping device 200 takes out the spindle from the upper station of the two-for-one twister and places it on the first material rack 402. The first material rack 402 and the second material rack 401 can move with the automatic positioning trolley 100, and the first material rack 402 and the second material rack 401 can maintain a certain distance from the automatic positioning trolley to ensure that the upper clamping device 200 and the lower clamping device 300 can take and place materials. The upper clamping device 200 and the lower clamping device 300 can grasp or place materials on the first material rack 402 and the second material rack 401 by identifying the materials of the two-for-one twister.

[0043] In this embodiment, the first material rack 402 and the second material rack 401 are respectively provided with a pressure sensing device 403; wherein, the pressure sensing device 403 is used to judge the load of the first material rack 402 and the second material rack 401; according to the load, the first material rack 402 and the second material rack 401 follow or drive away from the automatic positioning trolley 100. The pressure sensing device 403 can be used to confirm whether loading or unloading is required according to the weight of the carried items. During the loading process, the upper clamping device 200 and the lower clamping device 300 can grab materials from the first material rack 402 and the second material rack 401 respectively. When the materials on the first material rack 402 and the second material rack 401 are grabbed, the load becomes lighter, and it drives away from the automatic positioning trolley 100 to pull more materials for the upper clamping device 200 and the lower clamping device 300 to grab.

[0044] In this embodiment, the first material rack 402 and the second material rack 401 are provided with a rotating mechanism 406 and preset grabbing positions 404 and 405, and the materials or empty positions on the first material rack 402 and the second material rack 401 are rotated to the preset grabbing positions 404 and 405 by the rotating mechanism 406. The preset grabbing position can be a spatial position, and the upper clamping device 200 and the lower clamping device 300 can grab or place materials at the preset grabbing position. The first material rack 402 and the second material rack 401 can be connected to the rotating mechanism 406, and driven by the rotating mechanism 406, the materials or empty positions on the first material rack 402 and the second material rack 401 are always rotated to the preset grabbing position for the upper clamping device 200 and the lower clamping device 300 to grab.

[0045] In this embodiment, after the upper gripper device 200 and the lower gripper device 300 complete the grabbing or placing of materials, the automatic positioning trolley 100 drives into the next loading and unloading station of the two-for-one twister. The automatic positioning trolley 100 includes a vehicle body 101 and a control cabinet 102. A CCD camera is provided on the control cabinet. The CCD camera scans the marking point 501 on the loading and unloading station of the two-for-one twister, so that the automatic positioning trolley 100 drives into the loading and unloading station of the two-for-one twister. In this embodiment, after the material placement of a station is completed, the position information of the next designated station on the material rack of the two-for-one twister is read, and the designated station can be automatically navigated to by receiving electromagnetic or optical information. Specifically, it can be electromagnetic induction guidance, laser guidance, visual guidance, etc. The position information can be transmitted to the dual-arm robot by laser, electromagnetic, etc., so that the dual-arm robot drives to the designated station. After the dual-arm robot drives to the next designated station, it repeats the loading and unloading work.

[0046] In this embodiment, the image recognition device reads the three-dimensional position coordinate information of the loading and unloading stations of the two-for-one twister and the designated position of the material rack; reads the three-dimensional shape coordinate information of the material placed on the loading and unloading stations of the two-for-one twister and the material rack; the upper clamping device and the lower clamping device take and place the material according to the three-dimensional position coordinate information and the three-dimensional shape coordinate information.

[0047] Each embodiment in the specification of the present invention is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In the description of this specification, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, in the absence of mutual contradiction, a person skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. The drawings in the specification of this application are only schematic diagrams and do not represent the actual structure of each component.

[0048] The above is only an example of one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application should be included in the scope of the claims.

Claims

1. A dual-arm composite robot for loading and unloading materials on a two-for-one twisting machine, characterized in that: It includes an automatic positioning trolley for positioning the loading and unloading stations of the two-for-one twisting machine; The automatic positioning trolley is provided with two mechanical arms, and the two mechanical arms are respectively provided with an upper clamping device and a lower clamping device, and the upper clamping device and the lower clamping device are both provided with an image recognition device, and the upper clamping device and the lower clamping device respectively recognize and grab or place the materials on the upper and lower parts of the two-for-one twister according to the specified timing through the image recognition device; The automatic positioning trolley is also provided with an upper material taking device and a lower material taking device, and the upper material taking device and the lower material taking device are respectively used to remove the fixing of the upper and lower materials by the two-for-one twister, so as to facilitate the upper and lower clamping devices to grab; The upper clamping jaw device comprises an upper clamping jaw and a lower clamping jaw which are driven to move relative to each other by a first torque driving device, the lower clamping jaw comprises a lower clamping plate provided with three jaws, two side jaws of the lower clamping plate are symmetrically provided with positioning grooves, and the upper clamping jaw comprises an upper clamping plate, which is located between the two side jaws of the lower clamping plate and covers the middle jaw of the lower clamping plate when clamped; The upper material taking device is a servo lever device arranged in front of the upper clamping claw device, and the servo lever device pushes away the card of the spindle fixed on the two-for-one twister through the upper lever to facilitate the upper clamping claw device to grab; The lower clamping jaw device includes two mechanical clamping plates driven to open and close relative to each other by a second torque driving device; At least one of the two mechanical clamping plates is provided with a lower material taking device, wherein the lower material taking device is a paddle, and the paddle paddles the first two-for-one twister conductor rod parallel to the horizontal plane; The lower clamping jaw device comprises a connecting plate connected to the mechanical clamping plate, the connecting ends of the connecting plate and the mechanical clamping plate are provided with I-shaped sliding grooves, and the mechanical clamping plates are respectively provided with concave sliding blocks slidably engaged with the I-shaped sliding grooves, and the engaging directions of the concave sliding blocks and the I-shaped sliding grooves are different; At least one of the two mechanical clamps moves the second two-for-one twister conductor rod perpendicular to the horizontal plane.

2. The dual-arm compound robot according to claim 1, characterized in that: The first torque driving device includes a driving motor, and the upper clamping jaw and the lower clamping jaw are respectively arranged on a track through an upper slider and a lower slider, and the upper slider and the lower slider can slide up and down along the track. The upper slider and the lower slider are respectively connected to the driving motor through an upper connecting rod and a lower connecting rod, and the driving motor drives the upper connecting rod and the lower connecting rod to drive the upper slider and the lower slider to move up and down, thereby driving the upper clamping jaw and the lower clamping jaw to achieve clamping.

3. The dual-arm compound robot according to claim 2, characterized in that: The driving motor is a servo motor, which is connected to a cam-connecting rod mechanism arranged in a driving slide slot. The ends of the upper connecting rod and the lower connecting rod are respectively connected to a driving slider arranged in the driving slide slot. The servo motor drives the driving slider to move up and down through the cam-connecting rod mechanism.

4. The dual-arm compound robot according to claim 2, characterized in that: The first torque driving device is connected to a first signal receiving device, and the first torque driving device adjusts the torque according to the signal received by the first signal receiving device.

5. The dual-arm compound robot according to claim 1, characterized in that: The second torque driving device comprises a servo motor, and the output end of the servo motor is respectively connected to the first transmission screw and the second transmission screw; The first transmission screw is connected to the two mechanical clamping plates to drive the two mechanical clamping plates to open and close relative to each other; The second transmission screw is connected to the paddle screw, the paddle is arranged at the end of the paddle screw, and the second transmission screw and the paddle screw cooperate to make the paddle paddle the first double twister conductor rod parallel to the horizontal plane.

6. The dual-arm compound robot according to claim 5, characterized in that: The second torque driving device is connected to a second signal receiving device, and the second torque driving device adjusts the torque according to the signal received by the second signal receiving device.

7. The dual-arm compound robot according to any one of claims 1 to 6, characterized in that: The dual-arm compound robot includes a first material rack and a second material rack, wherein the first material rack and the second material rack move with the automatic positioning trolley, and the upper clamping device and the lower clamping device grab or place materials from the first material rack and the second material rack respectively.

8. The dual-arm compound robot according to claim 7, characterized in that: The first material rack and the second material rack are respectively provided with pressure sensing devices; wherein the pressure sensing devices are used to judge the loads of the first material rack and the second material rack; according to the loads, the first material rack and the second material rack follow or drive away from the automatic positioning trolley.

9. The dual-arm compound robot according to claim 8, characterized in that: The first material rack and the second material rack are provided with a rotating mechanism and a preset grabbing position, and the materials or empty positions on the first material rack and the second material rack are rotated to the preset grabbing position through the rotating mechanism.

10. The dual-arm compound robot according to claim 9, characterized in that: After the upper clamping jaw device and the lower clamping jaw device complete grabbing or placing the material, the automatic positioning trolley drives into the next loading and unloading station of the double twisting machine.

11. The dual-arm compound robot according to claim 10, characterized in that: The automatic positioning trolley comprises a vehicle body and a control cabinet, the control cabinet is provided with a CCD camera, and the CCD camera scans the marking points on the loading and unloading stations of the two-for-one twister to enable the automatic positioning trolley to drive into the loading and unloading stations of the two-for-one twister.

12. The dual-arm compound robot according to claim 11, characterized in that: The image recognition device reads the three-dimensional position coordinate information of the loading and unloading stations of the two-for-one twister and the designated position of the material rack; reads the three-dimensional shape coordinate information of the material placed on the loading and unloading stations of the two-for-one twister and the material rack; The upper clamping jaw device and the lower clamping jaw device take and place materials according to the three-dimensional position coordinate information and the three-dimensional shape coordinate information.

Images