Mechanical hand coordination device for processing special-shaped workpieces of braiding machine

Abstract

The application discloses a mechanical hand coordination device for weaving large-size special-shaped workpiece processing, which comprises a ring weaving machine, a mechanical hand unit and a follow-up support unit, wherein the ring weaving machine is used for weaving the special-shaped workpiece, the special-shaped workpiece mandrel is arranged through the ring weaving machine, and the mechanical hand unit and the follow-up support unit are arranged on both sides of the ring weaving machine respectively and are used for clamping the two ends of the special-shaped workpiece mandrel. The large-size special-shaped workpiece is clamped by the mechanical hand unit and the follow-up support unit, the support and feeding of the large-size special-shaped workpiece during the weaving process are realized, the position of the special-shaped workpiece mandrel in the vertical direction is adjusted according to the shape of the special-shaped workpiece, the weaving position of the special-shaped workpiece mandrel is ensured to be always located at the center of the ring weaving machine, the consistency of the yarn tension of the special-shaped workpiece mandrel in all directions during the weaving process is improved, and the weaving quality is improved.

Description

Technical Field

[0001] This invention relates to the field of weaving machine technology, and more specifically, to a robotic arm collaborative device for processing irregularly shaped workpieces in weaving machines. Background Technology

[0002] Traditional weaving techniques are generally used to produce products such as ropes, cables, and mesh belts. In recent years, weaving technology has been widely used in aerospace, rail transportation and other fields, and has been successfully applied to large-sized irregular structural components such as large aircraft bulkheads, floor beams and high-speed rail bogie side beams.

[0003] When braiding irregularly shaped workpieces, braiding machines typically employ a three-dimensional braiding method. This involves the spools moving alternately on the braiding machine's dial, causing the fibers to intertwine and deposit onto the surface of the workpiece's mandrel, forming the woven fabric. When braiding large, irregularly shaped workpieces, the mandrel must be clamped and fixed in place. During the braiding process, it is crucial to ensure that the mandrel passes through the center of the braiding machine and is pulled along a planned trajectory.

[0004] In the prior art, such as Chinese Patent Application No. 201811622297.X, a three-dimensional circular knitting machine with a mandrel controlled by a robotic arm is disclosed. The machine includes a frame, a circular ring plate mounted vertically on the frame, and a ring-shaped track base plate coaxially mounted on the ring plate. Several four-notched corner guide wheels are evenly distributed on the circumference of the track base plate, each with a yarn carrier. The four-notched corner guide wheels are connected to the frame via a guide drive shaft, which is connected to a transmission mechanism. A mandrel is located at the center of the frame, with a yarn feeder at one end and a robotic arm at the other end. This device utilizes the end of a six-degree-of-freedom robotic arm connected to the mandrel to directly control its movement, enabling three-dimensional knitting of large-diameter, complex shapes and molded parts.

[0005] However, in actual weaving processes, irregularly shaped, large workpieces with heavy mandrels can cause bending and deformation of the mandrel when held by a robotic arm at one end. This leads to the mandrel deviating from the center of the weaving loop, resulting in inconsistent yarn tension in all directions and affecting the quality of the finished product. Therefore, it is necessary to improve the gripping and traction methods of the robotic arm and propose a robotic arm collaborative device for processing irregularly shaped workpieces on weaving machines to solve the problems existing in the use of current robotic arms. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, the present invention provides a robotic arm collaborative device for processing irregularly shaped workpieces on a knitting machine, comprising:

[0008] A circular braiding machine is used to braid irregularly shaped workpieces, with the mandrel of the irregularly shaped workpiece passing through the circular braiding machine.

[0009] The robotic arm unit and the follower support unit are respectively arranged on both sides of the ring braiding machine. The robotic arm unit and the follower support unit clamp the two ends of the mandrel of the irregular workpiece.

[0010] Preferably, the circular knitting machine is connected to a support frame, and a base is connected to the bottom of the support frame. Several dials are evenly connected along the circumference inside the circular knitting machine. Warp yarn bobbins and weft yarn bobbins are connected to the dials. The dials drive the warp yarn bobbins and weft yarn bobbins to move in a figure-eight pattern.

[0011] Preferably, the circular braiding machine has braiding rings on both sides, which are connected to the end face of the circular braiding machine via braiding ring brackets. The braiding rings are arranged coaxially with the circular braiding machine, and the yarn passes through the braiding rings and is wound around the mandrel of the irregular workpiece.

[0012] Preferably, the robotic arm unit includes:

[0013] The platform base is installed on one side of the circular braiding machine. Two parallel guide rails are connected to the top of the platform base. A lead screw is installed between the two guide rails. One end of the lead screw is connected to a servo motor, which is electrically connected to the controller.

[0014] The traction platform is slidably connected to the guide rail and is connected to the lead screw through the threaded hole at the bottom end. A multi-degree-of-freedom manipulator is installed on the traction platform.

[0015] A chuck is connected to the output end of a multi-degree-of-freedom robot. A first clamp is connected to the chuck, and the first clamp is connected to one end of the mandrel of the irregular workpiece.

[0016] Preferably, the follow-up support unit includes:

[0017] An electric slide table is installed on the other side of the circular braiding machine, and a slide plate is slidably connected to the top of the electric slide table.

[0018] A support frame is installed on the top of the slide plate, and a lifting mechanism is connected to the support frame. The lifting mechanism is electrically connected to the controller.

[0019] The second clamp is rotatably connected to the top of the lifting mechanism and is connected to the other end of the mandrel of the irregular workpiece.

[0020] Preferably, the guide rail and the electric slide are symmetrical about the center of the circular braiding machine, and the extension direction of the guide rail and the electric slide is perpendicular to the end face of the circular braiding machine.

[0021] Preferably, the mandrel of the irregular workpiece is hollow, and the first clamp and the second clamp extend into the interior of the mandrel of the irregular workpiece.

[0022] Preferably, a connector is fixedly connected to the first fixture. The connector is hollow and extends into the mandrel of the irregular workpiece.

[0023] Preferably, the connector is provided with an auxiliary clamping unit, which includes a positioning unit and a support unit. The positioning unit includes:

[0024] The motor is connected to the inner ring of the connector via a bracket. A first rotating shaft is connected to the motor. A first gear is connected to the first rotating shaft. A fixed plate is rotatably connected to the first rotating shaft. A slide rod is horizontally connected to the fixed plate. A toothed plate is slidably connected to the outside of the slide rod. Two rows of teeth are arranged side by side on the toothed plate. The toothed plate extends out of the connector. The motor is electrically connected to the controller.

[0025] A slip ring is fixedly connected to the inner ring of the connector on the side away from the first clamp. An annular groove is provided inside the slip ring, and a slider is slidably connected inside the annular groove.

[0026] The connecting frame is fixedly connected to the first fixed plate. The second gear and worm gear are connected to the connecting frame through the third rotating shaft. The bottom end of the connecting frame is connected to the second fixed plate, which is fixedly connected to the slider. The connecting frame is connected to the distance sensor, which is electrically connected to the controller.

[0027] The second rotating shaft is fixedly connected to the first fixed plate and passes through the second fixed plate. A third gear and a worm are connected to the second rotating shaft. The third gear meshes with the first gear, and the worm meshes with the worm wheel. The second gear is arranged on both sides of the worm.

[0028] Preferably, the positioning unit further includes:

[0029] The sliding sleeve is slidably connected to the third rotating shaft, the second gear is connected to the outer ring of the sliding sleeve, and a magnetic block is connected to the side of the sliding sleeve away from the worm gear.

[0030] An electromagnetic block is connected to the inside of the connecting frame. The electromagnetic block is electrically connected to the controller. A spring connects the electromagnetic block and the magnetic block.

[0031] Preferably, the support unit includes:

[0032] The limiting plate is fixedly connected to the extension end of the toothed plate. Multiple ejection cavities are evenly arranged in the circumferential direction inside the limiting plate. The first cavity and the second cavity are respectively connected to the two sides of the ejection cavity.

[0033] A support rod is placed at an angle inside the first cavity. An electric tilting plate is connected to the inner wall of the first cavity to push the support rod into the ejection cavity. The electric push rod is electrically connected to the controller. A wedge-shaped locking block is connected to the side end of the first cavity by a spring. The wedge-shaped locking block is engaged with the inner side of the support rod. A roller is connected to the outer side of the support rod.

[0034] A push block is slidably connected to the ejection cavity. A spring is connected between the push block and the inner wall of the ejection cavity. A limit block is slidably connected to the inner cavity of the push block. A spring is connected between the limit block and the inner cavity of the push block. The limit block extends through the push block toward the second cavity. A limit hole connects the ejection cavity and the second cavity. The limit block is engaged in the limit hole.

[0035] The rotating rod is hinged to the inner wall of the second cavity in the middle. The two ends of the rotating rod are respectively hinged to push rod one and push rod two. Push rod one extends into the ejection cavity, and push rod two extends into the limiting hole and contacts the limiting block. A spring connects the rotating rod and the second cavity.

[0036] Compared with the prior art, the present invention has at least the following beneficial effects:

[0037] The robotic arm collaborative device provided by this invention for processing irregularly shaped workpieces on a braiding machine clamps large-sized irregularly shaped workpieces through a robotic arm unit and a follow-up support unit, realizing the support and feeding of large-sized irregularly shaped workpieces during the braiding process. It adjusts the vertical position of the mandrel of the irregularly shaped workpiece according to its own shape, ensuring that the braiding position of the mandrel of the irregularly shaped workpiece is always located at the center of the circular braiding machine, improving the consistency of yarn tension in all directions of the mandrel of the irregularly shaped workpiece during the braiding process, and improving the braiding quality.

[0038] The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to the present invention, other advantages, objectives and features of the present invention will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0040] Figure 1 This is a schematic diagram of the structure of the present invention;

[0041] Figure 2 This is a side view of the structure of the present invention;

[0042] Figure 3 This is a schematic diagram of the structure of the robotic arm unit in this invention;

[0043] Figure 4 This is a schematic diagram of the structure of the follower support unit in this invention;

[0044] Figure 5 This is a schematic diagram of the positioning unit in this invention;

[0045] Figure 6 This is a schematic diagram of the connecting frame structure of the support unit in this invention;

[0046] Figure 7 This is a schematic diagram of the support unit in this invention;

[0047] Figure 8 For the present invention Figure 7 A partial structural diagram at point A in the middle;

[0048] Figure 9 This is a physical image of the present invention.

[0049] In the diagram: 1. Circular braiding machine; 2. Robotic arm unit; 3. Follower support unit; 4. Irregular workpiece mandrel; 11. Bracket; 12. Base; 13. Braided ring; 14. Braided ring bracket; 21. Platform base; 22. Guide rail; 23. Lead screw; 24. Servo motor; 25. Traction platform; 26. Multi-degree-of-freedom robotic arm; 27. Chuck; 28. First fixture; 29. ​​Connector; 31. Electric slide table; 32. Slide table plate; 33. Support frame; 34. Second fixture; 51. Slip ring; 52. Motor; 53. First rotating shaft; 54. First gear; 55. Fixing plate 56. Toothed plate; 57. Annular groove; 58. Slider; 59. Connecting frame; 510. Second gear; 511. Worm gear; 512. Fixing plate two; 513. Second rotating shaft; 514. Third gear; 515. Worm; 516. Third rotating shaft; 517. Sliding sleeve; 518. Magnetic block; 519. Electromagnetic block; 61. Limiting plate; 62. Ejection cavity; 63. First cavity; 64. Second cavity; 65. Support rod; 66. Wedge-shaped block; 67. Push block; 68. Limiting block; 69. Limiting hole; 610. Rotating rod; 611. Push rod one; 612. Push rod two. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0051] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0052] like Figure 1-6 As shown, the present invention provides a robotic arm collaborative device for processing irregularly shaped workpieces on a knitting machine, comprising:

[0053] Circular braiding machine 1 is used to braid irregularly shaped workpieces, with the mandrel of the irregularly shaped workpiece passing through the circular braiding machine 1.

[0054] The robotic arm unit 2 and the follower support unit 3 are respectively arranged on both sides of the ring braiding machine 1. The robotic arm unit 2 and the follower support unit 3 clamp the two ends of the irregular workpiece mandrel 4.

[0055] The working principle of the above technical solution:

[0056] This invention provides a robotic arm coordination device for processing irregularly shaped workpieces on a braiding machine. In use, the irregularly shaped workpiece mandrel 4 is passed through the center of the circular braiding machine 1. Both ends of the irregularly shaped workpiece mandrel 4 are connected to the clamps on the robotic arm unit 2 and the follower support unit 3, respectively. The circular braiding machine 1 is started to weave yarn onto the surface of the irregularly shaped workpiece mandrel 4. During the weaving process, the robotic arm unit 2 moves along the guide rail 22, and the follower support unit 3 moves along the electric slide 31. Through the cooperation of the robotic arm unit 2 and the follower support unit 3, the irregularly shaped workpiece mandrel 4 is pulled forward. According to the shape of the irregularly shaped workpiece mandrel 4, the robotic arm unit 2 moves one end of the irregularly shaped workpiece mandrel 4, and the follower support unit 3 raises and lowers the other end of the irregularly shaped workpiece mandrel 4, so that the weaving position of the irregularly shaped workpiece mandrel 4 is always located at the center of the circular braiding machine 1.

[0057] The beneficial effects of the above technical solution are as follows:

[0058] The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine provided by the present invention clamps large-sized irregularly shaped workpieces through a robotic arm unit 2 and a follow-up support unit 3, realizing the support and feeding of large-sized irregularly shaped workpieces during the braiding process. The vertical position of the irregularly shaped workpiece mandrel 4 is adjusted according to its own shape to ensure that the braiding position of the irregularly shaped workpiece mandrel 4 is always located at the center of the circular braiding machine 1, thereby improving the consistency of yarn tension in all directions of the irregularly shaped workpiece mandrel 4 during the braiding process and improving the braiding quality.

[0059] like Figure 1 As shown, in one embodiment, a bracket 11 is connected to the circular knitting machine 1, and a base 12 is connected to the bottom of the bracket 11. Several dials are evenly connected in the circumferential direction inside the circular knitting machine 1. Warp yarn bobbins and weft yarn bobbins are connected to the dials. The dials drive the warp yarn bobbins and weft yarn bobbins to move in a figure-eight pattern.

[0060] The working principle and beneficial effects of the above technical solution are as follows:

[0061] The circular braiding machine 1 is installed via a bracket 11 and a base 12. The base 12 is fixed to the ground, ensuring the installation stability of the circular braiding machine 1. A dial is set on the circular braiding machine 1, with the dials evenly distributed. Warp yarn bobbins and weft yarn bobbins are set on the dials. When the warp yarn bobbins and weft yarn bobbins rotate, the yarn moves freely and is tightly wound on the mandrel 4 of the irregular workpiece, realizing the braiding of the irregular workpiece and improving the uniformity of the braiding.

[0062] like Figure 1 As shown, in one embodiment, the circular braiding machine 1 has braiding rings 13 on both sides. The braiding rings 13 are connected to the end face of the circular braiding machine 1 through braiding ring brackets 14. The braiding rings 13 are arranged coaxially with the circular braiding machine 1. The yarn passes through the braiding rings 13 and is wound around the mandrel 4 of the irregular workpiece.

[0063] The working principle and beneficial effects of the above technical solution are as follows:

[0064] The circular braiding machine 1 has braiding rings 13 on both sides. The braiding rings 13 are fixed on the circular braiding machine 1 by braiding ring brackets 14. The yarn passes through the braiding rings 13 and is wound around the mandrel 4 of the irregular workpiece. By combining braiding rings 13 of different sizes and braiding ring brackets 14, the yarn can be braided at different positions on the workpiece to adapt to different braiding point requirements, thus improving its practicality.

[0065] like Figure 1 As shown, in one embodiment, the robotic arm unit 2 includes:

[0066] Platform base 21 is installed on one side of the circular braiding machine 1. The top of the platform base 21 is connected to two parallel guide rails 22. A lead screw 23 is arranged between the two guide rails 22. One end of the lead screw 23 is connected to a servo motor 24. The servo motor 24 is electrically connected to the controller.

[0067] The traction platform 25 is slidably connected to the guide rail 22. The traction platform 25 is connected to the lead screw 23 through the bottom threaded hole. A multi-degree-of-freedom manipulator 26 is installed on the traction platform 25.

[0068] Chuck 27 is connected to the output end of multi-degree-of-freedom manipulator 26. A first clamp 28 is connected to chuck 27, and the first clamp 28 is connected to one end of the irregular workpiece mandrel 4.

[0069] The working principle and beneficial effects of the above technical solution are as follows:

[0070] When the robotic arm unit 2 is in use, the controller plans the movement path of the robotic arm according to the shape of the irregular workpiece mandrel 4. The controller starts the servo motor 24, which drives the lead screw 23 to rotate. The lead screw 23 is threadedly driven by the threaded hole at the bottom of the traction platform 25, causing the traction platform 25 to slide along the guide rail 22, so that the multi-degree-of-freedom robotic arm 26 moves along the weaving direction. The multi-degree-of-freedom robotic arm 26 supports the irregular workpiece mandrel 4 through the chuck 27 and the first clamp 28. The controller starts the execution component of the multi-degree-of-freedom robotic arm 26 to move along the preset trajectory, so that the irregular workpiece mandrel 4 can move in the vertical direction while being fed, adapting to the change of the cross section of the irregular workpiece mandrel 4, so that the weaving position of the irregular workpiece mandrel 4 is located at the center of the circular weaving machine 1. By setting up the robotic arm unit 2, one end of the irregular workpiece mandrel 4 is supported and fixed to ensure the stable installation of the irregular workpiece mandrel 4, prevent shaking during the weaving process, realize the traction feed of the irregular workpiece mandrel 4, and enable the irregular workpiece mandrel 4 to move in the vertical direction while feeding, adapt to the change of the cross section of the irregular workpiece mandrel 4, so that the yarn is evenly wound on the surface of the irregular workpiece mandrel 4, ensure that the tension of multiple strands of yarn is consistent, and improve the weaving quality.

[0071] like Figure 2 , 3 As shown, in one embodiment, the follower support unit 3 includes:

[0072] Electric slide table 31 is installed on the other side of the circular braiding machine 1;

[0073] The slide plate 32 is driven by the drive device to slide on the electric slide plate 31.

[0074] Support frame 33 is installed on the top of slide plate 32. A lifting mechanism is connected to the support frame 33 and the lifting mechanism is electrically connected to the controller.

[0075] The second clamp 34 is rotatably connected to the top of the lifting mechanism and is connected to the other end of the irregular workpiece mandrel 4.

[0076] The working principle and beneficial effects of the above technical solution are as follows:

[0077] When the follow-up support unit 3 is in use, the drive device drives the slide plate 32 to move in the direction of the electric slide 31, which in turn drives the support frame 33 to move forward. The second clamp 34 fixes the other end of the irregular workpiece mandrel 4. The moving speed of the support frame 33 is coordinated with the moving speed of the multi-degree-of-freedom robot 26, so that the irregular workpiece mandrel 4 is always in a clamped state. The lifting mechanism lifts and lowers the second clamp 34, which works in conjunction with the multi-degree-of-freedom robot 26 to ensure that the irregular workpiece mandrel 4 is located at the center of the circular braiding machine 1. Through the above structural design, the follow-up support unit 3 is set on the other side of the circular braiding machine 1. When braiding large-sized workpieces, it can provide auxiliary support at one end of the irregular workpiece mandrel 4. Compared with the single-sided support and traction method of the robot, it can effectively prevent cantilever and deformation caused by excessive workpiece size and weight, reduce the shaking of the mandrel during the braiding process, make the braiding process more stable, and improve the quality of the finished product.

[0078] like Figure 2 As shown, in one embodiment, the guide rail 22 and the electric slide 31 are both symmetrical about the center of the circular braiding machine 1, and the extension direction of the guide rail 22 and the electric slide 31 is perpendicular to the end face of the circular braiding machine 1.

[0079] The working principle and beneficial effects of the above technical solution are as follows:

[0080] Both the guide rail 22 and the electric slide table 31 are symmetrical about the center of the circular braiding machine 1. With the center of the circular braiding machine 1 as the reference, it is convenient to control the movement of the multi-degree-of-freedom manipulator 26 and the support frame 33. The extension direction of the guide rail 22 and the electric slide table 31 is set perpendicular to the end face of the circular braiding machine 1, so that the feed direction of the irregular workpiece mandrel 4 is perpendicular to the end face of the circular braiding machine 1, improving the braiding efficiency and facilitating the control of the manipulator coordination device.

[0081] like Figure 4 As shown, in one embodiment, the irregular workpiece mandrel 4 is hollow, and the first clamp 28 and the second clamp 34 extend into the interior of the irregular workpiece mandrel 4.

[0082] The working principle and beneficial effects of the above technical solution are as follows:

[0083] The irregular workpiece mandrel 4 is hollow. By inserting the first clamp 28 and the second clamp 34 into the irregular workpiece mandrel 4, the irregular workpiece mandrel 4 can be quickly clamped and fixed. Furthermore, the hollow design of the irregular workpiece mandrel 4 effectively reduces its weight while maintaining the shape of the irregular workpiece, thereby reducing the load on the multi-degree-of-freedom robot 26 and the support frame 33, preventing the product from falling off during the weaving process, reducing production costs, and improving the reliability of the device.

[0084] In one embodiment, a connector 29 is fixedly connected to the first clamp 28. The connector 29 is hollow and extends into the interior of the irregular workpiece mandrel 4.

[0085] An auxiliary clamping unit is provided inside the connector 29. The auxiliary clamping unit includes a positioning unit and a support unit. The positioning unit includes:

[0086] Motor 52 is connected to the inner ring of connector 29 via bracket. A first rotating shaft 53 is connected to motor 52. A first gear 54 is connected to the first rotating shaft 53. A fixed plate 55 is rotatably connected to the first rotating shaft 53. A slide rod is horizontally connected to the fixed plate 55. A toothed plate 56 is slidably connected to the outside of the slide rod. Two rows of teeth are arranged side by side on the toothed plate 56. Connector 29 extends from the toothed plate 56. Motor 52 is electrically connected to controller.

[0087] Slip ring 51 is fixedly connected to the inner ring of connector 29 on the side away from first clamp 28. An annular groove 57 is provided in slip ring 51, and a slider 58 is slidably connected in annular groove 57.

[0088] Connecting frame 59 is fixedly connected to fixed plate 55. A second gear 510 and a worm gear 511 are connected to the connecting frame 59 via a third rotating shaft 516. Fixed plate 512 is connected to the bottom of the connecting frame 59. Fixed plate 512 is fixedly connected to slider 58. A distance sensor is connected to the connecting frame 59. The distance sensor is electrically connected to the controller.

[0089] The second rotating shaft 513 is fixedly connected to the first fixing plate 55. The second rotating shaft 513 passes through the second fixing plate 512. The second rotating shaft 513 is connected to the third gear 514 and the worm 515. The third gear 514 is meshed with the first gear 54. The worm 515 is meshed with the worm wheel 511. The second gear 510 is arranged on both sides of the worm 515.

[0090] Sliding sleeve 517 is slidably connected to the third rotating shaft 516. The second gear 510 is connected to the outer ring of the sliding sleeve 517. A magnetic block 518 is connected to the side of the sliding sleeve 517 away from the worm gear 511.

[0091] Electromagnetic block 519 is connected to the inside of the connecting frame 59. Electromagnetic block 519 is electrically connected to the controller. A spring connects electromagnetic block 519 and magnetic block 518.

[0092] The working principle and beneficial effects of the above technical solution are as follows:

[0093] The first clamp 28 is connected to the irregular workpiece mandrel 4 via a connector 29. Because the irregular workpiece mandrel 4 has an irregular shape, the connector 29 is relatively short to accommodate its clamping. The irregular workpiece mandrel 4 moves under the drive of the multi-degree-of-freedom manipulator 26. During this movement, due to the large size of the irregular workpiece mandrel 4 and the short length of the connector 29, the clamping becomes unstable. An auxiliary clamping unit is then used to further clamp the irregular workpiece mandrel 4. This auxiliary clamping unit includes a positioning unit and a support unit. When the positioning unit is in use, the controller starts the motor 52, which drives the first rotating shaft 53 to rotate. The movement causes the first gear 54 to rotate, and the first gear 54 meshes with the third gear 514 to drive the third gear 514 and the second rotating shaft 513 to rotate. The first rotating shaft 53 is coaxially arranged with the slip ring 51. The second rotating shaft 513 drives the fixed plate 2 512 and the slider 58 to rotate. The slider 58 slides in the annular groove 57, causing the connecting frame 59 to rotate around the center of the slip ring 51. The fixed plate 1 55 drives the toothed plate 56 to rotate. The distance sensor detects the distance from it to the inner wall of the irregular workpiece mandrel 4. After one rotation, the detection data of each position is transmitted to the controller to calculate the farthest distance that the support unit can extend.

[0094] When the connecting frame 59 and the toothed plate 56 rotate, the second gear 510 separates from the toothed plate 56. After the connecting frame 59 and the toothed plate 56 rotate one revolution, the controller energizes the electromagnetic block 519. The electromagnetic block 519 and the magnetic block 518 repel each other, pushing the sliding sleeve 517 to slide on the third rotating shaft 516, so that the second gear 510 meshes with the toothed plate 56. As the second rotating shaft 513 rotates, it drives the worm 515 to rotate, causing the worm wheel 511, the third rotating shaft 516 and the second gear 510 to rotate. The second gear 510 drives the toothed plate 56 to slide on the sliding rod, extending the support unit to the calculated farthest distance, and clamping the support unit onto the inner wall of the irregular workpiece mandrel 4 for auxiliary support.

[0095] Through the above structural design, a positioning unit is set inside the connector 29. The positioning unit can drive the distance sensor to rotate inside the irregular workpiece mandrel 4, identify and detect the bending state of the inner wall of the irregular workpiece mandrel 4, obtain the farthest distance that the support unit can extend, and control the support unit to extend while rotating, so that the support unit moves deeper into the irregular workpiece mandrel 4 and provides support. This extends the clamping length between the connector 29 and the irregular workpiece mandrel 4, and clamps the irregular workpiece mandrel 4 as deeply as possible. This solves the problem of the short length of the connector 29 for clamping irregular workpiece mandrel 4, reduces the instability of clamping during movement, improves the reliability of the connection, and can adapt to irregular workpiece mandrels 4 of different shapes.

[0096] In one embodiment, the support unit includes:

[0097] The limiting plate 61 is fixedly connected to the extension end of the toothed plate 56. Multiple ejection cavities 62 are evenly arranged in the circumferential direction inside the limiting plate 61. The first cavity 63 and the second cavity 64 are respectively connected to the two sides of the ejection cavity 62.

[0098] A support rod 65 is placed at an angle inside the first cavity 63. An electric tilting plate is connected to the inner wall of the first cavity 63 to push the support rod 65 into the ejection cavity 62. An electric push rod 66 is electrically connected to the controller. A wedge-shaped locking block 66 is connected to the side end of the first cavity 63 by a spring. The wedge-shaped locking block 66 is engaged with the inner side of the support rod 65. A roller is connected to the outer side of the support rod 65.

[0099] Push block 67 is slidably connected to the ejection cavity 62. A spring is connected between push block 67 and the inner wall of ejection cavity 62. Limit block 68 is slidably connected to the inner cavity of push block 67. A spring is connected between limit block 68 and the inner cavity of push block 67. Limit block 68 extends through push block 67 toward the second cavity 64. Limit hole 69 is connected between ejection cavity 62 and second cavity 64. Limit block 68 is engaged in limit hole 69.

[0100] A rotating rod 610 is hinged to the inner wall of the second cavity 64 at its middle. A push rod 611 and a push rod 612 are respectively hinged to both ends of the rotating rod 610. The push rod 611 extends into the ejection cavity 62, and the push rod 612 extends into the limiting hole 69 and contacts the limiting block 68. A spring connects the rotating rod 610 and the second cavity 64.

[0101] The working principle and beneficial effects of the above technical solution are as follows:

[0102] The inner wall cross-section of the irregularly shaped workpiece mandrel 4 is irregular in shape. Using a fixed-length support is significantly limited by the internal space of the mandrel 4 and requires high installation standards. When the support unit is in use, the controller activates the electric tilting plate to push the support rod 65 from the first cavity 63 into the ejection cavity 62. The support rod 65 contacts the push block 67 and disengages from the wedge-shaped locking block 66. The support rod 62 contacts the first push rod 611, pushing it into the second cavity 64, causing the rotating rod 610 to rotate, which in turn moves the second push rod 612 into the limiting hole 69, pushing... The limiting block 68 retracts into the inner cavity of the push block 67, and the push block 67 disengages from the limiting plate 62. Under the action of the spring, the support rod 65 is ejected from the ejection cavity 62, so that the roller on the support rod 65 presses against the inner wall of the irregular workpiece mandrel 4, thus supporting and fixing the inner wall of the irregular workpiece mandrel 4. When the device is subjected to vibration, the wedge-shaped locking block 66 shakes. When the vibration is more severe, the wedge-shaped locking block 66 shakes under the action of the spring, causing the support rod 65 to disengage from the wedge-shaped locking block 66. The support rod 65 is ejected, providing emergency support to the inner wall of the irregular workpiece mandrel 4 to prevent the irregular workpiece mandrel 4 from falling off due to vibration.

[0103] Through the above structural design, the support unit adopts a pop-out structure. Multiple support rods 65 contact the inner wall of the irregular workpiece mandrel 4, effectively achieving multi-directional support and fixation of the irregular workpiece mandrel 4, improving the support stability of the irregular workpiece mandrel 4. The support rods 65 are pushed out by springs, allowing the support rods 65 to adapt to the cross-section of irregular workpiece mandrel 4 with different shapes, breaking through the limitation of the inner wall shape of the irregular workpiece mandrel 4 on the length of the support rods 65. The support unit can be installed at any angle. At the same time, when the vibration amplitude is large, the support rods 65 are automatically popped out, improving the safety protection performance, effectively avoiding the irregular workpiece mandrel 4 from falling off due to vibration, and improving the clamping reliability of the irregular workpiece mandrel 4.

[0104] In one embodiment, the robotic arm coordination device for processing irregularly shaped workpieces on a weaving machine further includes a safety protection device, which includes:

[0105] Two first force sensors are respectively connected to the ends of the first clamp 28 and the second clamp 34 to detect the axial force at both ends of the irregular workpiece mandrel 4.

[0106] Two second force sensors are respectively connected to the top and bottom of the first clamp 28 to detect the pressure at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the first clamp 28. Two second force sensors are respectively connected to the top and bottom of the second clamp 34 to detect the pressure at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the second clamp 34.

[0107] An alarm is used to alert for abnormal conditions of the irregularly shaped workpiece mandrel 4.

[0108] The first force sensor, the second force sensor, and the alarm are electrically connected to the controller. The controller assesses the risk of the irregularly shaped workpiece mandrel 4 falling off using a preset algorithm, and controls the alarm to sound based on the assessment result. The preset algorithm includes the following steps:

[0109] Step A1: The first force sensor detects the axial force at both ends of the irregular workpiece mandrel 4 and transmits the detection data to the controller;

[0110] Step A2: The second force sensor detects the pressure at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the first clamp 28, and the pressure at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the second clamp 34, and transmits the detection data to the controller;

[0111] Step A3: The controller calculates the risk factor K for the detachment of the irregularly shaped workpiece mandrel 4 as follows:

[0112]

[0113] in, The axial force exerted on the connection end between the irregularly shaped workpiece mandrel 4 and the first clamp 28 is detected by the first force sensor. The axial force exerted on the connection end between the irregularly shaped workpiece mandrel 4 and the second clamp 34 is detected by the first force sensor. for and The maximum value, The length by which the connecting end of the first clamp 28 extends into the mandrel 4 of the irregularly shaped workpiece. The length by which the connecting end of the second clamp 34 extends into the mandrel 4 of the irregularly shaped workpiece. for and The minimum value, , The pressures at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the first clamp 28 are respectively obtained by the second force sensor. , The pressures at the top and bottom of the connection end between the irregular workpiece mandrel 4 and the second fixture 34 are respectively obtained by the second force sensor. for , , , The maximum value in, To find the range function, used to calculate the difference between the maximum and minimum values, The vertical distance from the connection end of the irregular workpiece mandrel 4 and the first clamp 28 to the center of the braiding machine. The vertical distance from the connection end of the irregular workpiece mandrel 4 and the second clamp 34 to the center of the braiding machine;

[0114] Step A4: When the detachment risk coefficient K is greater than the preset value K m When the risk of the irregularly shaped workpiece mandrel 4 falling off is indicated, the controller will activate the alarm to alert personnel to perform maintenance. If the risk coefficient K is less than the preset value K... m If the non-standard workpiece mandrel 4 is installed stably, no further prompts will be given.

[0115] The working principle and beneficial effects of the above technical solution:

[0116] The irregularly shaped workpiece mandrel 4 is clamped at both ends by the first clamp 28 and the second clamp 34. When the irregularly shaped workpiece mandrel 4 is being braided, instability in the clamping of the mandrel 4 can occur as it is fed, potentially causing it to detach. To address this, a safety protection device is installed. A first force sensor and a second force sensor detect the axial force and vertical pressure on the irregularly shaped workpiece mandrel 4. Taking into account the length of the clamps extending into the mandrel 4 and the distance between the mandrel 4 and the center of the braiding machine, a detachment risk coefficient is calculated to assess the installation status of the mandrel 4 and avoid misjudgments caused by relying solely on pressure data. When the detachment risk coefficient K exceeds a preset value K... m When the controller detects the risk of the irregular workpiece mandrel 4 falling off, it will activate the alarm and prompt the staff to carry out maintenance. This effectively monitors the clamping status of the irregular workpiece mandrel 4, automatically issues a warning of falling off, improves the safety and reliability of the device, and eliminates the need for manual supervision.

[0117] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0118] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0119] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine, characterized in that, include: A circular braiding machine is used to braid irregularly shaped workpieces, with the mandrel of the irregularly shaped workpiece passing through the circular braiding machine. The robotic arm unit and the follower support unit are respectively arranged on both sides of the circular braiding machine; The irregularly shaped workpiece mandrel is hollow. The robotic arm unit includes a first clamp and the follower support unit includes a second clamp. The first clamp and the second clamp extend into the interior of the irregularly shaped workpiece mandrel to clamp both ends of the mandrel. A hollow connector is connected to the first clamp, and the connector extends into the interior of the irregularly shaped workpiece mandrel. The connector is equipped with an auxiliary clamping unit, which includes a positioning unit. The positioning unit includes: The motor is connected to the inner ring of the connector via a bracket. A first rotating shaft is connected to the motor. A first gear is connected to the first rotating shaft. A fixed plate is rotatably connected to the first rotating shaft. A slide rod is horizontally connected to the fixed plate. A toothed plate is slidably connected to the outside of the slide rod. Two rows of teeth are arranged side by side on the toothed plate and extend out to the connector. A slip ring is connected to the inner ring of the connector on the side away from the first clamp. The slip ring has an annular groove, and a slider is slidably connected in the annular groove. A connecting frame is connected to a fixed plate one. A second gear and a worm gear are connected to the connecting frame via a third rotating shaft. A fixed plate two is connected to the bottom of the connecting frame. The fixed plate two is connected to the slider. A distance sensor is connected to the connecting frame. The second rotating shaft is connected to the first fixed plate and passes through the second fixed plate. The second rotating shaft is connected to the third gear and the worm. The third gear meshes with the first gear, and the worm meshes with the worm wheel. The second gear is arranged on both sides of the worm. The sliding sleeve is slidably connected to the third rotating shaft, the second gear is connected to the outer ring of the sliding sleeve, and a magnetic block is connected to the side of the sliding sleeve away from the worm gear; An electromagnetic block is connected to the inside of the connecting frame, and a spring connects the electromagnetic block and the magnetic block.

2. The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to claim 1, characterized in that, The circular knitting machine is connected to a support frame, and a base is connected to the bottom of the support frame. Inside the circular knitting machine, several dials are evenly connected along the circumference. Warp yarn bobbins and weft yarn bobbins are connected to the dials. The dials drive the warp yarn bobbins and weft yarn bobbins to move in a figure-eight pattern.

3. The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to claim 2, characterized in that, The circular braiding machine has braiding rings on both sides. The braiding rings are connected to the end face of the circular braiding machine through braiding ring brackets. The braiding rings are arranged coaxially with the circular braiding machine. The yarn passes through the braiding rings and is wound around the mandrel of the irregular workpiece.

4. The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to claim 1, characterized in that, The robotic arm unit includes: The platform base is installed on one side of the circular braiding machine. Two parallel guide rails are connected to the top of the platform base. A lead screw is installed between the two guide rails. One end of the lead screw is connected to a servo motor, which is electrically connected to the controller. The traction platform is slidably connected to the guide rail and is connected to the lead screw through the threaded hole at the bottom end. A multi-degree-of-freedom manipulator is installed on the traction platform. A chuck is connected to the output end of a multi-degree-of-freedom robot. A first clamp is connected to the chuck, and the first clamp is connected to one end of the mandrel of the irregular workpiece.

5. The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to claim 4, characterized in that, The follow-up support unit includes: An electric slide table is installed on the other side of the circular braiding machine, and a slide plate is slidably connected to the top of the electric slide table. A support frame is installed on the top of the slide plate, and a lifting mechanism is connected to the support frame. The lifting mechanism is electrically connected to the controller. The second clamp is rotatably connected to the top of the lifting mechanism, and the second clamp is connected to the other end of the mandrel of the irregular workpiece.

6. The robotic arm collaborative device for processing irregularly shaped workpieces on a braiding machine according to claim 5, characterized in that, Both the guide rail and the electric slide are symmetrical about the center of the circular braiding machine, and the extension direction of the guide rail and the electric slide is set perpendicular to the end face of the circular braiding machine.

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