A visual positioning and grabbing module of an automatic doffer robot

Abstract

The present application relates to the technical field of textile processing, in particular to a visual positioning and grabbing module of an automatic doffing robot, comprising a lower rod and an upper rod, the lower rod and the upper rod being connected through a mounting plate; when the mounting plate is installed on the mechanical arm, the mechanical arm can drive the mounting plate to move or rotate; when the end plate at the end of the lower rod contacts the barrel cover at the top end of the yarn barrel, the rotary clamping jaw clamps the nut on the barrel cover and rotates and loosens the barrel cover; at this time, the movement of the mechanical arm can take down the barrel cover; then the mechanical arm drives the support jaw at the end of the upper rod to be inserted into the inner tube of the spindle in the yarn barrel, the support jaw is simultaneously expanded outward and clamped on the inner wall of the inner tube of the spindle, so that the spindle can be taken out upward from the yarn barrel, the grabbing is automatically realized through visual positioning, manual assistance is no longer needed in the process of taking out the spindle, more manpower is saved, and damage of the appliance caused by manual carrying is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textile processing, in particular to a visual positioning and grabbing module of an automatic doffing robot. BACKGROUND

[0002] Wool yarn refers to yarn made of wool, which is very soft and thin, and warm, so it can be used as a material for close-fitting clothes. In the production process of wool yarn, the spindles made of wool need to be dyed.

[0003] After the dyeing work of the spindles is completed and the yarn barrel is moved to the unloading area, the nut on the yarn barrel cover needs to be manually rotated by hand, and the yarn barrel cover is removed. Then the spindles are clamped out of the yarn barrel using a cantilever crane. The cantilever crane needs to be manually straightened and opened to be placed on the yarn frame trolley, resulting in a large amount of manpower required for the process of grabbing the spindles. Long-term work in a hot and humid environment with high intensity can cause physical discomfort. In addition, the use of instruments on site can be easily damaged by manual handling. SUMMARY

[0004] Based on the deficiencies of the prior art mentioned in the above background art, the present application provides a visual positioning and grabbing module of an automatic doffing robot.

[0005] The present application overcomes the above technical problems by adopting the following technical solutions, specifically:

[0006] A visual positioning and grabbing module of an automatic doffing robot, comprising a lower rod and an upper rod, the lower rod and the upper rod being connected by a mounting plate, one end of the lower rod away from the mounting plate being connected with an end plate, a plurality of groups of rotating clamps being provided at the middle position of the end plate, a plurality of groups of grabbing clamps being provided at the edge of the end plate, and a plurality of groups of supporting clamps being installed at one end of the upper rod away from the mounting plate.

[0007] Among them, a rotating and twisting component is provided between the lower rod and the rotating clamps, and a horizontal pushing component is provided between the lower rod and the grabbing clamps.

[0008] A visual detector is installed on the mounting plate.

[0009] As a further scheme of the present application, the rotating and twisting component comprises an electric motor slidingly arranged at the middle position of the end plate, and a rotating plate fixedly connected to one end of the output shaft of the electric motor.

[0010] Among them, a plurality of groups of rotating clamps are fixedly connected to the surface of the rotating plate, and a lifting component for controlling the up and down sliding of the electric motor is provided between the lower rod and the electric motor.

[0011] As a further further scheme of the present application: the lifting assembly comprises a motorized slide rail mounted on the end plate, a sliding block slidingly arranged on the motorized slide rail, and a sliding connecting frame connected to the sliding block and connected to the motor.

[0012] As a further further scheme of the present application: the end portion of the motorized slide rail is provided with a limiting plate for limiting the position of the sliding block.

[0013] As a further further scheme of the present application: the horizontal pushing assembly comprises a plurality of groups of first supports fixedly connected to the edge positions of the end plate, and a pneumatic slide table mounted at one end of the first supports.

[0014] Among them, the grabbing clamps are slidingly mounted on the pneumatic slide table.

[0015] As a further further scheme of the present application: the bottom end of the end plate is connected with a plurality of groups of second supports, and a travel switch is mounted on the second supports, and a buffer touch pad is arranged on the travel switch.

[0016] As a further further scheme of the present application: the surface of the supporting claw is provided with a groove.

[0017] After adopting the above structure, compared with the prior art, the present application has the following advantages: when the mounting plate is mounted on the mechanical arm, the mechanical arm can drive the mounting plate to move or rotate, when the end plate at the lower rod end contacts the barrel cover at the top end of the yarn barrel, the rotating clamps can clamp the nuts on the barrel cover and rotate and loosen the barrel cover, the grabbing clamps can simultaneously expand outward to clamp the barrel cover from the inside, at this time the mechanical arm can take down the barrel cover, then the mechanical arm drives the supporting claw at the upper rod end to insert into the inner tube of the spindle in the yarn barrel, the supporting claw simultaneously expands outward and is clamped on the inner wall of the inner tube of the spindle, so that the spindle can be taken out from the yarn barrel, the automatic grabbing is realized through visual positioning, manual assistance is no longer needed in the process of taking out the spindle, a lot of manpower is saved, and damage of the appliance caused by manual carrying is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is a structural schematic diagram of the working state of the present application.

[0019] Fig. 2 It is a structural appearance schematic diagram of the present application.

[0020] Fig. 3 It is an enlarged view of A in the present application.

[0021] Fig. 4 It is a structural schematic diagram of the rotating and loosening assembly of the present application.

[0022] Fig. 5 It is a structural schematic diagram of the horizontal pushing assembly of the present application.

[0023] In the figure: 1, lower rod; 2, upper rod; 3, end plate; 4, rotating clamp jaw; 5, grabbing clamp jaw; 6, supporting jaw; 7, motor; 8, rotating plate; 9, electric sliding rail; 10, sliding block; 11, sliding connection frame; 12, limiting plate; 13, first support; 14, pneumatic sliding table; 15, second support; 16, travel switch; 17, buffer touch pad; 18, mounting plate; 19, visual detector; 20, groove. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0025] Please refer to Figs. 1-5 In the embodiments of the present application, a visual positioning and grabbing module of an automatic doffing robot comprises a lower rod 1 and an upper rod 2, the lower rod 1 and the upper rod 2 are connected through a mounting plate 18, one end of the lower rod 1 away from the mounting plate 18 is connected with an end plate 3, a plurality of groups of rotating clamp jaws 4 are arranged at the middle position of the end plate 3, a plurality of groups of grabbing clamp jaws 5 are arranged at the edge part of the end plate 3, and a plurality of groups of supporting jaws 6 are installed at one end of the upper rod 2 away from the mounting plate 18.

[0026] Among them, a rotating and twisting assembly is arranged between the lower rod 1 and the rotating clamp jaw 4, a horizontal pushing assembly is arranged between the lower rod 1 and the grabbing clamp jaw 5, and a visual detector 19 is installed on the mounting plate 18, through the visual detector 19, the position of the yarn barrel and the barrel cover can be determined, so that the mechanical arm can automatically move above the yarn barrel for grabbing, manual operation is saved, and automatic operation is realized.

[0027] The lower rod 1 and the upper rod 2 are connected to each other through the mounting plate 18 and are mounted on the mechanical arm, so that the mounting plate 18 can be driven by the mechanical arm to move the whole lower rod 1 and upper rod 2, when the yarn spool in the yarn barrel needs to be taken out after the setting and dyeing process is completed, the mechanical arm drives the mounting plate 18 to move to the upper side of the yarn barrel and rotate, so that the end plate 3 at the end of the lower rod 1 is opposite to the middle of the yarn barrel below, the end plate 3 is aligned and contacted to the top end of the yarn barrel, and at the same time, the plurality of groups of rotating clamping jaws 4 at the middle position of the end plate 3 are clamped to the nut edge in the middle of the yarn barrel, at this time, the rotating and twisting assembly can drive the plurality of groups of rotating clamping jaws 4 to rotate and move upward at the same time, the plurality of groups of rotating clamping jaws 4 clamping the nut on the barrel cover can rotate and loosen the barrel cover and move upward with the barrel cover, when the barrel cover on the yarn barrel is completely loosened, the horizontal moving assembly can control the plurality of groups of grabbing clamping jaws 5 at the edge of the end plate 3 to horizontally extend to the outside of the end plate 3 or horizontally contract to the inside of the end plate 3, after the barrel cover is loosened, the horizontal moving assembly drives the plurality of groups of grabbing clamping jaws 5 at the edge position of the end plate 3 to horizontally extend to the outside of the end plate 3, at this time, the plurality of groups of grabbing clamping jaws 5 stretched out to the outside of the end plate 3 can be simultaneously supported on the edge position inside the circular groove on the surface of the yarn cover, so as to clamp the yarn cover from the inside, the plurality of groups of rotating clamping jaws 4 clamping the yarn cover can take the yarn cover from the yarn barrel, then the mechanical arm drives the mounting plate 18 to rotate 180°, so that the end of the upper rod 2 is opposite to the middle of the yarn barrel below, the upper rod 2 is controlled to move downward, so that the supporting jaw 6 is inserted into the inner tube of the yarn spool in the yarn barrel, the supporting jaw 6 at the end of the upper rod 2 is stretched out and clamped on the inner wall of the inner tube of the yarn spool at the same time, the mechanical arm drives the mounting plate 18 to move upward, so that the yarn spool can be taken out from the yarn barrel and placed in a designated position.

[0028] In an embodiment of the present application, the rotating and twisting assembly comprises a motor 7 slidingly arranged at the middle position of the end plate 3, and a rotating plate 8 fixedly connected to one end of the output shaft of the motor 7;

[0029] Wherein, the plurality of groups of rotating clamping jaws 4 are fixedly connected to the surface of the rotating plate 8, and a lifting assembly for controlling the motor 7 to slide up and down is arranged between the lower rod 1 and the motor 7;

[0030] The motor 7 can drive the rotating plate 8 to rotate at a constant speed, thereby driving the plurality of groups of rotating clamping jaws 4 distributed on the surface of the rotating plate 8 to rotate at the same time, when the rotating clamping jaws 4 are embedded in the nut edge on the cover, the cover can be loosened by rotating the rotating clamping jaws 4, at the same time, the lifting assembly can drive the motor 7 to rise at a constant speed, so that the rotating clamping jaws 4 can move upward with the nut and the cover, so as to ensure that the rotating clamping jaws 4 can always be in close contact with the nut on the cover while loosening the cover.

[0031] In another embodiment of the present application, the lifting assembly comprises a motorized slide rail 9 mounted on the end plate 3, a sliding block 10 arranged on the motorized slide rail 9, and a sliding connecting frame 11 connected to the sliding block 10 and connected to the motor 7;

[0032] The sliding block 10 can be uniformly lifted or lowered along the surface of the motorized slide rail 9 by starting the motorized slide rail 9, and can move upward along with the cap nut during the process of being rotated and loosened.

[0033] In another embodiment of the present application, the end of the motorized slide rail 9 is provided with a limiting plate 12 for limiting the position of the sliding block 10;

[0034] The limiting plate 12 is arranged at the top end of the motorized slide rail 9, and can limit the moving stroke of the sliding block 10 during the process of being lifted along the motorized slide rail 9, so as to prevent the sliding block 10 from moving out of the range of the motorized slide rail 9 and falling off.

[0035] In another embodiment of the present application, the horizontal pushing assembly comprises a plurality of first supports 13 fixedly connected to the edge position of the end plate 3, and a pneumatic slide table 14 mounted at one end of the first support 13;

[0036] The grabbing clamps 5 are all slidingly mounted on the pneumatic slide table 14.

[0037] The plurality of pneumatic slide tables 14 are distributed at the edge position of the end plate 3, and the distance from the plurality of pneumatic slide tables 14 to the center point of the end plate 3 is equal. By synchronously starting the plurality of pneumatic slide tables 14, the plurality of pneumatic slide tables 14 can synchronously drive the grabbing clamps 5 to horizontally expand outward of the end plate 3 or to horizontally contract inward of the end plate 3.

[0038] In another embodiment of the present application, the bottom end of the end plate 3 is connected with a plurality of second supports 15, the second supports 15 are mounted with travel switches 16, and the travel switches 16 are provided with buffer contact pads 17;

[0039] The second supports 15 can fix the travel switches 16, and the buffer contact pads 17 are arranged at the bottom end position of the travel switches 16. When the end plate 3 moves downward and approaches the cover of the yarn barrel, the plurality of rotating clamps 4 at the middle part of the end plate 3 are clamped at the edge of the nut in the middle of the yarn barrel, and at the same time, the buffer contact pads 17 at the bottom end of the travel switches 16 contact the cover. The buffer contact pads 17 are pushed into the travel switches 16 under the extrusion, and the travel switches 16 send signals after the buffer contact pads 17 contact the contact points in the travel switches 16, so as to control the rotating driving assembly on the end plate 3 to drive the rotating clamps 4 to rotate and drive the nut on the cover.

[0040] When the mechanical arm drives the installation plate 18 to move, the visual detector 19 can identify the bung below and transmit the coordinates of the bung to the mechanical arm, so that the mechanical arm drives the end plate 3 to accurately align the center position of the bung and move downward to contact the bung.

[0041] In still another embodiment of the present application, the surfaces of the supporting claws 6 are provided with grooves 20.

[0042] When the upper rod 2 moves downward to make the supporting claws 6 inserted into the center top end position of the spindle inner tube in the yarn barrel, the grooves 20 on the supporting claws 6 are flush with the top end protruding opening of the inner wall of the spindle inner tube, and when the supporting claws 6 are simultaneously pried outward, the grooves 20 can be inserted into the protruding grooves of the spindle inner tube, so that the supporting claws 6 can firmly clamp the spindle inner tube, avoiding the spindle inner tube from falling off when the spindle inner tube is moved.

[0043] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application.

Claims

1. A visual positioning and grasping module for an automatic doffing robot, comprising a lower rod (1) and an upper rod (2), characterized in that, The lower rod (1) and the upper rod (2) are connected by a mounting plate (18). The lower rod (1) is connected to an end plate (3) at the end away from the mounting plate (18). Several sets of rotating claws (4) are provided in the middle of the end plate (3). The rotating claws (4) are used to hold the nuts on the barrel lid and rotate the barrel lid to loosen it. Several sets of gripping claws (5) are provided at the edge of the end plate (3). The gripping claws (5) are used to support the edge of the circular groove on the surface of the yarn barrel lid. Several sets of support claws (6) are installed at the end of the upper rod (2) away from the mounting plate (18). A rotating twisting component is provided between the lower rod (1) and the rotating gripper (4), and a horizontal pushing component is provided between the lower rod (1) and the gripping gripper (5); The horizontal pushing assembly includes several sets of first brackets (13) fixedly connected to the edge of the end plate (3) and a pneumatic slide (14) installed at one end of the first bracket (13); wherein the gripping claws (5) are all slidably installed on the pneumatic slide (14). A visual detector (19) is mounted on the mounting plate (18).

2. The visual positioning and grasping module of an automatic doffing robot according to claim 1, characterized in that, The rotating and twisting assembly includes a motor (7) slidably disposed in the middle of the end plate (3) and a rotating plate (8) fixedly connected to one end of the output shaft of the motor (7); Among them, several sets of rotating grippers (4) are fixedly connected to the surface of the rotating plate (8), and a lifting assembly for controlling the up and down sliding of the motor (7) is provided between the lower rod (1) and the motor (7).

3. The visual positioning and grasping module of an automatic doffing robot according to claim 2, characterized in that, The lifting assembly includes an electric slide rail (9) mounted on the end plate (3), a slider (10) slidably disposed on the electric slide rail (9), and a sliding link (11) connected to the slider (10) and connected to the motor (7).

4. The visual positioning and grasping module of an automatic doffing robot according to claim 3, characterized in that, The end of the electric slide rail (9) is provided with a limiting plate (12) for limiting the position of the slider (10).

5. The visual positioning and grasping module of an automatic doffing robot according to claim 1, characterized in that, The bottom end of the end plate (3) is connected to several sets of second brackets (15), and a limit switch (16) is installed on the second bracket (15). A buffer pad (17) is provided on the limit switch (16).

6. The visual positioning and grasping module of an automatic doffing robot according to claim 1, characterized in that, The surface of each support claw (6) is provided with grooves (20).

Images