A dye dispensing robot and dispensing system

Abstract

The application belongs to the technical field of acceleration detection, and in particular to a dye distribution mechanical arm and distribution system, which comprises a mechanical arm, an electric sliding rail capable of moving the mechanical arm, a mechanical clamp capable of self-rotation is installed at the end of the mechanical arm, an acceleration detection device is fixedly installed at one end of the mechanical arm close to the mechanical clamp, the acceleration detection device comprises a fixed shell, a detection liquid, a floating shell, a lightweight arc-shaped rod, an arc-shaped support, a permanent magnet and a Hall sensor, and the acceleration detection device fixedly installed at one end of the mechanical arm close to the mechanical arm can solve the problem of how to obtain better acceleration when the liquid is moving. The acceleration is not a simple linear acceleration, and the complex calculation of the acceleration curve at each moving angle can be avoided, and the suitable acceleration with better acceleration can be directly detected, so that the working efficiency can be improved while ensuring the good stability of the liquid during movement.

Description

Technical Field

[0001] This invention belongs to the field of acceleration detection technology, specifically relating to a dye delivery robotic arm and delivery system. Background Technology

[0002] Traditional manual movement of dye basins is time-consuming, labor-intensive, and prone to dye mixing during various stages. Furthermore, the movement of dye basins is not stable enough. Robotic arms, mechanical grippers, and electrically powered guide rails that enable the robotic arms to move can replace manual grippers in moving and transporting dye basins, thus solving the problem of time-consuming and labor-intensive transfer of dye basins at various stages. However, when moving dye basins with robotic arms, there is a possibility of spillage due to excessively high acceleration. If the acceleration is too slow, it will affect work efficiency. Summary of the Invention

[0003] To address the problems mentioned in the background section, this invention provides a dye delivery robotic arm and delivery system, which addresses the challenge of achieving optimal acceleration when moving liquids.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a dye delivery robotic arm and delivery system, comprising a robotic arm and an electric slide rail capable of moving the robotic arm, wherein a self-rotating mechanical clamp is installed at the end of the robotic arm, and an acceleration detection device is fixedly installed at the end of the robotic arm near the mechanical clamp.

[0005] The acceleration detection device includes a fixed outer shell, a detection liquid, a floating shell, a lightweight arc-shaped rod, an arc-shaped support, a permanent magnet, and a Hall sensor. The fixed outer shell is fixedly installed on the outside of the robotic arm near the mechanical clamp. The detection liquid is disposed on the inside of the fixed outer shell. Multiple floating shells arranged in a ring at equal intervals float on the surface of the detection liquid. A lightweight arc-shaped rod is fixedly installed at the top of the floating shell. An arc-shaped support is slidably installed on the outside of the lightweight arc-shaped rod. A Hall sensor is fixedly connected to the inside of the arc-shaped support. Permanent magnets arranged at equal intervals are fixed to the inside of the lightweight arc-shaped rod.

[0006] In a preferred embodiment of the dye delivery robotic arm of the present invention, the magnetic forces of the plurality of permanent magnets are different.

[0007] As a preferred embodiment of the dye delivery robotic arm of the present invention, the top end of the lightweight arc-shaped rod is fixedly connected to a limiting head, and a groove is provided at the center of the bottom of the floating shell.

[0008] As a preferred embodiment of the dye delivery robotic arm of the present invention, the acceleration detection device further includes a spherical shell and a steel ball, the detection liquid is disposed inside the spherical shell, and the spherical shell is rotatably mounted inside the fixed outer shell by the steel ball.

[0009] As a preferred embodiment of the dye delivery robotic arm of the present invention, the acceleration detection device further includes a first motor, a rotating wheel bracket, a rotating shaft, a rubber wheel, a second motor, a first external toothed pulley, an internal toothed belt, and a second external toothed pulley. The first motor is fixedly installed on the inner side of one end of the fixed housing. The rotating wheel bracket is fixedly connected to the end of the main shaft of the first motor. The rotating shaft is rotatably connected to one end of the rotating wheel bracket. A rubber wheel is fixedly connected to the outer end face of the rotating shaft. One end of the rubber wheel is rotatably connected to the outer side of the spherical housing. The second motor is fixedly connected to the inner side of the rotating wheel bracket. The first external toothed pulley is fixedly connected to the end of the main shaft of the second motor. An internal toothed belt is meshed with the outer side of the first external toothed pulley. The bottom end of the internal toothed belt is meshed with the second external toothed pulley. The center position of one end of the second external toothed pulley is fixedly connected to the outer side of one end of the rotating shaft.

[0010] As a preferred embodiment of the dye delivery robotic arm of the present invention, the acceleration detection device further includes a bottom fixed block, a horizontal moving block, and a spherical sliding plate. The bottom fixed block is fixedly connected to the inner side of one end of the spherical shell, the horizontal moving block is slidably connected to the inner side of the bottom fixed block, and the spherical sliding plate is slidably connected to the inner side of one end of the horizontal moving block. The center position of the spherical sliding plate is the same as the center position of the spherical shell.

[0011] As a preferred embodiment of the dye delivery robotic arm of the present invention, the acceleration detection device further includes a first non-elastic draw rope, a first counterweight, a first tension spring, a first tension sensor, a second non-elastic draw rope, a second counterweight, a second tension spring, and a second tension sensor. The bottom end of the spherical sliding plate is fixedly connected to the first non-elastic draw rope. The bottom end of the first non-elastic draw rope is fixedly connected to a first counterweight that can slide inside the horizontal moving block. The bottom end of the first counterweight is fixedly connected to a first tension spring. The bottom end of the first tension spring is fixedly connected to a first tension sensor. The first tension sensor is fixedly installed inside one end of the horizontal moving block. The bottom end of the horizontal moving block is fixedly connected to a second non-elastic draw rope. The bottom end of the second non-elastic draw rope is fixedly connected to a second counterweight that can slide inside the bottom fixed block. The bottom end of the second counterweight is fixedly connected to a second tension spring. The bottom end of the second tension spring is fixedly connected to a second tension sensor. The second tension sensor is fixedly installed inside the bottom fixed block.

[0012] As a preferred embodiment of the dye delivery robotic arm of the present invention, the acceleration detection device further includes a hollow column, a fixed plate, a rotating bracket, a rotating ball, a rigid rod, a counterweight conductive cone, and an elastic conductive needle. A hollow column is fixedly connected to the inner side of one end of the spherical shell, the axis of the hollow column being perpendicular to the plane of the bottom fixed block. A fixed plate is fixedly connected to the outer side of the hollow column, and the outer side of the fixed plate is fixedly connected to the outer side of one end of the arc-shaped bracket. A rotating bracket is fixedly connected to the inner side of the top of the hollow column, and a rotating ball is rotatably connected to the inner side of one end of the rotating bracket. A rigid rod is fixedly connected to the bottom end of the rotating ball, and a counterweight conductive cone is fixedly connected to the bottom end of the rigid rod. An elastic conductive needle is fixedly connected at the center of the inner side of the bottom end of the hollow column, and the top end of the elastic conductive needle can contact the bottom end of the counterweight conductive cone.

[0013] A dye delivery system using a robotic arm includes a scanning and positioning module on the robotic arm that, via a PLC, identifies and stores the dye basins, accurately positions and identifies their locations, and transfers the dye basins to an automatic material preparation and production area, a mixing container, a washing and drying area, and a material preparation area to form a closed loop. After dissolution, the dye solution is delivered to a designated machine via pumps and pipelines. The robotic arm, controlled by a control system, can perform actions such as handling, pouring, clamping, and releasing. It has clamping force detection to ensure that the dye basins are firmly clamped. The dye basins are placed on a vertical automatic material preparation rack with dye basin sensing, fixing, and positioning structures.

[0014] Compared with the prior art, the beneficial effects of the present invention are: by fixing an acceleration detection device on the outer side of the end of the robotic arm near the mechanical gripper, the problem of how to obtain a better acceleration when moving liquid can be solved. This acceleration is not a simple linear acceleration. It can eliminate the need for complicated pre-calculation of acceleration curves at various movement angles, and can directly detect a suitable acceleration with better performance. While ensuring good stability of the liquid during movement, it can improve work efficiency. Attached Figure Description

[0015] 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:

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the acceleration detection device in this invention;

[0018] Figure 3 In this invention Figure 2 An enlarged structural diagram at point A;

[0019] Figure 4 This is a schematic diagram of the installation structure of the lightweight arc-shaped rod in this invention;

[0020] Figure 5 In this invention Figure 4 A magnified structural diagram at point B;

[0021] Figure 6 This is a schematic diagram of the internal structure of the bottom fixing block in this invention;

[0022] Figure 7 In this invention Figure 6 A magnified structural diagram at point C;

[0023] Figure 8 This is a schematic diagram of the internal structure of the hollow column in this invention.

[0024] In the picture:

[0025] 1. Robotic arm; 2. Electric slide rail; 3. Mechanical clamp;

[0026] 4. Acceleration detection device;

[0027] 41. Fixed housing; 411. Detection fluid; 412. Floating housing; 413. Lightweight curved rod; 414. Curved bracket; 415. Permanent magnet; 416. Hall sensor;

[0028] 417. Limiting head; 418. Groove;

[0029] 42. Spherical shell; 421. Steel ball;

[0030] 422. First motor; 423. Rotary wheel bracket; 424. Rotary shaft; 425. Rubber wheel; 426. Second motor; 427. First external toothed pulley; 428. Internal toothed belt; 429. Second external toothed pulley;

[0031] 43. Bottom fixed block; 431. Horizontal moving block; 432. Spherical sliding piece;

[0032] 433. First non-elastic draw rope; 434. First counterweight; 435. First tension spring; 436. First tension sensor; 437. Second non-elastic draw rope; 438. Second counterweight; 439. Second tension spring; 4391. Second tension sensor;

[0033] 44. Hollow column; 441. Fixed plate; 442. Rotating bracket; 443. Rotating ball; 444. Rigid rod; 445. Counterweight conductive cone; 446. Elastic conductive needle. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figure 1-8 As shown:

[0036] A dye delivery robotic arm 1 includes a robotic arm 1 and an electric slide rail 2 that enables the robotic arm 1 to move. A self-rotating mechanical clamp 3 is installed at the end of the robotic arm 1, and an acceleration detection device 4 is fixedly installed at the end of the robotic arm 1 near the mechanical clamp 3.

[0037] The acceleration detection device 4 includes a fixed housing 41, a detection liquid 411, a floating housing 412, a lightweight arc-shaped rod 413, an arc-shaped bracket 414, a permanent magnet 415, and a Hall sensor 416. The fixed housing 41 is fixedly installed on the outside of the robotic arm 1 near the mechanical clamp 3. The detection liquid 411 is provided on the inside of the fixed housing 411. Multiple floating housings 412 are arranged in a ring at equal intervals on the surface of the detection liquid 411. The lightweight arc-shaped rod 413 is fixedly installed at the top of the floating housing 412. The arc-shaped bracket 414 is slidably installed on the outside of the lightweight arc-shaped rod 413. The Hall sensor 416 is fixedly connected to the inside of the arc-shaped bracket 414. The permanent magnets 415 are fixedly arranged at equal intervals on the inside of the lightweight arc-shaped rod 413.

[0038] Furthermore;

[0039] In an optional embodiment, the magnetic forces of the plurality of permanent magnets 415 are different.

[0040] In an optional embodiment, a limiting head 417 is fixedly connected to the top end of the lightweight arc-shaped rod 413, and a groove 418 is provided at the bottom center of the floating shell 412.

[0041] In an optional embodiment, the acceleration detection device 4 further includes a spherical shell 42 and a steel ball 421, with a detection liquid 411 disposed inside the spherical shell 42. The spherical shell 42 is rotatably mounted inside the fixed outer shell 41 via the steel ball 421.

[0042] In an optional embodiment, the acceleration detection device 4 further includes a first motor 422, a wheel bracket 423, a rotating shaft 424, a rubber wheel 425, a second motor 426, a first external toothed pulley 427, an internal toothed belt 428, and a second external toothed pulley 429. The first motor 422 is fixedly installed inside one end of the fixed housing 41. The wheel bracket 423 is fixedly connected to the end of the main shaft of the first motor 422. The rotating shaft 424 is rotatably connected to one end of the wheel bracket 423. The outer end face of the rotating shaft 424 is fixed. A rubber wheel 425 is connected, one end of which is rotatably connected to the outer side of the spherical shell 42. A second motor 426 is fixedly connected to the inner side of the rotating wheel bracket 423. A first external toothed pulley 427 is fixedly connected to the end of the main shaft of the second motor 426. An internal toothed belt 428 is meshed with the outer side of the first external toothed pulley 427. A second external toothed pulley 429 is meshed with the bottom end of the internal toothed belt 428. The center of one end of the second external toothed pulley 429 is fixedly connected to the outer side of one end of the rotating shaft 424.

[0043] In an optional embodiment, the acceleration detection device 4 further includes a bottom fixing block 43, a horizontal moving block 431, and a spherical sliding plate 432. The bottom fixing block 43 is fixedly connected to the inner side of one end of the spherical shell 42, the horizontal moving block 431 is slidably connected to the inner side of the bottom fixing block 43, and the spherical sliding plate 432 is slidably connected to the inner side of one end of the horizontal moving block 431. The center position of the spherical sliding plate 432 is the same as the center position of the spherical shell 42.

[0044] In an optional embodiment, the acceleration detection device 4 further includes a first non-elastic draw rope 433, a first counterweight 434, a first tension spring 435, a first tension sensor 436, a second non-elastic draw rope 437, a second counterweight 438, a second tension spring 439, and a second tension sensor 4391. The bottom end of the spherical sliding plate 432 is fixedly connected to the first non-elastic draw rope 433. The bottom end of the first non-elastic draw rope 433 is fixedly connected to the first counterweight 434, which can slide inside the horizontal moving block 431. The bottom end of the first counterweight 434 is fixedly connected to the first tension spring 435. A first tension sensor 436 is fixedly connected to the bottom end of the extension spring 435. The first tension sensor 436 is fixedly installed on the inner side of one end of the horizontal moving block 431. A second non-elastic pull rope 437 is fixedly connected to the bottom end of the horizontal moving block 431. A second counterweight 438 that can slide inside the bottom fixed block 43 is fixedly connected to the bottom end of the second non-elastic pull rope 437. A second tension spring 439 is fixedly connected to the bottom end of the second tension spring 439. A second tension sensor 4391 is fixedly connected to the bottom end of the second tension spring 439. The second tension sensor 4391 is fixedly installed on the inner side of the bottom fixed block 43.

[0045] In an optional embodiment, the acceleration detection device 4 further includes a hollow column 44, a fixed plate 441, a rotating bracket 442, a rotating ball 443, a rigid rod 444, a counterweight conductive cone 445, and an elastic conductive needle 446. The hollow column 44 is fixedly connected to the inner side of one end of the spherical shell 42. The axis of the hollow column 44 is perpendicular to the plane of the bottom fixed block 43. The fixed plate 441 is fixedly connected to the outer side of the hollow column 44. The outer side of the fixed plate 441 is fixedly connected to the arc-shaped support. A rotating bracket 442 is fixedly connected to the inner side of the top of the hollow column 44 on the outer side of one end of the frame 414. A rotating ball 443 is rotatably connected to the inner side of one end of the rotating bracket 442. A rigid rod 444 is fixedly connected to the bottom end of the rotating ball 443. A counterweight conductive cone 445 is fixedly connected to the bottom end of the rigid rod 444. An elastic conductive needle 446 is fixedly connected to the center of the inner side of the bottom end of the hollow column 44. The top end of the elastic conductive needle 446 can contact the bottom end of the counterweight conductive cone 445.

[0046] In this embodiment: Traditional manual movement of dye basins is time-consuming and labor-intensive, and the dyes are easily mixed up. Moreover, the movement of dye basins is not stable enough. The movement of dye basins can be replaced by a robotic arm 1, a mechanical clamp 3, and an electric slide rail 2 that enables the robotic arm 1 to move, which can solve the problem of time-consuming and labor-intensive movement of dye basins in various stages. However, when the dye basin is moved by the robotic arm 1, the dye liquid in the dye basin may spill out due to the excessively fast acceleration. If the acceleration is too slow, it will affect the work efficiency.

[0047] By fixing an acceleration detection device 4 to the outside of one end of the robotic arm 1 near the mechanical clamp 3, the problem of obtaining a good acceleration when moving liquid can be solved. This acceleration is not a simple linear acceleration. It can eliminate the need for complicated pre-calculation of acceleration curves at various moving angles and directly detect a suitable acceleration with good quality. This can improve work efficiency while ensuring good stability of the liquid during movement.

[0048] A robotic arm 1 replaces manual labor. The robotic arm 1 is equipped with a scanning and positioning module (which identifies and stores the dye basins via PLC interface), accurately placing and identifying the dye basin's position, improving the accuracy of dye preparation. The robotic arm 1 smoothly grips the dye basins, transferring them to the automatic material preparation and production area, the mixing container (mixing and dissolving tank), the washing and drying area, and the material preparation area, forming a closed loop. After dissolution, the dye solution is pumped and piped to designated machines. A second cleaning of the dissolving tank and pipelines sends the remaining dye solution to designated machines. A third process involves adding 3 kg of compressed air to a blowpipe to remove water droplets and prevent dye cross-contamination. This improves work efficiency. The robotic arm 1, controlled by a system, can perform handling, tilting, gripping, and releasing actions, and has a gripping force detection function to ensure secure holding of the dye basins. The dye basins are mounted on a vertical automatic material preparation rack with a dye basin sensing, fixing, and positioning structure (positioning slots or fixing brackets and sensors) for easy gripping. Pipeline-push-dye-solution replaces manual handling, further improving efficiency.

[0049] When the robotic arm 1, mechanical clamp 3, and electric slide rail 2 that enables the robotic arm 1 to move replace the manual clamp to move and transport the dye basin, in order to obtain a good real-time acceleration so that the dye in the dye basin does not shake, an acceleration detection device 4 is set up. Since the acceleration detection device 4 is fixed on the outer side of the robotic arm 1 near the mechanical clamp 3, the robotic arm 1 at this position can move in multiple directions but will not rotate, thereby reducing the detection difficulty of the acceleration detection device 4. Moreover, since this position is close to the mechanical clamp 3, it is also close to the dye basin, so that the acceleration data detected by the acceleration detection device 4 can be applied to the dye basin.

[0050] The inner side of the acceleration detection device 4 is also provided with liquid, which is the detection liquid 411. The detection liquid 411 should have a flow coefficient similar to that of the dye solution. When the robotic arm 1 moves, thereby driving the acceleration detection device 4 to move, the detection liquid 411 provided inside the fixed outer shell 41 of the acceleration detection device 4 will shake. The shaking of the detection liquid 411 will drive the floating shell 412 to move. Multiple floating shells 412 are arranged in a ring with equal spacing, and the bottom of all floating shells 412 is in contact with the liquid surface of the detection liquid 411. The floating shells 412 can float on the detection liquid 411 due to their large volume and light mass. The shaking of the detection liquid 411 will drive the floating shells 412 to move. The movement of the floating shells 412 will drive the lightweight arc rod 413 to move along the arc support 414. The movement of the lightweight arc rod 413 will drive the permanent magnet 415 inside to move. The movement of the iron 415 can be detected by the Hall sensor 416, thus realizing the change in the detection point of the Hall sensor 416. In order to detect how much the lightweight curved rod 413 has moved and to detect the initial position of the lightweight curved rod 413, multiple permanent magnets 415 arranged at equal intervals can be set with different magnetic forces. The different magnetic forces of the permanent magnets 415 will result in different signal strengths detected by the Hall sensor 416. By detecting the strength of the electrical signal, it can be determined that the Hall sensor 416 is closest to a specific permanent magnet 415, thereby detecting the specific position of the lightweight curved rod 413. By detecting the speed of the movement of multiple permanent magnets 415 by the Hall sensor 416, that is, the speed of the potential change of the Hall sensor 416, the moving speed of the permanent magnets 415 can be calculated, and then the moving speed and acceleration of the floating shell 412 can be obtained.

[0051] By providing a groove 418 on the inner side of the bottom of the floating shell 412, the floating shell 412 can better follow the movement of the detection liquid 411. When the liquid level of the detection liquid 411 drops, there is air between the groove 418 at the bottom of the floating shell 412 and the detection liquid 411. Atmospheric pressure can make the floating shell 412 better follow the movement of the detection liquid 411.

[0052] Ideally, the multiple floating shells 412 should not exhibit significant potential changes. In other words, when the Hall sensor 416 detects a potential change, it indicates that the acceleration of the acceleration detection device 4 is already high. However, in actual operation, since the liquid in the dye basin only needs to prevent spillage, any shaking of the dye within the basin will not affect its handling. Therefore, the user can set the movement range of the floating shells 412 according to their needs. When the acceleration of the acceleration detection device 4 causes the floating shells 412 to move beyond the preset range, the acceleration needs to be reduced. Similarly, when reducing acceleration or when the deceleration is negative, the change in the displacement difference of the floating shells 412 also applies; that is, within a fixed time period, the displacement difference of the floating shells 412 must not exceed a certain limit. If the acceleration detection device 4 moves beyond the preset range, regardless of the direction of movement, the displacement difference of the floating shell 412 must not exceed the preset range. Once the displacement difference of the floating shell 412 reaches the critical value of the preset range, it will stop accelerating and continue moving at the previous speed. After maintaining a constant speed, the detection liquid 411 will gradually calm down, and the floating shell 412 will be closer to the initial state. If the displacement difference of the floating shell 412 still has a certain difference from the preset range, and if it is necessary for the acceleration detection device 4 to continue to increase its speed, it can be accelerated again until the speed of the acceleration detection device 4 reaches the maximum speed of the target speed. Similarly, the deceleration of the acceleration detection device 4 follows the same principle.

[0053] As can be seen from the above principle, when the acceleration detection device 4 is working, in addition to the influence of acceleration and deceleration on the acceleration detection device 4, the liquid level of the detection fluid 411 needs to be kept horizontal with the ground to work normally. Therefore, a rotatable spherical shell 42 is set inside the fixed shell 41, and the detection fluid 411 is placed inside the spherical shell 42. The spherical shell 42 offsets the angle change of the acceleration detection device 4 by its own rotation, so that no matter what angle the fixed shell 41 rotates to, although the position of the spherical shell 42 can move, the angle of the spherical shell 42 never changes. By energizing the second motor 426, the second motor 426 will drive the first external toothed pulley 427 to rotate. The rotation of 27 will drive the internal toothed belt 428 to rotate, which in turn will drive the second external toothed pulley 429 to rotate. The rotation of the second external toothed pulley 429 will drive the rotating shaft 424 to rotate, which will drive the rubber wheel 425 to rotate. The rotation of the rubber wheel 425 will drive the spherical shell 42 to rotate relative to the fixed shell 41. The steel ball 421 can make the spherical shell 42 rotate more stably. Since the spherical shell 42 needs to rotate at multiple angles, the first motor 422 also needs to be powered. After the first motor 422 is powered, it will drive the rotating wheel bracket 423 to rotate. The rotating wheel bracket 423 will drive the rotating shaft 424, which will then drive the rubber wheel 425 to adjust the rotation angle, ultimately enabling the spherical shell 42 to rotate at multiple angles.

[0054] Since the angle of the spherical shell 42 remains unchanged due to the drive of the rubber wheel 425, and the data controlling the rotation of the spherical shell 42 is derived from the rotation data of the robotic arm 1, and since the tilt angle data of the fixed acceleration detection device 4 on the robotic arm 1 is known, the first motor 422 and the second motor 426 can be powered by this data, so that the rotation angle of the spherical shell 42 is opposite to the rotation angle of the robotic arm 1 at the fixed acceleration detection device 4 and the speed is the same, thus ensuring that the angle of the spherical shell 42 relative to the ground remains unchanged.

[0055] Since the above method may lead to deviations in the final data due to various factors such as system failures and system vulnerabilities in actual work, the spherical shell 42 may not be able to rotate relative to the ground. Therefore, it is necessary to further test the rotation angle of the spherical shell 42.

[0056] When the spherical shell 42 moves without changing its angle, that is, when the acceleration detection device 4 moves in any direction along with the robotic arm 1, this movement causes the horizontal moving block 431 and the spherical sliding plate 432 inside the bottom fixed block 43 to move due to inertia. When the spherical sliding plate 432 moves relative to the horizontal moving block 431, it pulls the first non-elastic pull rope 433. The first non-elastic pull rope 433 will drive the first counterweight 434 to move slightly. The movement of the first counterweight 434 will change the elastic force of the first tension spring 435. When the elastic force of 5 acts on the first tension sensor 436, it can be detected by the first tension sensor 436. Ultimately, the first tension sensor 436 can detect the change in the displacement of the first counterweight 434. The change in the position of the first counterweight 434 represents the displacement of the spherical segment sliding piece 432, which can also be understood as the spherical segment sliding piece 432 rotating in the spherical segment groove inside the horizontal moving block 431. Similarly, when the horizontal moving block 431 moves, it will also drive the second non-elastic pull rope 437 to move, and the second non-elastic pull rope 437 will drive the second counterweight 438 to move. The movement of the weight 438 causes a change in the elastic force of the second tension spring 439. This change in the elastic force of the second tension spring 439 is ultimately detected by the second force sensor 4391. Therefore, the second force sensor 4391 can detect changes in the position of the second counterweight 438. These changes in the position of the second counterweight 438 represent displacement of the horizontal moving block 431. When the acceleration detection device 4 moves in any direction, assuming the spherical shell 42 does not rotate, the ratio of the changes in the first force sensor 436 and the second force sensor 4391 is related to the direction and speed of movement of the acceleration detection device 4. When the spherical housing 42 rotates relative to the ground, it indicates a malfunction in the rotation angle compensation of the spherical housing 42 driven by the rubber wheel 425. Since the center of the spherical sliding plate 432 is at the same position as the center of the spherical housing 42, the rotation of the spherical housing 42 will exert a greater force on the spherical sliding plate 432, causing the spherical sliding plate 432 to rotate more violently. This will cause the ratio between the first tension sensor 436 and the second tension sensor 4391 to be different from the previous ratio. At this time, it can be considered that the rotation compensation of the spherical housing 42 has malfunctioned and needs to be adjusted.

[0057] When a malfunction is detected in the rotation compensation of the spherical shell 42, the movement of the robotic arm 1 should be stopped first, and the shell should be left to stand still for a certain period of time. Then, the counterweight conductive cone 445 and the elastic conductive needle 446 should be energized. At this time, the counterweight conductive cone 445 and the elastic conductive needle 446 will not contact each other, so they will not be electrically connected. Then, the spherical shell 42 should be driven to rotate again. After the spherical shell 42 rotates, the counterweight conductive cone 445 inside the hollow column 44 will be affected by gravity, causing the rigid rod 444 to rotate around the center of the rotating ball 443. When the rigid rod 444 rotates to be perpendicular to the ground, the bottom tip of the counterweight conductive cone 445 will contact the top tip of the elastic conductive needle 446. At this time, the two can be electrically connected, and the spherical shell 42 is considered to be in the correct position, thus achieving calibration.

[0058] A dye delivery system using a robotic arm 1 includes a scanning and positioning module on the robotic arm 1 that connects to a PLC to identify and store the dye basins, accurately placing and identifying their positions. The system then transfers the dye basins to an automatic material preparation and production area, a mixing container, a washing and drying area, and a material preparation area, forming a closed loop. After dissolution, the dye solution is delivered to a designated machine via pumps and pipelines. The robotic arm 1, controlled by a control system, can perform actions such as handling, tilting, clamping, and releasing. It also features clamping force detection to ensure the dye basins are securely held. The dye basins are mounted on a vertical automatic material preparation rack and have dye basin sensing, fixing, and positioning structures.

[0059] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dye dispensing robot comprising a robot arm (1) and an electrically powered slide rail (2) capable of moving the robot arm (1), characterized in that: The end of the robotic arm (1) is equipped with a self-rotating mechanical clamp (3), and an acceleration detection device (4) is fixedly installed at the end of the robotic arm (1) near the mechanical clamp (3). The acceleration detection device (4) includes a fixed housing (41), a detection liquid (411), a floating housing (412), a lightweight arc rod (413), an arc bracket (414), a permanent magnet (415), and a Hall sensor (416). The fixed housing (41) is fixedly installed on the outside of the robotic arm (1) near the mechanical clamp (3). The detection liquid (411) is provided on the inside of the fixed housing (41). Multiple floating housings (412) are arranged in a ring at equal intervals on the surface of the detection liquid (411). A lightweight arc rod (413) is fixedly installed at the top of the floating housing (412). An arc bracket (414) is slidably installed on the outside of the lightweight arc rod (413). A Hall sensor (416) is fixedly connected to the inside of the arc bracket (414). Permanent magnets (415) are arranged at equal intervals on the inside of the lightweight arc rod (413). The magnetic forces of the multiple permanent magnets (415) are different.

2. The dye delivery robotic arm according to claim 1, characterized in that: The top end of the lightweight arc-shaped rod (413) is fixedly connected to a limiting head (417), and a groove (418) is provided at the bottom center of the floating shell (412).

3. The dye delivery robotic arm according to claim 2, characterized in that: The acceleration detection device (4) also includes a spherical shell (42) and a steel ball (421). The detection liquid (411) is disposed inside the spherical shell (42). The spherical shell (42) is rotatably mounted inside the fixed outer shell (41) via the steel ball (421).

4. The dye delivery robotic arm according to claim 3, characterized in that: The acceleration detection device (4) further includes a first motor (422), a wheel bracket (423), a rotating shaft (424), a rubber wheel (425), a second motor (426), a first external toothed pulley (427), an internal toothed belt (428), and a second external toothed pulley (429). The first motor (422) is fixedly installed on the inner side of one end of the fixed housing (41). The wheel bracket (423) is fixedly connected to the end of the main shaft of the first motor (422). The rotating shaft (424) is rotatably connected to one end of the wheel bracket (423). The outer end face of the rotating shaft (424) is fixedly connected to... A rubber wheel (425) is rotatably connected to the outer side of the spherical shell (42). A second motor (426) is fixedly connected to the inner side of the rotating wheel bracket (423). A first external toothed pulley (427) is fixedly connected to the end of the main shaft of the second motor (426). An internal toothed belt (428) is meshed with the outer side of the first external toothed pulley (427). A second external toothed pulley (429) is meshed with the bottom end of the internal toothed belt (428). The center of one end of the second external toothed pulley (429) is fixedly connected to the outer side of one end of the rotating shaft (424).

5. The dye delivery robotic arm according to claim 4, characterized in that: The acceleration detection device (4) further includes a bottom fixed block (43), a horizontal moving block (431), and a spherical sliding plate (432). The bottom fixed block (43) is fixedly connected to the inner side of one end of the spherical shell (42). The horizontal moving block (431) is slidably connected to the inner side of the bottom fixed block (43). The spherical sliding plate (432) is slidably connected to the inner side of one end of the horizontal moving block (431). The center position of the spherical sliding plate (432) is the same as the center position of the spherical shell (42).

6. The dye delivery robotic arm according to claim 5, characterized in that: The acceleration detection device (4) further includes a first non-elastic draw rope (433), a first counterweight (434), a first tension spring (435), a first tension sensor (436), a second non-elastic draw rope (437), a second counterweight (438), a second tension spring (439), and a second tension sensor (4391). The bottom end of the spherical sliding plate (432) is fixedly connected to the first non-elastic draw rope (433). The bottom end of the first non-elastic draw rope (433) is fixedly connected to the first counterweight (434) which can slide inside the horizontal moving block (431). The bottom end of the first counterweight (434) is fixedly connected to the first tension spring (435). A first tension sensor (436) is fixedly connected to the bottom end of the horizontal moving block (431). The first tension sensor (436) is fixedly installed on the inner side of one end of the horizontal moving block (431). A second non-elastic pull rope (437) is fixedly connected to the bottom end of the horizontal moving block (431). A second counterweight (438) that can slide inside the bottom fixed block (43) is fixedly connected to the bottom end of the second non-elastic pull rope (437). A second tension spring (439) is fixedly connected to the bottom end of the second tension spring (439). A second tension sensor (4391) is fixedly connected to the bottom end of the second tension spring (439). The second tension sensor (4391) is fixedly installed on the inner side of the bottom fixed block (43).

7. The dye delivery robotic arm according to claim 6, characterized in that: The acceleration detection device (4) further includes a hollow column (44), a fixed plate (441), a rotating bracket (442), a rotating ball (443), a rigid rod (444), a counterweight conductive cone (445), and an elastic conductive needle (446). The hollow column (44) is fixedly connected to the inner side of one end of the spherical shell (42). The axis of the hollow column (44) is perpendicular to the plane of the bottom fixed block (43). The fixed plate (441) is fixedly connected to the outer side of the hollow column (44). The outer side of the fixed plate (441) is fixedly connected to the arc-shaped bracket (414). On one side of the hollow column (44), a rotating bracket (442) is fixedly connected to the inner side of the top of the hollow column (44). A rotating ball (443) is rotatably connected to the inner side of one end of the rotating bracket (442). A rigid rod (444) is fixedly connected to the bottom end of the rotating ball (443). A counterweight conductive cone (445) is fixedly connected to the bottom end of the rigid rod (444). An elastic conductive needle (446) is fixedly connected to the center of the inner side of the bottom end of the hollow column (44). The top end of the elastic conductive needle (446) can contact the bottom end of the counterweight conductive cone (445).

8. The dye delivery robot arm delivery system according to any one of claims 1-7, comprising: a scanning and positioning module on the robot arm (1) is used to identify and store the dye basins through a PLC interface, accurately place and identify the positions of the dye basins, and transfer the dye basins to the automatic material preparation and production area, the stirring container, the washing and drying area and the material preparation area to form a closed loop; after dissolution, the dye liquid is delivered to the designated machine through a pump and pipeline; the robot arm (1) can complete the actions of handling, pouring, clamping and releasing through the control system, and has clamping force detection to ensure that the dye basins are firmly clamped; the dye basins are set on the vertical automatic material preparation rack and have dye basin sensing, fixing and positioning structures.

Images