A cop end grasping robot, a cop end position determination method

Abstract

The application relates to a robot, in particular to a bobbin yarn head grabbing robot. The bobbin yarn head grabbing robot comprises a motor, a rotating part, a yarn feeding robot, a yarn suction nozzle and a negative pressure fan, the rotating part is connected with the motor output end, the motor drives the bobbin to rotate on the rotating part; the yarn suction nozzle is connected with the negative pressure fan through an air pipe, and the yarn suction nozzle is located below the rotating part. The yarn feeding robot is arranged on one side of the rotating part; a yarn supporting assembly and a pressing assembly are arranged on the yarn feeding robot, the pressing assembly is fixed on the yarn supporting assembly, the yarn supporting assembly sends the bobbin to the small end diameter of the bobbin, and the pressing assembly is matched with the rotating part. The yarn supporting assembly comprises a yarn supporting plate, a yarn supporting arm frame and a limiting plate, the yarn supporting plate is connected with the yarn feeding robot, and the bobbin is fixed on the yarn supporting plate through the yarn supporting arm frame. The application has the characteristics of reasonable design, compact structure, stable and reliable bobbin yarn head grabbing performance, small space occupation and complex environment in the whole beaming workshop.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot, in particular to a bobbin end picking robot. BACKGROUND

[0002] In the beaming workshop, hundreds of bobbins are hung on the creel, and the height difference of the bobbins can be as large as 240mm to 40mm. At present, the process of finding the bobbin end usually relies on manual operation. On the one hand, with the improvement of economic level, the labor cost increases, which increases the labor cost of textile enterprises. At the same time, the number of bobbins on the creel is large, and the height is different, which leads to large workload and low efficiency of manual end finding, and may cause damage to the yarn during the end finding process. These defects cannot meet the needs of efficient and low-cost production of enterprises.

[0003] After the winding process, the diameter of the bobbin will have some differences due to the influence of the difference in yarn tension during winding, the characteristics of the yarn and the subsequent packaging process, etc. Therefore, in the process of realizing automatic picking of the bobbin end, it is particularly important to accurately determine the position of the bobbin.

[0004] The photoelectric sensor is sensitive to environmental light, stray light and object surface characteristics, which may lead to false detection or instability. Reliability and stability are particularly important in industrial production process. Because there is a certain amount of floating fiber in the air of the textile workshop, when the fiber adheres to the surface of the photoelectric sensor, it may have an adverse effect on its positioning effect. For bobbin positioning, high-precision photoelectric sensors are needed for accurate positioning, but high-precision photoelectric sensors are accompanied by high cost and frequent maintenance. SUMMARY

[0005] The first object of the present application is to provide a bobbin end picking robot, which solves the problem of large workload of manual end finding and improves the efficiency of end finding.

[0006] To achieve the above object, the following technical solutions are adopted:

[0007] A bobbin end picking robot, comprising a motor, a rotating part, a yarn suction nozzle and a negative pressure fan, the rotating part is connected with the output end of the motor, and the motor drives the rotation of the bobbin on the rotating part; the yarn suction nozzle is connected with the negative pressure fan through a negative pressure air pipe, and the yarn suction nozzle is located below the rotating part.

[0008] Further, it further comprises a yarn feeding robot, which is arranged on one side of the rotating part; the yarn feeding robot is provided with a yarn holding assembly and a pressing assembly, the pressing assembly is fixed on the yarn holding assembly, the yarn holding assembly sends the bobbin to the rotating part, and the pressing assembly is matched with the small end diameter of the bobbin.

[0009] Further, the yarn supporting assembly comprises a yarn supporting plate, a yarn supporting arm frame and a limiting plate, the yarn supporting plate is connected with the yarn feeding robot, the yarn is fixed on the yarn supporting plate through the yarn supporting arm frame, and the limiting plate fixes the yarn on the yarn supporting arm frame.

[0010] Further, the pressing assembly comprises a pressing block and a bearing with seat, the pressing block is fixed on the yarn supporting plate through the bearing with seat, and the pressing block can rotate relative to the yarn supporting plate.

[0011] Further, the fixed frame and the air tank are further included, the suction nozzle is connected to the fixed frame through the sliding assembly, and the motor is fixed on the top of the fixed frame; the fixed frame is further connected with the first electromagnetic valve, the second electromagnetic valve, the pressure reducing valve, the control valve and the pressure sensor; the air tank is connected with the control valve, the pressure reducing valve, the first electromagnetic valve and the second electromagnetic valve in sequence through the connecting pipe; and the first electromagnetic valve is connected with the pressure sensor.

[0012] Further, the rotating part comprises a rotating rod, the yarn is connected to the rotating rod, and the rotating rod is connected with the flange of the motor output end.

[0013] Further, the sliding assembly comprises a rodless cylinder and a sliding block, the rodless cylinder is fixed on the fixed frame, the sliding block is arranged on the rodless cylinder, and the suction nozzle is connected with the sliding block through the connecting plate; and the rodless cylinder is connected with the second electromagnetic valve through the air inlet pipe and the air outlet pipe.

[0014] Further, the connecting plate is connected with the guide rod cylinder, and the guide rod cylinder is connected with the yarn detection plate at the telescopic end; and the guide rod cylinder is connected with the first electromagnetic valve.

[0015] Further, the negative pressure air pipe is provided with the optical fiber sensor.

[0016] Another object of the present application is to provide a yarn position determination method, which solves the problem that it is difficult to accurately determine the position of the yarn in the complex environment of the warping mill.

[0017] In order to achieve the above object, the present application adopts the following technical solutions.

[0018] A yarn position determination method using the yarn end grabbing robot as described in the above embodiment comprises the following steps: after the yarn is fixed on the rotating rod, the rodless cylinder drives the sliding block to move upward, the sliding block drives the yarn detection plate to move upward until the yarn detection plate touches the yarn; the pressure sensor receives the pressure signal and transmits the signal to the first electromagnetic valve, the first electromagnetic valve controls the guide rod cylinder to shrink, the yarn detection plate is lowered, and the negative pressure fan and the motor are started.

[0019] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0020] In the application, the yarn feeding robot drives the yarn supporting assembly to take and place the bobbin, the motor drives the rotating member to rotate the bobbin, the rodless slide drives the bobbin detection plate to control the distance between the yarn suction nozzle and the bobbin, thereby reducing the energy consumption of the yarn suction nozzle, achieving accurate positioning of the bobbin position and low-energy negative pressure grabbing of the bobbin head, and realizing automatic yarn head searching of the bobbin on the bobbin frame in the weaving production process, reducing the difficulty and workload of manual work, and meeting the needs of efficient and low-cost production of enterprises. The limiting plate design not only limits the position of the bobbin, but also reduces unnecessary additional actions of the yarn feeding robot, and at the same time, provides necessary thrust when there is resistance during the transfer of the bobbin between the yarn supporting assembly and the rotating member. The rodless cylinder can flexibly control the air pressure through the pressure reducing valve, thereby changing the driving force of the rodless cylinder, so as to meet the requirement that the driving force of the rodless cylinder is less than the thrust of the guide rod cylinder. At the same time, the rodless cylinder and the guide rod cylinder share the same air source, reducing the use of motor encoders, and effectively reducing the cost of the equipment. The bobbin detection plate can accurately position the actual position of the bobbin by contacting the bobbin, avoiding inaccurate positioning due to the workshop environment; this positioning method can realize that the distance between the bobbin and the yarn suction nozzle can be infinitely close without contact, improving the reliability and stability of the bobbin head grabbing, and reducing the amount of vacuum gas required by reducing the distance between the yarn suction nozzle and the bobbin, thereby reducing the consumption of vacuum gas. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of a bobbin head grabbing robot.

[0022] Figure 2 It is a schematic diagram of the cooperation between the yarn suction nozzle and the rotating member.

[0023] Figure 3 It is a schematic diagram of the yarn supporting assembly.

[0024] Figure 4 It is a schematic diagram of the sliding assembly.

[0025] Figure 5 It is a schematic diagram of the rotating member. DETAILED DESCRIPTION

[0026] Example 1

[0027] As Figure 1 and Figure 2As shown, a bobbin yarn head grabbing robot comprises a motor 1, a rotating part 2, a yarn suction nozzle 3, a negative pressure fan 4, a yarn feeding robot 5, a fixing frame 6 and an air tank 7, the rotating part 2 is connected with the output end of the motor 1, the motor 1 drives the rotation of the bobbin on the rotating part 2; the yarn suction nozzle 3 is connected with the negative pressure fan 4 through a negative pressure air pipe 8, and the yarn suction nozzle 3 is located below the rotating part 2. The yarn feeding robot 5 is arranged on one side of the rotating part 2; the yarn feeding robot 5 is provided with a yarn supporting assembly 9 and a pressing assembly 10, the pressing assembly 10 is fixed on the yarn supporting assembly 9, the yarn supporting assembly 9 feeds the bobbin to the rotating part 2, and the pressing assembly 10 is matched with the small end diameter of the bobbin. The yarn suction nozzle 3 is connected with the fixing frame 6 through a sliding assembly 11, and the motor 1 is fixed on the top of the fixing frame 6; the fixing frame 6 is further connected with a first electromagnetic valve 12, a second electromagnetic valve, a pressure reducing valve 13, a control valve 14 and a pressure sensor 15; the air tank 7 is connected with the control valve 14, the pressure reducing valve 13, the first electromagnetic valve 12 and the second electromagnetic valve in sequence through a connecting pipe; the first electromagnetic valve 12 is connected with the pressure sensor 15. The sliding assembly 11 comprises a rodless air cylinder 16 and a sliding block 17, the rodless air cylinder 16 is fixed on the fixing frame 6, the sliding block 17 is arranged on the rodless air cylinder 16, and the yarn suction nozzle 3 is connected with the sliding block 17 through a connecting plate 20; the rodless air cylinder 16 is connected with the first electromagnetic valve 12 through an air inlet pipe 18 and an air outlet pipe 19. The connecting plate 20 is connected with a bobbin detection plate 22 through a guide rod air cylinder 21. The negative pressure air pipe 8 is provided with an optical fiber sensor 23. The yarn feeding robot 5 first takes down the bobbin hung on the bobbin frame, and then places the bobbin on the rotating part 2, because the rotating part 2 drives the rotation of the bobbin, so a certain friction force is needed between the rotating part 2 and the bobbin, which will cause the yarn feeding robot 5 not to be able to completely place the bobbin on the rotating part 2, if the bobbin is not completely placed on the rotating part 2, the pressing assembly 10 of the yarn feeding robot 5 pushes the bobbin into the rotating part 2, so that the rotating part 2 drives the rotation of the bobbin. For example Figure 4As shown, the guide rod cylinder 21 drives the yarn package detection plate 22 to move upward, making the highest point of the yarn package detection plate 22 higher than the highest point of the suction nozzle 3, and determining the distance between the highest point of the suction nozzle 3 and the highest point of the yarn package detection plate 22. Subsequently, the rodless cylinder 16, under the control of the first solenoid valve 12, moves the suction nozzle 3 upward until the yarn package detection plate 22 touches the yarn package. At this time, the pressure sensor 15 sends an electrical signal to the first solenoid valve 12, which controls the guide rod cylinder 21 to move the yarn package detection plate 22 downward a specified distance. At this time, the second solenoid valve keeps the rodless cylinder 16 in a constant air pressure state. The suction nozzle 3 can also determine the distance between itself and the yarn package, minimizing the energy consumption of the suction nozzle 3 and reducing the operating cost. The speed ratio between motor 1 and negative pressure fan 4 ranges from 7.5 to 15.5, where the speed of motor 1 is measured in r / min and the speed of negative pressure fan 4 is measured in m / s. Within this speed ratio range, the success rate of yarn bobbin head being adsorbed by the suction nozzle 3 can be effectively improved. Motor 1 drives the yarn bobbin to rotate via rotating component 2, and negative pressure fan 4 provides suction to the suction nozzle 3, causing the yarn head to enter the suction nozzle 3. When fiber optic sensor 23 detects the presence of yarn inside the suction nozzle 3, it sends an electrical signal, and the vacuum negative pressure adsorption state of motor 1 and suction nozzle 3 stops working after a set operating time. Subsequently, yarn feeding robot 5 drives yarn support assembly 9 to remove the yarn bobbin from rotating component 2, transfer the yarn bobbin from rotating component 2 to yarn support assembly 9, and finally transfer the yarn bobbin from yarn support assembly 9 to yarn bobbin rack.

[0028] like Figure 3 As shown, the yarn-supporting assembly 9 includes a yarn-supporting plate 31, a yarn-supporting arm 32, and a limiting plate 33. The yarn-supporting plate 31 is connected to the yarn-feeding robot 5. The yarn package is fixed to the yarn-supporting plate 31 by the yarn-supporting arm 32, and the limiting plate 33 fixes the yarn package to the yarn-supporting arm 32. The part of the yarn-supporting arm 32 that contacts the yarn package is inclined, with the inclination angle being the same as the inclination angle of the side of the yarn package, so as to keep the center line of the yarn package as horizontal as possible, which facilitates the transfer of the yarn package. The yarn-supporting arm 32 is integrally formed and has a protrusion at the front end to ensure that the yarn package will not fall off the yarn-supporting arm 32, and also facilitates the transfer of the yarn package between the yarn package frame and the yarn-supporting assembly 9. The limiting plate 33 is used to limit the position of the yarn package to prevent the yarn package from moving excessively inward into the yarn-supporting assembly 9; when the yarn package encounters greater resistance when transferring between the yarn-supporting assembly 9 and the rotating part 2, the limiting plate 33 can provide a certain thrust to help achieve smooth transfer of the yarn package.

[0029] The compression assembly 10 comprises a compression block 34 and a bearing with seat 35, the compression block 34 is fixed on the yarn supporting plate 31 through the bearing with seat 35, and the compression block 34 can rotate relative to the yarn supporting plate 31. The compression block 34 is in interference fit with the inner ring of the bearing with seat 35, which ensures that when the compression block 34 contacts the rotating yarn, it can realize synchronous movement with the yarn by means of internal rotation and external friction of the bearing; the bottom surface of the bearing with seat 35 is connected with the yarn supporting plate 31.

[0030] As shown in Figure 5 The rotating member 2 comprises a rotating rod 41, the yarn is connected to the rotating rod 41, and the rotating rod 41 is connected with the output flange of the motor 1. When the size of the paper tube of the yarn changes, the production demand can be met by replacing the specification of the rotating rod 41; the inclination angle of the side surface of the rotating rod 41 is 10°, which is to increase the friction between the inner side of the yarn and the rotating rod 41 when they are connected, and to ensure the synchronous movement between the yarn and the rotating member 2.

[0031] The yarn detection plate 22 is U-shaped and wraps the yarn suction nozzle 3, and the top surface of the yarn detection plate 22 has an inclination angle, which is to better match the inclination angle of the yarn. When the guide rod cylinder 21 is fully extended, the highest point of the yarn detection plate 22 is higher than the yarn suction nozzle 3. After the yarn detection plate 22 touches the yarn, the guide rod cylinder 21 will be lowered by a certain height, so that the yarn detection plate 22 does not contact the yarn, preventing affecting the rotation of the yarn. The distance between the yarn suction nozzle 3 and the yarn is as small as possible, the power consumption of the yarn suction nozzle 3 is reduced, and the cost is reduced.

[0032] Embodiment 2

[0033] A yarn position determination method using a yarn head grabbing robot as described in embodiment 1, comprising: after the yarn is fixed to the rotating rod 41, the rodless cylinder 16 drives the sliding block 17 to move upward, the sliding block 17 drives the yarn detection plate 22 and the yarn suction nozzle 3 to move upward, the height of the yarn detection plate 22 and the yarn suction nozzle 3 is constant and a certain height of the yarn detection plate 22 needs to be lowered, so as to control the distance between the yarn suction nozzle 3 and the yarn and reduce the energy consumption of the yarn suction nozzle 3; after the yarn detection plate 22 touches the yarn; the pressure sensor 15 receives the pressure signal and transmits the signal to the first electromagnetic valve 12, the first electromagnetic valve 12 controls the guide rod cylinder 21 to contract, the yarn detection plate 22 is lowered by a certain height, the negative pressure fan 4 and the motor 1 are started, the yarn head is sucked into the yarn suction nozzle 3, and the light sensor 23 senses the yarn head, then the negative pressure fan 4 and the motor 1 stop.

[0034] Embodiment 3

[0035] The embodiment 3 is a variant of the embodiment 2, the difference is that the pressure sensor 15 is replaced by a magnetic switch, a bobbin position determination method using a bobbin end catching robot as described in the embodiment 1, comprising: after the bobbin is fixed to the rotating rod 41, the rodless cylinder 16 drives the slider 17 to move upward, the slider 17 drives the bobbin detection plate 22 and the yarn suction nozzle 3 to move upward, when the bobbin detection plate 22 touches the bobbin, because the upward driving force of the rodless cylinder 16 is less than the sum of the bobbin resistance and the weight of the workpiece on the connecting plate 20, the rodless cylinder 16 stops moving upward, and the working time from moving to stopping of the rodless cylinder is recorded; according to the whole working time, the time of the rodless cylinder 16 rising to the magnetic switch is set to be less than the whole moving time; when the moving time reaches the set time, the rodless cylinder 16 does not reach the magnetic switch, at this time, the second electromagnetic valve controls the rodless cylinder 16 to be in the pressure maintaining state, the first electromagnetic valve controls the guide rod cylinder to contract, so that the bobbin detection plate 22 drops by a certain height, the negative pressure fan 4 and the motor 1 start, the yarn end is sucked into the yarn suction nozzle 3, and the light sensor 23 senses the yarn end, then the negative pressure fan 4 and the motor 1 stop.

[0036] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples, the changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the present application should also belong to the protection scope of the present application.

Claims

1. A cop end gripping robot, characterized in that, The application relates to a bobbin yarn head grabbing robot, which comprises a motor, a yarn feeding robot, a rotating part, a yarn suction nozzle, a fixing frame, an air tank and a negative pressure fan, the rotating part is connected with the motor output end, the motor drives the bobbin yarn on the rotating part to rotate, the yarn suction nozzle is connected with the negative pressure fan through a negative pressure air pipe, and the yarn suction nozzle is located below the rotating part. The yarn feeding robot is arranged on one side of the rotating part, a yarn supporting assembly and a pressing assembly are arranged on the yarn feeding robot, the pressing assembly is fixed on the yarn supporting assembly, the yarn supporting assembly feeds the bobbin yarn to the rotating part, and the pressing assembly is matched with the small end diameter of the bobbin yarn. The yarn supporting assembly comprises a yarn supporting plate, a yarn supporting arm frame and a limiting plate, the yarn supporting plate is connected with the yarn feeding robot, the bobbin yarn is fixed on the yarn supporting plate through the yarn supporting arm frame, and the limiting plate fixes the bobbin yarn on the yarn supporting arm frame. The pressing assembly comprises a pressing block and a bearing with a seat, the pressing block is fixed on the yarn supporting plate through the bearing with a seat, and the pressing block can rotate relative to the yarn supporting plate. The yarn suction nozzle is connected with the fixing frame through a sliding assembly, and the motor is fixed on the top of the fixing frame; the fixing frame is further connected with a first electromagnetic valve, a second electromagnetic valve, a pressure reducing valve, a control valve and a pressure sensor; the air tank is sequentially connected with the control valve, the pressure reducing valve, the first electromagnetic valve and the second electromagnetic valve through a connecting pipe; and the first electromagnetic valve is connected with the pressure sensor. The sliding assembly comprises a rodless air cylinder and a sliding block, the rodless air cylinder is fixed on the fixing frame, the sliding block is arranged on the rodless air cylinder, and the yarn suction nozzle is connected with the sliding block through a connecting plate; and the rodless air cylinder is connected with the second electromagnetic valve through an air inlet pipe and an air outlet pipe. A guide rod air cylinder is connected on the connecting plate, and a bobbin yarn detection plate is connected on the extension end of the guide rod air cylinder; and the guide rod air cylinder is connected with the first electromagnetic valve. The guide rod air cylinder drives the bobbin yarn detection plate to move upwards, so that the highest point of the bobbin yarn detection plate is higher than the highest point of the yarn suction nozzle, and the distance between the highest point of the yarn suction nozzle and the highest point of the bobbin yarn detection plate is determined; then the rodless air cylinder moves upwards under the control of the first electromagnetic valve, until the bobbin yarn detection plate touches the bobbin yarn, the pressure sensor sends an electric signal to the first electromagnetic valve, the first electromagnetic valve controls the guide rod air cylinder to move downwards by a specified distance, at this moment, the second electromagnetic valve makes the rodless air cylinder in a constant air pressure state.

2. A yarn end picking robot according to claim 1, characterized in that The rotating part comprises a rotating rod, the bobbin yarn is connected on the rotating rod, and the rotating rod is connected with the flange of the motor output end.

3. A yarn end picking robot according to claim 1, characterized in that An optical fiber sensor is arranged on the negative pressure air pipe.

4. A method of determining a position of a cop, characterized by, When the bobbin yarn is fixed on the rotating rod, the rodless air cylinder drives the sliding block to move upwards, the sliding block drives the bobbin yarn detection plate to move upwards until the bobbin yarn detection plate touches the bobbin yarn; the pressure sensor receives the pressure signal and transmits the signal to the first electromagnetic valve, the first electromagnetic valve controls the guide rod air cylinder to shrink, so that the bobbin yarn detection plate descends, and the negative pressure fan and the motor are started.

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