A dyeing robot capable of automatically identifying dyeing area and a method of using the robot

Abstract

The present invention discloses an injection and dyeing robot capable of automatically identifying an injection and dyeing area and a method for using the same, and relates to the technical field of injection and dyeing robots, and includes a first camera and a second camera, wherein the first camera is used to capture images of the robot when performing injection and dyeing, and the second camera is used to capture a plurality of dye storage tanks, and the first camera and the second camera send the captured videos to a visual recognition module. The present invention can obtain the color, remaining amount and position data of the injection and dyeing area and the dye storage tank in real time through the first camera, the second camera and the visual recognition module, and perform emergency processing and reminder warnings, and guide the injection and dyeing robot to complete a series of actions through the setting of a manual handle teaching module, a recording module and a teaching loading module through a manual operation handle, and record the actions through the recording module to form a teaching program, and reproduce the teaching actions in cooperation with the teaching loading module and the motion control module, thereby improving the injection and dyeing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of dyeing and injection robots, and in particular to a dyeing and injection robot capable of automatically identifying a dyeing and injection area and a use method thereof. Background Art

[0002] At present, the fashion industry is developing in depth around the concepts of green, technology and environmental protection. Modern injection dyeing technology is also facing such a big transformation and upgrade. In order to achieve the goal of reducing costs and increasing efficiency, technological innovation is carried out on traditional dyeing and finishing processes and equipment. This can not only solve the current problems of high labor costs and unstable quality as soon as possible, but also promote the sustainable development of injection dyeing.

[0003] The defects of existing injection and dyeing robots are:

[0004] 1. Patent document US09333689B2 discloses a robot for processing injection molded products. However, the above document cannot monitor the injection area in real time. At the same time, when the robot is working, it is necessary to write a complex robot programming language, which has the technical problem of cumbersome operation.

[0005] 2. Patent document US06830449B1 discloses an injector robot for replacing a gas injector in a furnace. However, during use, the injector robot in the above document has multiple steps that need to be handled by staff, resulting in a technical problem of low work efficiency;

[0006] 3. Patent document JP2014034063A discloses a prevention device and a prevention method for a drawing device, but the robot in the above document cannot automatically adjust the injection color;

[0007] 4. Patent document CN106824643B discloses a six-degree-of-freedom robot spraying device and spraying method, but the above document fails to solve the technical problem of quickly replacing different nozzles according to usage requirements. Summary of the invention

[0008] The purpose of the present invention is to provide a dyeing robot that can automatically identify the dyeing area and a method of using the same, so as to solve the technical problems raised in the above-mentioned background technology.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a dyeing robot capable of automatically identifying the dyeing area, comprising a first camera and a second camera, wherein the first camera is used to capture images of the robot performing dyeing, and the second camera is used to capture images of a plurality of dye storage tanks, and the first camera and the second camera send the captured videos to a visual recognition module, and the visual recognition module is used to recognize the dyeing area and obtain the colors, remaining amounts and positions of different dyes in real time, wherein a feed port is installed on the top of the dye storage tank, and a discharge port is installed on the bottom of the dye storage tank, and the inner walls of the feed port and the discharge port are both installed with check valves;

[0010] The visual recognition module is electrically connected to a main controller module, and the main controller module includes an injection area verification module and an audio-visual alarm module. The injection area verification module is used to determine in real time whether the injection area in the data acquired by the first camera has reached the required area. The audio-visual alarm module is used to determine in real time whether the placement position of the dye storage tank containing different color dyes in the data acquired by the second camera is correct and whether the remaining amount of the dye is lower than a threshold. The injection area verification module is electrically connected to an emergency stop module, and the emergency stop module is used to immediately stop dye injection when the injection area exceeds the threshold and the injection robot is still performing injection.

[0011] The main controller module is electrically connected to a motion control module, and the motion control module includes a manual handle teaching module, and the manual handle teaching module is electrically connected to a recording module. The manual handle teaching module is used to guide the robot to complete a series of actions through a manual operation handle, and these actions are recorded through the recording module to form a teaching program. The recording module is electrically connected to a teaching loading module, and the teaching loading module is electrically connected to the motion control module.

[0012] Preferably, the motion control module is electrically connected to an actuator, the actuator includes a base, a fixed seat is installed on one side of the top of the base, a first reducer is installed on the top of the fixed seat, a first connecting plate is installed on the output end of the first reducer, a hydraulic telescopic cylinder is installed on the top of the first connecting plate through bolts, a first brake is installed on one side of the first reducer, a first servo motor is installed on one side of the first brake, and the output end of the first servo motor passes through the first brake and is connected to the first reducer, a control box is installed in the middle of the top of the base, and a manual handle access port is installed on the top of the control box.

[0013] Preferably, a second connecting plate is installed at the output end of the hydraulic telescopic cylinder, a robot arm is installed on one side of the second connecting plate through bolts, the front end of the bottom of the robot arm is installed on the top of the first camera, and the tail end of the bottom of the robot arm is installed on the top of the second camera.

[0014] Preferably, a slide groove is provided at the bottom of the robot arm, a second brake is installed at one end of the robot arm, a second servo motor is installed at one end of the second brake, a threaded screw is installed at the output end of the second servo motor, the outer wall of the threaded screw is threadedly connected to a slider, and the outer wall of the slider is movably connected to the inner wall of the slide groove, a fixed plate is installed at the bottom of the slider, and an injector is installed at the bottom of the fixed plate through bolts.

[0015] Preferably, the dye injector includes a top plate, and the top of the top plate is installed on the bottom of the fixed plate, the bottom of the top plate is installed with an arc transparent protective cover, the bottom of the arc transparent protective cover is installed with a bottom plate, the middle of the bottom of the top plate and the middle of the top of the bottom plate are both embedded with bearings, the inner wall of the bearing is installed with a driven rod, the top and bottom of the outer wall of the driven rod are installed with a placement plate, and the inner wall of the placement plate is installed with a dye storage tank, a group of the top of the placement plate and the bottom of the bottom plate are opened with a plurality of connecting holes, and the inner walls of the connecting holes are respectively movably connected to the outer walls of the feed port and the discharge port.

[0016] Preferably, a support plate is installed on one side of the base plate, a protective cover is installed on the top of the support plate, and one side of the protective cover is installed on the bottom of the outer wall of the arc transparent protective cover, the inside of the protective cover is movably connected with a transmission gear, the outer wall of the transmission gear passes through the bottom of the outer wall of the arc transparent protective cover and is installed with a rack, and the rack is installed on the outer wall of the bottom placement plate, a transmission rod is installed on the top of the transmission gear, one end of the transmission rod is installed with a second reducer, and the bottom of the second reducer is installed on the top of the protective cover, a third brake is installed on the top of the second reducer, a third servo motor is installed on the top of the third brake, and the output end of the third servo motor passes through the third brake and is connected to the second reducer.

[0017] Preferably, an air injection pipe is installed at the front end of the top of the fixed plate, and the output end of the air injection pipe is fixedly connected to the air injection port through a hose, and the air injection port passes through the top of the fixed plate and the top plate, and a first connecting block is installed on the outer wall of the air injection port, and a first electric push rod is installed on one side of the top of the first connecting block, and the outer wall of the first electric push rod is installed on one side of the top of the fixed plate, and the first electric push rod is used to drive the air injection port to insert into the feed port, and a gas injection machine is installed at the other end of the air injection pipe, and one side of the gas injection machine is installed on one side of the hydraulic telescopic cylinder.

[0018] Preferably, a second electric push rod is installed in the middle of the bottom of the base plate, a fourth servo motor is installed at the bottom of the second electric push rod, a fourth brake is installed at the bottom of the fourth servo motor, a nozzle rack is installed at the output end of the fourth servo motor, and a plurality of nozzle bodies are installed on the outer wall of the nozzle rack. The second electric push rod is used to drive the input end of the nozzle body to be inserted into the discharge port.

[0019] Preferably, the working steps of the dyeing robot for automatically identifying the dyeing area are as follows:

[0020] S1, through the first camera, the second camera and the visual recognition module, the color, remaining amount and position data of the injection area and the dye storage tank can be obtained in real time;

[0021] S2, through the setting of manual handle teaching module, recording module and teaching loading module, the injection-dyeing robot is guided to complete a series of actions through the manual operation handle, and the actions are recorded through the recording module to form a teaching program, and the teaching loading module and motion control module are used to reproduce the teaching actions;

[0022] S3, through the setting of the teaching loading module and the actuator, the teaching loading module is loaded, the motion control module controls the actuator to complete the teaching action, and the injection and dyeing robot is automatically loaded to perform the injection and dyeing work;

[0023] S4. The third servo motor and the second reducer are arranged to increase the output torque, thereby driving the rack and the placement plate to rotate through the transmission gear. The third brake can limit the rotation of the transmission gear when the required dye storage tank reaches the specified position, thereby enabling the dyeing robot to automatically adjust the dyeing color effect during the dyeing process.

[0024] S5. After the dye storage tank is moved to a designated position by setting the dye storage tank, the feed port, the discharge port and the one-way valve, the first electric push rod drives the gas injection port to be inserted into the feed port;

[0025] S6, the fourth servo motor drives the nozzle rack to rotate, and when the nozzle body to be used moves to the bottom of the dye storage tank, the second electric push rod drives the input end of the nozzle body to be inserted into the discharge port;

[0026] S7. The gas injection machine is started to spray the dye in the dye storage tank through the gas injection pipe through the nozzle body, thereby completing the injection and dyeing work. At the same time, different nozzle bodies can be replaced as needed to improve the injection and dyeing effect.

[0027] Preferably, the step S1 further includes the following steps:

[0028] S11. The dyeing area verification module determines in real time whether the dyeing area in the data obtained by the first camera reaches the required area. The emergency stop module is used to immediately stop dyeing when the dyeing area exceeds the threshold and the dyeing robot is still dyeing. The sound and light alarm module determines in real time whether the placement position of the dye storage tank containing different color dyes in the data obtained by the second camera is correct and whether the remaining amount of dye is lower than the threshold.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention can obtain the color, remaining amount and position data of the dyeing area and the dye storage tank in real time through the first camera, the second camera and the visual recognition module, and perform emergency processing and reminder warnings. Through the setting of the manual handle teaching module, the recording module and the teaching loading module, the dyeing robot is guided to complete a series of actions through the manual operation handle, and the actions are recorded by the recording module to form a teaching program, and the teaching loading module and the motion control module are used to reproduce the teaching actions, thereby improving the dyeing efficiency;

[0031] 2. The present invention sets a teaching loading module and an actuator. The teaching loading module performs loading. The motion control module regulates the actuator to control the first servo motor to drive the first connecting plate and the hydraulic telescopic cylinder to rotate, so as to adjust the angle of the robot arm. The hydraulic telescopic cylinder can adjust the height of the robot arm. The second servo motor drives the threaded screw to rotate to adjust the position of the dyeing device at the bottom of the robot arm. Then, according to the teaching action, the dyeing robot can be automatically loaded to perform dyeing work, which is beneficial to improve the efficiency of dyeing.

[0032] 3. The present invention is conducive to increasing the output torque through the arrangement of the third servo motor and the second reducer, thereby driving the rack and the placement plate to rotate through the transmission gear, and the second camera monitors the position of the dye storage tank in real time when the placement plate rotates. The third brake can limit the rotation of the transmission gear when the required dye storage tank reaches the specified position, thereby enabling the injection and dyeing robot to automatically adjust the injection and dyeing color effect during the injection and dyeing process;

[0033] 4. The present invention arranges a dye storage tank, a feed port, a discharge port and a one-way valve so that after the dye storage tank is moved to a specified position, the first electric push rod drives the gas injection port to be inserted into the feed port, the fourth servo motor drives the nozzle rack to rotate, and the nozzle body to be used is moved to the bottom of the dye storage tank, the second electric push rod drives the input end of the nozzle body to be inserted into the discharge port, the gas injection machine is started to spray the dye in the dye storage tank through the nozzle body through the gas injection pipe, thereby completing the injection and dyeing work, and at the same time, different nozzle bodies can be replaced as needed, thereby improving the injection and dyeing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a system schematic diagram of the present invention;

[0035] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 3 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0037] Figure 4 For the present invention Figure 3 Schematic diagram of the structure at A in the middle;

[0038] Figure 5 For the present invention Figure 3 Schematic diagram of the structure at B in the middle;

[0039] Figure 6 It is a schematic diagram of the structure of the nozzle frame of the present invention;

[0040] Figure 7 It is a schematic diagram of the placement plate structure of the present invention;

[0041] Figure 8 It is a schematic diagram of the rack structure of the present invention;

[0042] Fig. 9 It is a schematic diagram of the workflow of the present invention.

[0043] In the figure: 1. first camera; 2. second camera; 3. dye storage tank; 4. visual recognition module; 5. main controller module; 6. injection area verification module; 7. sound and light alarm module; 8. emergency stop module; 9. motion control module; 10. manual handle teaching module; 11. recording module; 12. teaching loading module; 13. actuator; 14. base; 15. fixed seat; 16. first reducer; 17. first connecting plate; 18. hydraulic telescopic cylinder; 19. first brake; 20. first servo motor; 21. second connecting plate; 23. robot arm; 24. slide; 25. second brake; 26. second servo motor; 27. threaded screw; 28. slider; 29. ​​fixed plate ; 30. Injection dyer; 31. Top plate; 32. Arc transparent protective cover; 33. Bottom plate; 34. Bearing; 35. Follower rod; 36. Placement plate; 37. Support plate; 38. Protective cover; 39. Transmission gear; 40. Rack; 41. Transmission rod; 42. Second reducer; 43. Third brake; 44. Third servo motor; 45. Air injection pipe; 46. Connecting hole; 47. Air injection port; 48. Feed port; 49. Discharge port; 50. One-way valve; 51. First connecting block; 52. First electric push rod; 53. Control box; 54. Manual handle access port; 55. Second electric push rod; 56. Fourth servo motor; 57. Nozzle holder; 58. Nozzle body; 59. Air injection machine; 60. Fourth brake. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Example 1: Please refer to Figure 1 , an embodiment provided by the present invention: a dyeing robot capable of automatically identifying dyeing areas, comprising a first camera 1 and a second camera 2, wherein the first camera 1 is used to capture images of the robot performing dyeing, and the second camera 2 is used to capture images of a plurality of dye storage tanks 3, the first camera 1 and the second camera 2 send the captured videos to a visual recognition module 4, the visual recognition module 4 is used to recognize the dyeing areas in real time and to obtain the colors, remaining amounts and positions of different dyes, a feed port 48 is installed on the top of the dye storage tank 3, a discharge port 49 is installed on the bottom of the dye storage tank 3, and a check valve 50 is installed on the inner walls of the feed port 48 and the discharge port 49;

[0048] The visual recognition module 4 is electrically connected to the main controller module 5, and the main controller module 5 includes an injection area verification module 6 and an audio-visual alarm module 7. The injection area verification module 6 is used to determine in real time whether the injection area in the data obtained by the first camera 1 has reached the required area. The audio-visual alarm module 7 is used to determine in real time whether the placement position of the dye storage tank 3 containing different color dyes in the data obtained by the second camera 2 is correct and whether the remaining amount of the dye is lower than the threshold. The injection area verification module 6 is electrically connected to the emergency stop module 8. The emergency stop module 8 is used to stop dye injection immediately when the injection area exceeds the threshold and the injection robot is still performing injection.

[0049] The main controller module 5 is electrically connected to a motion control module 9, and the motion control module 9 includes an artificial handle teaching module 10, and the artificial handle teaching module 10 is electrically connected to a recording module 11. The artificial handle teaching module 10 is used to guide the robot to complete a series of actions by manually operating the handle, and these actions are recorded by the recording module 11 to form a teaching program, and the recording module 11 is electrically connected to a teaching loading module 12, and the teaching loading module 12 is electrically connected to the motion control module 9;

[0050] Furthermore, through the first camera 1, the second camera 2 and the visual recognition module 4, the color, remaining amount and position data of the dyeing area and the dye storage tank 3 can be obtained in real time. Through the dyeing area verification module 6 and the emergency stop module 8, it is helpful to improve the accuracy of the dyeing robot in controlling the dyeing area. Through the sound and light alarm module 7, it is helpful to remind the staff to avoid the misalignment of the dye storage tank 3 containing dyes of different colors or the remaining amount of the dye being lower than the threshold value.

[0051] Through the setting of the manual handle teaching module 10, the recording module 11 and the teaching loading module 12, the injection-dyeing robot is guided to complete a series of actions through the manual operation handle, and the actions are recorded through the recording module 11 to form a teaching program, which cooperates with the teaching loading module 12 and the motion control module 9 to reproduce the teaching actions, thereby improving the injection-dyeing efficiency.

[0052] Example 2: Please refer to Figure 2 , Figure 3 and Figure 4 , an embodiment provided by the present invention: the motion control module 9 is electrically connected to an actuator 13, the actuator 13 includes a base 14, a fixing seat 15 is installed on one side of the top of the base 14, a first reducer 16 is installed on the top of the fixing seat 15, a first connecting plate 17 is installed on the output end of the first reducer 16, a hydraulic telescopic cylinder 18 is installed on the top of the first connecting plate 17 by bolts, a first brake 19 is installed on one side of the first reducer 16, a first servo motor 20 is installed on one side of the first brake 19, and the output end of the first servo motor 20 passes through the first brake 19 and is connected to the first reducer 16, a control box 53 is installed in the middle of the top of the base 14, and a manual handle access port 54 is installed on the top of the control box 53;

[0053] A second connecting plate 21 is installed at the output end of the hydraulic telescopic cylinder 18, a robot arm 23 is installed on one side of the second connecting plate 21 through bolts, and the front end of the bottom of the robot arm 23 is installed on the top of the first camera 1, and the rear end of the bottom of the robot arm 23 is installed on the top of the second camera 2;

[0054] A slide groove 24 is provided at the bottom of the robot arm 23, a second brake 25 is installed at one end of the robot arm 23, a second servo motor 26 is installed at one end of the second brake 25, a threaded screw 27 is installed at the output end of the second servo motor 26, a slider 28 is threadedly connected to the outer wall of the threaded screw 27, and the outer wall of the slider 28 is movably connected to the inner wall of the slide groove 24, a fixing plate 29 is installed at the bottom of the slider 28, and a dye injector 30 is installed at the bottom of the fixing plate 29 through bolts;

[0055] Furthermore, through the setting of the teaching loading module 12 and the actuator 13, the teaching loading module 12 is loaded, and the motion control module 9 regulates the actuator 13 to control the first servo motor 20 to drive the first connecting plate 17 and the hydraulic telescopic cylinder 18 to rotate, so as to adjust the angle of the robot arm 23, and the hydraulic telescopic cylinder 18 can adjust the height of the robot arm 23. The second servo motor 26 drives the threaded screw 27 to rotate to adjust the position of the injector 30 at the bottom of the robot arm 23, and then according to the teaching action, the injection and dyeing robot can be automatically loaded to perform injection and dyeing work, which is beneficial to improve the injection and dyeing efficiency.

[0056] Example 3: Please refer to Figure 2 , Figure 3 , Figure 7 and Figure 8 , an embodiment provided by the present invention: the dye injector 30 includes a top plate 31, and the top of the top plate 31 is installed on the bottom of the fixed plate 29, the bottom of the top plate 31 is installed with a circular arc transparent protective cover 32, the bottom of the circular arc transparent protective cover 32 is installed with a bottom plate 33, the middle part of the bottom of the top plate 31 and the middle part of the top of the bottom plate 33 are both embedded with bearings 34, the inner wall of the bearing 34 is installed with a driven rod 35, the top and bottom of the outer wall of the driven rod 35 are both installed with a placement plate 36, and the inner wall of the placement plate 36 is installed with a dye storage tank 3, a group of tops of the placement plates 36 and the bottom of the bottom plate 33 are both opened with a plurality of connection holes 46, and the inner walls of the connection holes 46 are respectively movably connected to the outer walls of the feed port 48 and the discharge port 49;

[0057] A support plate 37 is installed on one side of the bottom plate 33, a protective cover 38 is installed on the top of the support plate 37, and one side of the protective cover 38 is installed on the bottom of the outer wall of the arc transparent protective cover 32, and a transmission gear 39 is movably connected inside the protective cover 38, and a rack 40 is installed on the outer wall of the transmission gear 39 that passes through the bottom of the outer wall of the arc transparent protective cover 32, and the rack 40 is installed on the outer wall of the bottom placement plate 36, a transmission rod 41 is installed on the top of the transmission gear 39, and a second reducer 42 is installed on one end of the transmission rod 41, and the bottom of the second reducer 42 is installed on the top of the protective cover 38, a third brake 43 is installed on the top of the second reducer 42, a third servo motor 44 is installed on the top of the third brake 43, and the output end of the third servo motor 44 passes through the third brake 43 and is connected to the second reducer 42;

[0058] Furthermore, the arrangement of the third servo motor 44 and the second reducer 42 is conducive to increasing the output torque, thereby driving the rack 40 and the placement plate 36 to rotate through the transmission gear 39. The second camera 2 monitors the position of the dye storage tank 3 when the placement plate 36 rotates in real time. The third brake 43 can limit the rotation of the transmission gear 39 when the required dye storage tank 3 reaches the specified position, thereby enabling the dyeing robot to automatically adjust the dyeing color effect during the dyeing process.

[0059] Example 4: Please refer to Figure 3 , Figure 4 , Figure 5 and Figure 6 , an embodiment provided by the present invention: an air injection pipe 45 is installed at the front end of the top of the fixed plate 29, the output end of the air injection pipe 45 is fixedly connected with an air injection port 47 through a hose, and the air injection port 47 passes through the top of the fixed plate 29 and the top plate 31, and a first connecting block 51 is installed on the outer wall of the air injection port 47, a first electric push rod 52 is installed on one side of the top of the first connecting block 51, and the outer wall of the first electric push rod 52 is installed on one side of the top of the fixed plate 29, and the first electric push rod 52 is used to drive the air injection port 47 to insert into the feed port 48, and a gas injection machine 59 is installed at the other end of the air injection pipe 45, and one side of the gas injection machine 59 is installed on one side of the hydraulic telescopic cylinder 18;

[0060] A second electric push rod 55 is installed in the middle of the bottom of the bottom plate 33, a fourth servo motor 56 is installed at the bottom of the second electric push rod 55, a fourth brake 60 is installed at the bottom of the fourth servo motor 56, a nozzle rack 57 is installed at the output end of the fourth servo motor 56, and a plurality of nozzle bodies 58 are installed on the outer wall of the nozzle rack 57. The second electric push rod 55 is used to drive the input end of the nozzle body 58 to insert into the discharge port 49;

[0061] Further, through the arrangement of the dye storage tank 3, the feed port 48, the discharge port 49 and the one-way valve 50, after the dye storage tank 3 is moved to the designated position, the first electric push rod 52 drives the gas injection port 47 to be inserted into the feed port 48, the fourth servo motor 56 drives the nozzle rack 57 to rotate, and the nozzle body 58 to be used is moved to the bottom of the dye storage tank 3, the second electric push rod 55 drives the input end of the nozzle body 58 to be inserted into the discharge port 49, and the gas injection machine 59 is started to spray the dye in the dye storage tank 3 through the nozzle body 58 through the gas injection pipe 45, thereby completing the injection and dyeing work, and at the same time, different nozzle bodies 58 can be replaced according to needs, thereby improving the injection and dyeing effect;

[0062] The gas injection port 47 inserted into the feed port 48 can open the one-way valve 50 in the feed port 48. The force generated when the gas injection machine 59 is started can discharge the dye in the dye storage tank 3 through the one-way valve 50 of the discharge port 49. When the gas injection machine 59 stops, the one-way valve 50 of the discharge port 49 will seal the discharge port 49.

[0063] Example 5: Please refer to Fig. 9 The present invention provides an embodiment: the working steps of the dyeing robot for automatically identifying the dyeing area are as follows:

[0064] S1, through the first camera 1, the second camera 2 and the visual recognition module 4, the color, remaining amount and position data of the injection area and the dye storage tank 3 can be obtained in real time;

[0065] S2, through the setting of the manual handle teaching module 10, the recording module 11 and the teaching loading module 12, the manual operation handle is used to guide the injection and dyeing robot to complete a series of actions, and the actions are recorded by the recording module 11 to form a teaching program, and the teaching loading module 12 and the motion control module 9 are used to reproduce the teaching actions;

[0066] S3, through the setting of the teaching loading module 12 and the actuator 13, the teaching loading module 12 performs loading, the motion control module 9 controls the actuator 13 to complete the teaching action, and automatically loads the injection and dyeing robot to perform injection and dyeing work;

[0067] S4. The third servo motor 44 and the second reducer 42 are arranged to increase the output torque, thereby driving the rack 40 and the placement plate 36 to rotate through the transmission gear 39. The third brake 43 can limit the rotation of the transmission gear 39 when the required dye storage tank 3 reaches the specified position, thereby enabling the dyeing robot to automatically adjust the dyeing color effect during the dyeing process.

[0068] S5, after the dye storage tank 3 is moved to the designated position through the setting of the dye storage tank 3, the feed port 48, the discharge port 49 and the one-way valve 50, the first electric push rod 52 drives the gas injection port 47 to be inserted into the feed port 48;

[0069] S6, the fourth servo motor 56 drives the nozzle frame 57 to rotate, and when the nozzle body 58 to be used moves to the bottom of the dye storage tank 3, the second electric push rod 55 drives the input end of the nozzle body 58 to be inserted into the discharge port 49;

[0070] S7, the gas injection machine 59 is started to spray the dye in the dye storage tank 3 through the gas injection pipe 45 through the nozzle body 58, so that the dyeing work can be completed, and different nozzle bodies 58 can be replaced as needed to improve the dyeing effect;

[0071] S1 also includes the following steps:

[0072] S11, the dyeing area verification module 6 determines in real time whether the dyeing area in the data obtained by the first camera 1 reaches the required area. The emergency stop module 8 is used to immediately stop dyeing when the dyeing area exceeds the threshold and the dyeing robot is still dyeing. The sound and light alarm module 7 determines in real time whether the placement position of the dye storage tank containing different color dyes in the data obtained by the second camera 2 is correct and whether the remaining amount of the dye is lower than the threshold.

[0073] Working principle: through the first camera 1, the second camera 2 and the visual recognition module 4, the color, remaining amount and position data of the injection and dyeing area and the dye storage tank 3 can be obtained in real time; through the injection and dyeing area verification module 6 and the emergency stop module 8, it is helpful to improve the accuracy of the injection and dyeing robot in controlling the injection and dyeing area; through the sound and light alarm module 7, it is helpful to remind the staff to avoid the position misalignment of the dye storage tank 3 containing dyes of different colors or the remaining amount of the dye is lower than the threshold; through the setting of the manual handle teaching module 10, the recording module 11 and the teaching loading module 12, the injection and dyeing robot is guided to complete a step by manually operating the handle. A series of actions are performed, and the actions are recorded by the recording module 11 to form a teaching program, and the teaching loading module 12 and the motion control module 9 are used to reproduce the teaching actions, thereby improving the injection and dyeing efficiency. Through the setting of the teaching loading module 12 and the actuator 13, the teaching loading module 12 is loaded, and the motion control module 9 regulates the actuator 13 to control the first servo motor 20 to drive the first connecting plate 17 and the hydraulic telescopic cylinder 18 to rotate, so as to adjust the angle of the robot arm 23, and the hydraulic telescopic cylinder 18 can adjust the height of the robot arm 23. The second servo motor 26 drives the threaded screw 27 to rotate to adjust the injection and dyeing device 30 in the machine The position of the bottom of the arm 23 can be adjusted according to the teaching action to automatically load the dyeing robot for dyeing work, which is beneficial to improving the dyeing efficiency. The third servo motor 44 and the second reducer 42 are arranged to increase the output torque, and then the rack 40 and the placement plate 36 are driven to rotate through the transmission gear 39. The second camera 2 monitors the position of the dye storage tank 3 when the placement plate 36 rotates in real time. The third brake 43 can limit the rotation of the transmission gear 39 when the required dye storage tank 3 reaches the specified position, and then the dyeing robot can automatically adjust the dyeing color effect during the dyeing process. The storage tank 3, the feed port 48, the discharge port 49 and the one-way valve 50 are arranged so that after the dye storage tank 3 is moved to the specified position, the first electric push rod 52 drives the gas injection port 47 to be inserted into the feed port 48, and the fourth servo motor 56 drives the nozzle rack 57 to rotate, and the nozzle body 58 to be used is moved to the bottom of the dye storage tank 3, and the second electric push rod 55 drives the input end of the nozzle body 58 to be inserted into the discharge port 49, and the gas injection machine 59 is started to spray the dye in the dye storage tank 3 through the nozzle body 58 through the gas injection pipe 45, thereby completing the injection and dyeing work. At the same time, different nozzle bodies 58 can be replaced as needed to improve the injection and dyeing effect.

[0074] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A dyeing robot for automatically identifying a dyeing area, comprising a first camera (1) and a second camera (2), characterized in that: The first camera (1) is used to capture images of the robot performing dyeing, the second camera (2) is used to capture images of a plurality of dye storage tanks (3), the first camera (1) and the second camera (2) send the captured videos to a visual recognition module (4), the visual recognition module (4) is used to identify the dyeing area and obtain the color, remaining amount and position of different dyes in real time, the top of the dye storage tank (3) is provided with a feed port (48), the bottom of the dye storage tank (3) is provided with a discharge port (49), and the inner walls of the feed port (48) and the discharge port (49) are both provided with check valves (50); The visual recognition module (4) is electrically connected to a main controller module (5), the main controller module (5) comprising an injection area verification module (6) and an acoustic and optical alarm module (7), the injection area verification module (6) being used to judge in real time whether the injection area in the data acquired by the first camera (1) reaches a required area, the acoustic and optical alarm module (7) being used to judge in real time whether the placement position of the dye storage tank (3) containing dyes of different colors in the data acquired by the second camera (2) is correct and whether the remaining amount of the dye is lower than a threshold value, the injection area verification module (6) being electrically connected to an emergency stop module (8), the emergency stop module (8) being used to immediately stop dye injection when the injection area exceeds the threshold value and the injection robot is still performing injection; The main controller module (5) is electrically connected to a motion control module (9), the motion control module (9) comprising an artificial handle teaching module (10), the artificial handle teaching module (10) being electrically connected to a recording module (11), the artificial handle teaching module (10) being used to guide the robot to complete a series of actions by manually operating a handle, and recording these actions through the recording module (11) to form a teaching program, the recording module (11) being electrically connected to a teaching loading module (12), and the teaching loading module (12) being electrically connected to the motion control module (9); The motion control module (9) is electrically connected to an actuator (13), the actuator (13) comprising a base (14), a fixing seat (15) being installed on one side of the top of the base (14), a first reducer (16) being installed on the top of the fixing seat (15), a first connecting plate (17) being installed on the output end of the first reducer (16), a hydraulic telescopic cylinder (18) being installed on the top of the first connecting plate (17) via bolts, a first brake (19) being installed on one side of the first reducer (16), a first servo motor (20) being installed on one side of the first brake (19), and an output end of the first servo motor (20) passing through the first brake (19) and connected to the first reducer (16), a control box (53) being installed in the middle of the top of the base (14), and a manual handle access port (54) being installed on the top of the control box (53); A second connecting plate (21) is installed at the output end of the hydraulic telescopic cylinder (18); a robot arm (23) is installed on one side of the second connecting plate (21) via bolts; the front end of the bottom of the robot arm (23) is installed on the top of the first camera (1), and the rear end of the bottom of the robot arm (23) is installed on the top of the second camera (2); A slide groove (24) is provided at the bottom of the robot arm (23); a second brake (25) is installed at one end of the robot arm (23); a second servo motor (26) is installed at one end of the second brake (25); a threaded screw (27) is installed at the output end of the second servo motor (26); a slider (28) is threadedly connected to the outer wall of the threaded screw (27); and the outer wall of the slider (28) is movably connected to the inner wall of the slide groove (24); a fixing plate (29) is installed at the bottom of the slider (28); a dye injector (30) is installed at the bottom of the fixing plate (29) via bolts; and a plurality of dye storage tanks (3) are installed on the dye injector (30).

2. The dyeing robot for automatically identifying the dyeing area according to claim 1, characterized in that: An air injection pipe (45) is installed at the front end of the top of the fixed plate (29); the output end of the air injection pipe (45) is fixedly connected to the air injection port (47) via a hose, and the air injection port (47) passes through the top of the fixed plate (29) and the top plate (31); a first connecting block (51) is installed on the outer wall of the air injection port (47); a first electric push rod (52) is installed on one side of the top of the first connecting block (51), and the outer wall of the first electric push rod (52) is installed on one side of the top of the fixed plate (29); the first electric push rod (52) is used to drive the air injection port (47) to insert into the feed port (48); a gas injection machine (59) is installed at the other end of the air injection pipe (45), and one side of the gas injection machine (59) is installed on one side of the hydraulic telescopic cylinder (18).

3. The dyeing robot for automatically identifying the dyeing area according to claim 2, characterized in that: The dye injector (30) comprises a top plate (31), and the top of the top plate (31) is mounted on the bottom of the fixed plate (29), the bottom of the top plate (31) is mounted with a circular arc transparent protective cover (32), the bottom of the circular arc transparent protective cover (32) is mounted with a bottom plate (33), the middle of the bottom of the top plate (31) and the middle of the top of the bottom plate (33) are both embedded with a bearing (34), the inner wall of the bearing (34) is mounted with a driven rod (35), the top and bottom of the outer wall of the driven rod (35) are both mounted with a placement plate (36), and the inner wall of the placement plate (36) is mounted with a dye storage tank (3), and a group of the top of the placement plate (36) and the bottom plate (33) are connected. A plurality of connection holes (46) are provided at the bottom, and the inner walls of the connection holes (46) are movably connected to the outer walls of the feed port (48) and the discharge port (49), respectively. A second electric push rod (55) is installed at the middle of the bottom of the bottom plate (33), a fourth servo motor (56) is installed at the bottom of the second electric push rod (55), a fourth brake (60) is installed at the bottom of the fourth servo motor (56), a nozzle rack (57) is installed at the output end of the fourth servo motor (56), a plurality of nozzle bodies (58) are installed on the outer wall of the nozzle rack (57), and the second electric push rod (55) is used to drive the input end of the nozzle body (58) to be inserted into the discharge port (49).

4. The dyeing robot for automatically identifying the dyeing area according to claim 3, characterized in that: A support plate (37) is mounted on one side of the bottom plate (33); a protective sleeve (38) is mounted on the top of the support plate (37); one side of the protective sleeve (38) is mounted on the bottom of the outer wall of the arc transparent protective cover (32); a transmission gear (39) is movably connected inside the protective sleeve (38); a rack (40) is mounted on the outer wall of the transmission gear (39) passing through the bottom of the outer wall of the arc transparent protective cover (32); the rack (40) is mounted on the outer wall of the bottom placement plate (36); a transmission rod (41) is mounted on the top of the transmission gear (39); a second reducer (42) is mounted on one end of the transmission rod (41); the bottom of the second reducer (42) is mounted on the top of the protective sleeve (38); a third brake (43) is mounted on the top of the second reducer (42); a third servo motor (44) is mounted on the top of the third brake (43); and an output end of the third servo motor (44) passes through the third brake (43) and is connected to the second reducer (42).

5. The method for using the dyeing robot capable of automatically identifying the dyeing area according to claim 4, characterized in that: The working steps of the dyeing robot for automatically identifying the dyeing area are as follows: S1, through the first camera (1), the second camera (2) and the visual recognition module (4), the color, remaining amount and position data of the injection area and the dye storage tank (3) can be obtained in real time; S2, by setting up a manual handle teaching module (10), a recording module (11) and a teaching loading module (12), guiding the injection-dyeing robot to complete a series of actions through a manual operation handle, and recording the actions through the recording module (11) to form a teaching program, and cooperating with the teaching loading module (12) and the motion control module (9) to reproduce the teaching actions; S3, through the setting of the teaching loading module (12) and the actuator (13), the teaching loading module (12) performs loading, the motion control module (9) controls the actuator (13) to complete the teaching action, and automatically loads the injection-dyeing robot to perform injection-dyeing work; S4. The third servo motor (44) and the second reducer (42) are arranged to increase the output torque, thereby driving the rack (40) and the placement plate (36) to rotate through the transmission gear (39). The third brake (43) can limit the rotation of the transmission gear (39) when the required dye storage tank (3) reaches a specified position, thereby enabling the dyeing robot to automatically adjust the dyeing color effect during the dyeing process. S5. After the dye storage tank (3) is moved to a specified position by setting the dye storage tank (3), the feed port (48), the discharge port (49) and the one-way valve (50), the first electric push rod (52) drives the gas injection port (47) to be inserted into the feed port (48); S6, the fourth servo motor (56) drives the nozzle frame (57) to rotate, and when the nozzle body (58) to be used moves to the bottom of the dye storage tank (3), the second electric push rod (55) drives the input end of the nozzle body (58) to be inserted into the discharge port (49); S7, the gas injection machine (59) is started to spray the dye in the dye storage tank (3) through the gas injection pipe (45) through the nozzle body (58), thereby completing the dyeing work. At the same time, different nozzle bodies (58) can be replaced as needed, thereby improving the dyeing effect.

6. The method for using the dyeing robot capable of automatically identifying the dyeing area according to claim 5, characterized in that: The S1 also includes the following steps: S11, the dyeing area verification module (6) determines in real time whether the dyeing area in the data obtained by the first camera (1) reaches the required area, the emergency stop module (8) is used to immediately stop dyeing when the dyeing area exceeds a threshold and the dyeing robot is still dyeing, and the sound and light alarm module (7) determines in real time whether the placement position of the dye storage tank containing different color dyes in the data obtained by the second camera (2) is correct and whether the remaining amount of the dye is lower than the threshold.

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