An intelligent dyeing robot with fully automatic color changing function

Abstract

The present invention discloses an intelligent dyeing robot with a fully automatic color-changing function, which relates to the technical field of tie-dyeing, and includes a dyeing robot base, a dye circulation pipeline and a dyeing head. The outer end of the dye circulation pipeline is equipped with a dyeing head, the vertical flip seat is symmetrically installed on the outside of the dyeing head, the limit plate is installed on the opposite side of the stable connection block, and the color-changing cleaning collection cylinder is installed on the inner side of the welding socket. The present invention arranges a color-changing anti-crossing component on the outside of the dyeing head, and the dye cleaning agent flushes the residual dye in the dye circulation pipeline, and the cleaning agent after flushing is collected by the color-changing cleaning collection cylinder. After the cleaning agent flushes the dye circulation pipeline, the color-changing anti-crossing component moves to the bottom of the dyeing head, and the color-changing flushing of the dyeing robot is more convenient, which prevents the cleaning agent after flushing from falling into the tie-dyeing area and causing adverse effects on the product production process, speeds up the dyeing color-changing process, and further improves the tie-dyeing production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of tie-dyeing, in particular to an intelligent dyeing robot with a full-automatic color-changing function. Background Art

[0002] Tie-dyeing is a traditional and unique dyeing process in Chinese folk art. It is a dyeing method in which fabrics are partially tied up during dyeing to prevent them from being colored. The tie-dyeing process is divided into two parts: tying and dyeing. The fabrics are dyed by tying, sewing, binding, stitching, and clipping yarn, thread, rope and other tools to form unique patterns and designs. The injection and dyeing robot can complete various tasks in the printing and dyeing process efficiently and accurately, greatly improving the automation level and production efficiency of the printing and dyeing production line.

[0003] The defects of the injection and dyeing robot in the prior art are:

[0004] 1. Patent document CN115710787A discloses a human-machine collaborative intelligent spraying robot, which cannot collect the waste liquid after flushing the residual dyes in the conveying pipeline, and cannot ensure the complete isolation between the dyes. The cleaning agent after flushing is easy to spill into the tie-dyeing area, which has an adverse effect on the product production process.

[0005] 2. Patent document CN113684633B discloses an automatic dyeing machine, which cannot realize the quick switching of different color dyes and pipeline cleaning agents, increases the time for changing dyes and cleaning pipelines separately, shortens the service life of dye circulation pipelines, and has low overall production efficiency.

[0006] 3. Patent document CN116397400B discloses a textile uniform dyeing device and processing technology. The uniform dyeing device cannot further clean the inner wall of the dye circulation pipe after flushing the residual dye. The incomplete volatilization or discharge of the cleaning agent will have an adverse effect on the performance of the dye after switching, reducing the purity of the dye during the injection dyeing process.

[0007] 4. Patent document CN221276082U discloses a printing and dyeing device for textile processing, which cannot dry the inside of the dye circulation pipe after cleaning. Moisture or water inside the dye circulation pipe will hinder the flow of dye, increase the waiting time before color change, and cannot ensure the consistency and quality of dyeing. Summary of the invention

[0008] The purpose of the present invention is to provide an intelligent dyeing robot with a fully automatic color changing function to solve the problems raised in the above background technology.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent dyeing robot with a fully automatic color-changing function, comprising a dyeing robot base, a dye circulation pipeline and a dyeing head, wherein a multi-axis driving mechanical arm is installed at the output end of the dyeing robot base, a driving sleeve is installed at the output end of the multi-axis driving mechanical arm, a dye circulation pipeline is installed at the outer end of the driving sleeve, and a dyeing head is installed at the outer end of the dye circulation pipeline;

[0010] A color-changing anti-crossing component is arranged on the outer side of the dyeing head, and the color-changing anti-crossing component comprises a vertical flip seat, a flip driving motor, an electric telescopic two-section rod, a limiting plate and a color-changing cleaning collecting cylinder. The vertical flip seat is symmetrically installed on the outer side of the dyeing head, the flip driving motor is installed on the outer side of the vertical flip seat, and the output end of the flip driving motor is connected to the electric telescopic two-section rod, and the output end of the electric telescopic two-section rod is installed with a stabilizing block, the limiting plate is installed on the opposite side of the stabilizing block, a welding socket is opened through the outer side of the limiting plate, and the color-changing cleaning collecting cylinder is installed on the inner side of the welding socket.

[0011] Preferably, a movable rotating frame is installed on the inner side of the injection and dyeing head, a liquid supply hose is installed on the inner side of the movable rotating frame, and the input end of the liquid supply hose is connected to the output end of the dye circulation pipeline, a spray gun mounting seat is installed on the output end of the liquid supply hose, an injection and dyeing nozzle is installed on the outer side of the spray gun mounting seat, a fixed seat is installed on the opposite side of the vertical flip seat, and the fixed seat is connected to the outer side of the injection and dyeing head, and an injection and dyeing space locator is installed on the top of the injection and dyeing head.

[0012] Preferably, an anti-overflow ramp is installed on the inner wall of the color-changing cleaning and collecting cylinder, a waste liquid port is opened through the outer side of the color-changing cleaning and collecting cylinder, and a discharge pipe is installed at the outer end of the waste liquid port.

[0013] Preferably, a lead pipe is installed on the inner side of the driving sleeve, a dye injection pipe is installed on the inner side of the lead pipe, the input end of the dye injection pipe is connected to a data collector, and the input end of the data collector is connected to a dye tank through a pipe.

[0014] Preferably, a five-in-one-out color-changing valve is installed on the inner side of the driving sleeve, and the input end of the five-in-one-out color-changing valve is connected to the dye injection pipe, and the output end of the five-in-one-out color-changing valve is connected to the dye circulation pipeline.

[0015] Preferably, an embedded groove is opened on the inner wall of the dye circulation conduit, a wall liquid scraping guide rail is installed on the inner side of the embedded groove, a wall liquid horizontal scraping plate is installed on the output end of the wall liquid scraping guide rail, a drip outlet is opened through the bottom of one end of the dye circulation conduit, and a lifting opening is opened through the top of one end of the dye circulation conduit close to the driving sleeve.

[0016] Preferably, a self-cleaning fixing frame is installed on the top of the dye circulation pipe, a guide cylinder is installed on the top of the self-cleaning fixing frame, the output end of the guide cylinder is connected to a drying fan, a dye injection sealing plug is installed on the bottom of the drying fan, and the dye injection sealing plug cooperates with the lifting opening.

[0017] Preferably, a wireless controller is installed on the outside of the base of the injection and dyeing robot, and the wireless controller is used to receive control signals. The wireless controller consists of an injection and dyeing drive module and a color changing and cleaning module. The injection and dyeing drive module is electrically connected to the multi-axis drive robotic arm, the five-in-one-out color changing valve and the injection and dyeing space locator, and the color changing and cleaning module is electrically connected to the color changing anti-crossing component, the guide cylinder, the drying fan and the wall liquid scraping guide rail.

[0018] A method for using an intelligent dyeing robot with a fully automatic color changing function is applicable to an intelligent dyeing robot with a fully automatic color changing function. Preferably, the method for using the intelligent dyeing robot comprises the following steps:

[0019] Step S1, the multi-axis driving robot arm drives the injection head to move to the designated position for injection according to the instruction, and when the injection color needs to be changed, the color change anti-crossing component moves from the bottom of the injection head to the outer end of the injection head;

[0020] Step S2, after the dye circulation pipeline is flushed, the wall liquid horizontal scraper is driven to scrape the residual cleaning agent in the dye circulation pipeline;

[0021] Step S3, the five-in-one-out color-changing valve operates to open the dye injection pipe of the corresponding dye and perform subsequent injection and dyeing processing.

[0022] Preferably, in step S1, the following steps are also included:

[0023] Step S11, the dye cleaning agent enters the dye circulation pipeline through the dye injection pipe to wash away the residual dye;

[0024] In the step S2, the following steps are also included:

[0025] Step S21, guiding the cylinder to drive the drying fan to be located inside the dye circulation pipeline to dry the dye circulation pipeline.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention provides a color-changing and anti-crossing component on the outer side of the dyeing head. When the dyeing color needs to be changed, the color-changing and anti-crossing component moves from the bottom of the dyeing head to the outer end of the dyeing head. The dye cleaning agent enters the dye circulation pipeline through the dye injection tube to flush the residual dye. The cleaning agent after flushing is collected by the color-changing cleaning collection cylinder. The automatic pipeline cleaning function ensures the complete isolation between the dyes, reduces the risk of cross contamination, and ensures the dyeing quality. After the cleaning agent flushes the dye circulation pipeline, the color-changing and anti-crossing component moves to the bottom of the dyeing head, and the collected cleaning agent is concentrated and discharged through the waste liquid port. The color-changing and flushing of the dyeing robot is more convenient, which prevents the cleaning agent after flushing from falling into the tie-dyeing area to cause adverse effects on the product production process, speeds up the dyeing and color-changing process, and further improves the tie-dyeing production efficiency.

[0028] The dyeing robot in the present invention is equipped with a five-in-one-out color-changing valve to realize quick switching of four color dyes and pipeline cleaning agents. The quick switching function of the color-changing valve reduces the time for changing dyes and cleaning pipelines separately, prolongs the service life of the dye circulation pipeline, and improves the overall production efficiency, realizes dyeing of multiple colors, and thus meets the market demand for product diversification. The dyeing robot records the three-dimensional running trajectory of the dyeing head during the operation of the technician through the dyeing space locator. The data collector collects parameters such as dye liquid flow rate and pressure in real time, which can accurately restore the technician's manual processing process and enhance the flexibility of the production line.

[0029] The present invention installs a wall liquid horizontal scraping plate at the output end of the wall liquid scraping guide rail. After the dye cleaning agent rinses the residual dye in the dye circulation pipeline, the wall liquid scraping guide rail drives the wall liquid horizontal scraping plate to scrape the residual cleaning agent in the dye circulation pipeline. The residual cleaning agent after scraping is discharged through the drip outlet, ensuring that the cleaning agent in the dye circulation channel is completely volatilized or discharged to avoid the adverse effect of the cleaning agent residue on the use performance of the switched dye, so that other color dyes can flow smoothly through the dye circulation pipeline while avoiding cross contamination, ensuring that the cleaning agent is completely isolated from the new dye, effectively preventing cross contamination between dyes of different colors, improving the purity of the dye in the injection dyeing process, and thus improving the color quality and overall quality of the product.

[0030] The present invention installs a dyeing sealing plugging plate at the bottom of the drying fan, guides the cylinder to drive the drying fan to be located inside the dye circulation pipeline, and then dries the dye circulation pipeline, heats and ventilates to ensure that the inside of the dye circulation pipeline is completely dry to eliminate any moisture or water that may affect the dye circulation, quickly prepares the dye channel to reduce the waiting time before color changing, thereby improving work efficiency. The dry channel can ensure smooth dye circulation without moisture or water interference, thereby improving the consistency and quality of dyeing. Moisture or water may cause dye mixing or contamination. The dry channel can reduce moisture corrosion to equipment components and extend the service life of the dyeing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the three-dimensional structure of the dyeing head of the present invention;

[0033] Figure 3 It is a schematic diagram of the internal structure of the driving sleeve of the present invention;

[0034] Figure 4 This is a schematic diagram of the internal structure of the dye circulation pipeline of the present invention;

[0035] Figure 5 It is a schematic diagram of the internal structure of the dye circulation pipeline of the present invention;

[0036] Figure 6 This is a schematic diagram of the three-dimensional structure of the injection and dyeing sealing plugging plate of the present invention;

[0037] Figure 7 It is a schematic diagram of the three-dimensional structure of the color-changing and anti-crossing assembly of the present invention;

[0038] Figure 8 This is a schematic diagram of the internal structure of the color-changing, cleaning and collecting cylinder of the present invention;

[0039] Fig. 9 A diagram of a wireless controller system of the present invention;

[0040] Fig.10 It is the work flow chart of the present invention.

[0041] In the figure: 1. Dyeing robot base; 2. Drive sleeve; 3. Dye circulation pipeline; 4. Self-cleaning fixed frame; 5. Dyeing head; 6. Vertical flip seat; 7. Color changing cleaning collection cylinder; 8. Wireless controller; 9. Multi-axis drive robot arm; 10. Five-in-one-out color changing valve; 11. Guide pipeline; 12. Dye injection pipe; 13. Data collector; 14. Dye tank; 15. Lifting opening; 16. Guide cylinder; 17. Drying fan; 18. Dyeing sealing plate; 19. Embedded groove; 20. Wall liquid scraping guide rail; 21. Wall liquid horizontal scraping plate; 22. Drip outlet; 23. Movable rotating frame; 24. Liquid supply hose; 25. Spray gun mounting seat; 26. Injection and dyeing nozzle; 27. Fixed seat; 28. Flip drive motor; 29. ​​Electric telescopic two-section rod; 30. Stable connection block; 31. Limiting plate; 32. Welding socket; 33. Anti-overflow ramp; 34. Waste liquid outlet; 35. Discharge pipe; 36. Injection and dyeing space locator. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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 or a movable connection, or 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.

[0045] See also Figure 1 , Figure 2 and Figure 7 , an embodiment provided by the present invention: an intelligent dyeing robot with a fully automatic color changing function;

[0046] It includes a dyeing head 5, a vertical flip seat 6 and a color-changing cleaning collection tube 7. The dyeing head 5 is installed at the outer end of the dye circulation pipeline 3. The outer side of the dyeing head 5 is provided with a color-changing anti-crossing component. The color-changing anti-crossing component includes a vertical flip seat 6, a flip driving motor 28, an electric telescopic two-section rod 29, a limiting plate 31 and a color-changing cleaning collection tube 7. The vertical flip seat 6 is symmetrically installed on the outer side of the dyeing head 5. The flip driving motor 28 is installed on the outer side of the vertical flip seat 6, and the output end of the flip driving motor 28 is connected to the electric telescopic two-section rod 29. The output end of the electric telescopic two-section rod 29 is installed with a stable connection block 30, and the limiting plate 31 is installed on the opposite side of the stable connection block 30.

[0047] A movable rotating frame 23 is installed inside the dyeing head 5, a liquid supply hose 24 is installed inside the movable rotating frame 23, and the input end of the liquid supply hose 24 is connected to the output end of the dye circulation pipeline 3, a spray gun mounting seat 25 is installed at the output end of the liquid supply hose 24, a dyeing nozzle 26 is installed outside the spray gun mounting seat 25, and a fixed seat 27 is installed on the opposite side of the vertical flip seat 6, and the fixed seat 27 is connected to the outside of the dyeing head 5;

[0048] The vertical flip seat 6 is installed on the outside of the dyeing head 5 through the fixed seat 27. The vertical flip seat 6 provides an installation position for the flip drive motor 28. When the flip drive motor 28 is working, it drives the electric telescopic two-section rod 29 to rotate to realize the conversion of the use angle of the limit plate 31 and the color-changing cleaning collection tube 7. The fixed seat 27 provides a rotation space for the electric telescopic two-section rod 29. The electric telescopic two-section rod 29 adjusts the horizontal and vertical spacing between the limit plate 31 and the dyeing head 5. The stable connection block 30 ensures the connection stability between the electric telescopic two-section rod 29 and the limit plate 31. When the dyeing color needs to be changed, the color-changing anti-crossing component moves from the bottom of the dyeing head 5 to the outer end of the dyeing head 5. After the dye circulation pipeline 3 is cleaned, the color-changing anti-crossing component is reset from the outer end of the dyeing head 5 to the bottom of the dyeing head 5 again;

[0049] The movable rotating frame 23 ensures the adjustment of the use angle of the injection and dyeing nozzle 26. The liquid supply hose 24 receives the transmitted dye from the dye circulation pipeline 3 and transports it to the injection and dyeing nozzle 26. The spray gun mounting seat 25 and the injection and dyeing nozzle 26 are detachably connected to facilitate the replacement of the injection and dyeing nozzle 26 according to the injection and dyeing requirements.

[0050] See also Figure 1 and Figure 3 , an intelligent dyeing robot with fully automatic color-changing function;

[0051] It includes a driving sleeve 2, a dye circulation pipeline 3 and a five-in-one-out color-changing valve 10. A multi-axis driving mechanical arm 9 is installed at the output end of the dyeing robot base 1. The driving sleeve 2 is installed at the output end of the multi-axis driving mechanical arm 9. The outer end of the driving sleeve 2 is installed with the dye circulation pipeline 3. A guide pipeline 11 is installed on the inner side of the driving sleeve 2. A dye injection pipe 12 is installed on the inner side of the guide pipe 11. The input end of the dye injection pipe 12 is connected to a data collector 13. The input end of the data collector 13 is connected to a dye tank 14 through a pipeline. A five-in-one-out color-changing valve 10 is installed on the inner side of the driving sleeve 2, and the input end of the five-in-one-out color-changing valve 10 is connected to the dye injection pipe 12. The output end of the five-in-one-out color-changing valve 10 is connected to the dye circulation pipeline 3.

[0052] The base 1 of the dyeing robot drives the multi-axis drive robot 9 at a horizontal angle, and the multi-axis drive robot 9 drives and controls the drive sleeve 2 at all angles. Five groups of dye injection pipes 12 are wrapped by the lead pipe 11 pipeline, and the dye injection pipes 12 are evenly arranged inside the lead pipe 11. A five-in-one-out color-changing valve 10 is equipped to realize quick switching of four color dyes and pipeline cleaning agents. The quick switching function of the color-changing valve reduces the time for changing dyes and cleaning pipelines separately. The data collector 13 collects parameters such as dye flow and pressure in the dye tank 14 in real time. The five groups of dye tanks 14 store four different color dyes and cleaning agents respectively. The multi-axis drive robot 9 drives the dyeing head 5 to move to the specified position for dyeing according to the instruction. When the dyeing color needs to be changed, the color-changing anti-crossing component moves from the bottom of the dyeing head 5 to the outer end of the dyeing head 5.

[0053] See also Figure 1 , Figure 7 and Figure 8 , an intelligent dyeing robot with fully automatic color-changing function;

[0054] It includes a limit plate 31, a color-changing cleaning collection tube 7 and an anti-overflow ramp 33. A welding socket 32 ​​is provided through the outer side of the limit plate 31. The color-changing cleaning collection tube 7 is installed on the inner side of the welding socket 32. The anti-overflow ramp 33 is installed on the inner wall of the color-changing cleaning collection tube 7. A waste liquid port 34 is provided through the outer side of the color-changing cleaning collection tube 7. A discharge pipe 35 is installed at the outer end of the waste liquid port 34.

[0055] The welding socket 32 ​​provides an installation position for the color-changing cleaning collection tube 7. The dye cleaning agent enters the dye circulation pipeline 3 through the dye injection pipe 12 to flush the residual dye. The cleaning agent after flushing is sprayed out through the dye injection nozzle 26 and collected by the color-changing cleaning collection tube 7. The anti-overflow ramp 33 prevents the collected waste liquid from being discharged from the opening position of the color-changing cleaning collection tube 7. The automatic pipeline cleaning function ensures the complete isolation between the dyes and reduces the risk of cross contamination. After the cleaning agent finishes flushing the dye circulation pipeline 3, the color-changing anti-cross component moves to the bottom of the dye injection head 5, and the collected cleaning agent is concentrated and discharged through the waste liquid port 34. The discharge pipeline 35 is connected to the collection pipeline to prevent leakage.

[0056] See also Figure 1 , Figure 4 , Figure 5 and Figure 6 , an intelligent dyeing robot with fully automatic color-changing function;

[0057] The invention comprises a dye circulation pipeline 3, a wall liquid horizontal scraping plate 21 and a self-cleaning fixed frame 4. An inner wall of the dye circulation pipeline 3 is provided with an embedded groove 19. A wall liquid scraping guide rail 20 is installed on the inner side of the embedded groove 19. A wall liquid horizontal scraping plate 21 is installed at the output end of the wall liquid scraping guide rail 20. A dripping outlet 22 is provided through the bottom of one end of the dye circulation pipeline 3. A lifting opening 15 is provided through the top of one end of the dye circulation pipeline 3 close to the driving sleeve 2.

[0058] A self-cleaning fixing frame 4 is installed on the top of the dye circulation pipeline 3, a guide cylinder 16 is installed on the top of the self-cleaning fixing frame 4, the output end of the guide cylinder 16 is connected to a drying fan 17, and a dye injection sealing plug 18 is installed at the bottom of the drying fan 17, and the dye injection sealing plug 18 is matched with the lifting opening 15;

[0059] The embedded groove 19 provides an installation position for the wall liquid scraping guide rail 20 to prevent the wall liquid scraping guide rail 20 from occupying too much space in the dye circulation pipe 3 and causing adverse effects on the dye circulation process. After the dye cleaning agent rinses the residual dye in the dye circulation pipe 3, the wall liquid scraping guide rail 20 drives the wall liquid horizontal scraping plate 21 to scrape the residual cleaning agent in the dye circulation pipe 3. The residual cleaning agent after scraping is discharged through the dripping outlet 22. During the normal circulation of the dye, it will not be discharged from the dripping outlet 22 due to pressure. The dripping outlet 22 is only opened on the bottom wall of the dye circulation pipe 3 because the cleaning agent in the rest of the dye circulation pipe 3 will fall downward due to gravity, ensuring that the cleaning agent in the dye circulation pipe 3 is completely volatilized or discharged to avoid the cleaning agent residue from causing adverse effects on the use performance of the dye after switching, so that other color dyes can flow smoothly through the dye circulation pipe 3.

[0060] The self-cleaning fixing frame 4 provides an installation position for the guide cylinder 16 while ensuring its stability during operation. The guide cylinder 16 drives the drying fan 17 in the vertical direction. After the guide cylinder 16 drives the drying fan 17 to be located inside the dye circulation pipe 3, the dye circulation pipe 3 is dried after the cleaning agent is scraped off. The heating and ventilation ensure that the inside of the dye circulation pipe 3 is completely dry to eliminate any moisture or water that may affect the circulation of the dye. The dye channel is quickly prepared to reduce the waiting time before color changing. The dry channel can ensure smooth dye circulation without moisture or water interference, thereby improving the consistency and quality of dyeing and avoiding moisture corrosion to equipment components. After the dye circulation pipe 3 is dried, the dye sealing plug 18 is injected to seal the lifting opening 15 to ensure good sealing performance of the dye circulating in the dye circulation pipe 3.

[0061] See also Figure 1 , Figure 2 , Figure 3 and Fig. 9 , an intelligent dyeing robot with fully automatic color-changing function;

[0062] It includes a dyeing robot base 1, a wireless controller 8 and a dyeing space locator 36. The wireless controller 8 is installed on the outside of the dyeing robot base 1. The wireless controller 8 is used to receive control signals. The wireless controller 8 consists of a dyeing drive module and a color-changing cleaning module. The dyeing drive module is electrically connected to a multi-axis drive mechanical arm 9, a five-in-one-out color-changing valve 10 and a dyeing space locator 36. The color-changing cleaning module is electrically connected to a color-changing anti-crossing component, a guide cylinder 16, a drying fan 17 and a wall liquid scraping guide rail 20. The top of the dyeing head 5 is installed with a dyeing space locator 36.

[0063] The wireless controller 8 is used to obtain the switch signal and the action signal of the valve. Through the customized software, the robot's operation trajectory and the operation file of the valve switch are formed. The file is imported into the robot through the teaching pendant, which can imitate the manual action trajectory and valve action. The injection and dyeing robot records the three-dimensional operation trajectory of the injection and dyeing head 5 when the technician manually operates through the injection and dyeing space locator 36, accurately restores the manual processing process of the technician, and enhances the flexibility of the production line. The intelligent injection and dyeing robot drives and controls the working status of the multi-axis drive mechanical arm 9, the five-in-one-out color-changing valve 10, the injection and dyeing space locator 36, the color-changing anti-crossing component, the guide cylinder 16, the drying fan 17 and the wall liquid scraping guide rail 20 through the wireless controller 8, converting the traditional manual production into digital injection and dyeing, facilitating the preservation and replication of the process, and realizing the digital processing of the whole process. VR technology is combined with robot technology. Through the VR handle and the acquisition and execution system, the data collection and storage of parameters such as three-dimensional trajectory, flow rate, pressure, etc. can be realized, and the injection and dyeing action trajectory can be automatically and accurately restored to achieve the appearance effect of the product.

[0064] The method for using the intelligent dyeing robot comprises the following steps:

[0065] Step S1, the multi-axis driving robot arm 9 drives the injection head 5 to move to the designated position for injection according to the instruction, and when the injection color needs to be changed, the color change anti-crossing component moves from the bottom of the injection head 5 to the outer end of the injection head 5;

[0066] Step S2, after the dye circulation pipeline 3 is flushed, the wall liquid horizontal scraper 21 is driven to scrape the residual cleaning agent in the dye circulation pipeline 3;

[0067] Step S3, the five-in-one-out color-changing valve 10 operates to open the dye injection pipe 12 of the corresponding dye and perform subsequent injection and dyeing processing.

[0068] In step S1, the following steps are also included:

[0069] Step S11, the dye cleaning agent enters the dye circulation pipeline 3 through the dye injection pipe 12 to wash away the residual dye;

[0070] In step S2, the following steps are also included:

[0071] Step S21 , the guiding cylinder 16 drives the drying fan 17 to be located inside the dye circulation pipeline 3 and then dries the dye circulation pipeline 3 .

[0072] Working principle: When using the device, first, the multi-axis driving mechanical arm 9 drives the injection head 5 to move to the designated position for injection according to the instruction, and when the injection color needs to be changed, the color change anti-crossing component moves from the bottom of the injection head 5 to the outer end of the injection head 5, and the dye cleaning agent enters the dye circulation pipeline 3 through the dye injection pipe 12 to wash the residual dye;

[0073] After the dye circulation pipe 3 is flushed, the wall liquid horizontal scraper 21 is driven to scrape the residual cleaning agent in the dye circulation pipe 3, and the guide cylinder 16 drives the drying fan 17 to be located inside the dye circulation pipe 3 to dry the dye circulation pipe 3;

[0074] The five-in-one-out color-changing valve 10 works to open the dye injection pipe 12 of the corresponding dye and perform subsequent injection and dyeing processing.

[0075] 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. An intelligent dyeing robot with a fully automatic color changing function, comprising a dyeing robot base (1), a dye circulation pipeline (3) and a dyeing head (5), characterized in that: The output end of the dyeing robot base (1) is equipped with a multi-axis driving mechanical arm (9), the output end of the multi-axis driving mechanical arm (9) is equipped with a driving sleeve (2), the outer end of the driving sleeve (2) is equipped with a dye circulation pipeline (3), and the outer end of the dye circulation pipeline (3) is equipped with a dyeing head (5); The outer side of the dyeing head (5) is provided with a color-changing anti-crossing component, and the color-changing anti-crossing component comprises a vertical flip seat (6), a flip driving motor (28), an electric telescopic two-section rod (29), a limit plate (31) and a color-changing cleaning collection tube (7); the vertical flip seat (6) is symmetrically mounted on the outer side of the dyeing head (5); the flip driving motor (28) is mounted on the outer side of the vertical flip seat (6); the output end of the flip driving motor (28) is connected to the electric telescopic two-section rod (29); the output end of the electric telescopic two-section rod (29) is mounted with a stabilizing block (30); the limit plate (31) is mounted on the opposite side of the stabilizing block (30); a welding socket (32) is penetrated through the outer side of the limit plate (31); and the color-changing cleaning collection tube (7) is mounted on the inner side of the welding socket (32); An anti-overflow ramp (33) is installed on the inner wall of the color-changing cleaning collection tube (7), a waste liquid port (34) is opened through the outer side of the color-changing cleaning collection tube (7), and a discharge pipe (35) is installed at the outer end of the waste liquid port (34); An inner wall of the dye circulation pipe (3) is provided with an embedded groove (19), a wall liquid scraping guide rail (20) is installed on the inner side of the embedded groove (19), a wall liquid horizontal scraping plate (21) is installed at the output end of the wall liquid scraping guide rail (20), a dripping outlet (22) is provided through the bottom of one end of the dye circulation pipe (3), and a lifting opening (15) is provided through the top of one end of the dye circulation pipe (3) close to the driving sleeve (2); A five-in-one-out color-changing valve (10) is installed on the inner side of the driving sleeve (2), and the input end of the five-in-one-out color-changing valve (10) is connected to the dye injection pipe (12), and the output end of the five-in-one-out color-changing valve (10) is connected to the dye circulation pipeline (3).

2. The intelligent dyeing robot with full-automatic color-changing function according to claim 1, characterized in that: A movable rotating frame (23) is installed on the inner side of the injection and dyeing head (5), a liquid supply hose (24) is installed on the inner side of the movable rotating frame (23), and the input end of the liquid supply hose (24) is connected to the output end of the dye circulation pipe (3), a spray gun mounting seat (25) is installed on the output end of the liquid supply hose (24), and an injection and dyeing nozzle (26) is installed on the outer side of the spray gun mounting seat (25), a fixed seat (27) is installed on the opposite side of the vertical flip seat (6), and the fixed seat (27) is connected to the outer side of the injection and dyeing head (5), and an injection and dyeing space positioner (36) is installed on the top of the injection and dyeing head (5).

3. The intelligent dyeing robot with full-automatic color-changing function according to claim 1, characterized in that: A guide pipe (11) is installed on the inner side of the driving sleeve (2), a dye injection pipe (12) is installed on the inner side of the guide pipe (11), an input end of the dye injection pipe (12) is connected to a data acquisition device (13), and an input end of the data acquisition device (13) is connected to a dye tank (14) via a pipe.

4. The intelligent dyeing robot with full-automatic color-changing function according to claim 1, characterized in that: A self-cleaning fixing frame (4) is installed on the top of the dye circulation pipeline (3), a guide cylinder (16) is installed on the top of the self-cleaning fixing frame (4), an output end of the guide cylinder (16) is connected to a drying fan (17), a dye injection sealing plug (18) is installed on the bottom of the drying fan (17), and the dye injection sealing plug (18) is matched with the lifting opening (15).

5. The intelligent dyeing robot with full-automatic color-changing function according to claim 1 is characterized in that: A wireless controller (8) is installed on the outside of the dyeing robot base (1), and the wireless controller (8) is used to receive control signals. The wireless controller (8) is composed of a dyeing drive module and a color-changing cleaning module. The dyeing drive module is electrically connected to a multi-axis drive mechanical arm (9), a five-in-one-out color-changing valve (10), and a dyeing space positioner (36). The color-changing cleaning module is electrically connected to a color-changing anti-crossing component, a guide cylinder (16), a drying fan (17), and a wall liquid scraping guide rail (20).

6. A method for using an intelligent dyeing robot with a fully automatic color-changing function, applicable to an intelligent dyeing robot with a fully automatic color-changing function as claimed in any one of claims 1 to 5, characterized in that: The method for using the intelligent dyeing robot comprises the following steps: Step S1, the multi-axis driving mechanical arm (9) drives the injection head (5) to move to a designated position for injection according to the instruction, and when the injection color needs to be changed, the color change anti-crossing component moves from the bottom of the injection head (5) to the outer end of the injection head (5); Step S2, after the dye circulation pipeline (3) is flushed, the wall liquid horizontal scraper (21) is driven to scrape the residual cleaning agent in the dye circulation pipeline (3); Step S3: The five-in-one-out color-changing valve (10) operates to open the dye injection pipe (12) of the corresponding dye and perform subsequent injection and dyeing processing.

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