A robot multi-angle automatic variable distance yarn gripping mechanical hand device

Abstract

The application relates to the technical field of yarn mechanical hand, in particular to a robot multi-angle automatic distance-changing yarn grabbing mechanical hand device, which comprises a six-axis mechanical hand, the six-axis mechanical hand is provided with a clamping frame, a plurality of yarn grabbing modules are uniformly arranged on the clamping frame, the yarn grabbing modules can automatically change distance, recognize and clamp yarn bobbins, the yarn grabbing module comprises a yarn grabbing frame arranged on the clamping frame, a base plate is slidably arranged on the yarn grabbing frame, a driving piece for driving the base plate to slide is arranged on the yarn grabbing frame, an angle plate is rotatably arranged on the base plate, an angle motor electrically connected to a control system is arranged on the base plate, the angle plate is arranged on an output shaft of the angle motor, and a clamping assembly is arranged on the angle plate, the clamping assembly can automatically recognize and clamp a yarn bobbin. The application has the effects of automatic recognition, large clamping range, lightweight structure and wide clamping range.

Description

Technical Field

[0001] This application relates to the field of spinning robot technology, and in particular to a robotic multi-angle automatic variable-distance yarn-grabbing robot device. Background Technology

[0002] A six-axis robot is an industrial robot with six joint axes and six degrees of freedom. It is one of the most common types of industrial robots in the industrial field today. A typical six-axis robot generally has six degrees of freedom, and its mechanical structure consists of six joint axes, each driven by a servo motor. The servo motors drive the rotation of their respective joint axes through reducers or synchronous belts.

[0003] Yarn bobbins are a common auxiliary material in the textile industry, also known as yarn spindles or yarn tubes. They are hollow cylinders made of materials such as cardboard, paper tubes, and plastic, on which yarn is wound. They are usually stacked on forklift pallets for transportation.

[0004] Chinese Patent No. CN212859457U discloses a gantry-type four-station loading robot, including a gantry frame, which includes a support frame and a crossbeam. A movable plate is provided on the front side of the crossbeam, and a fixed plate is fixed to the lower front side of the movable plate. Pneumatic cylinders are fixed on the upper surface of the fixed plate, and the number of pneumatic cylinders is set to three. A mounting plate is provided below the fixed plate. The telescopic ends of the three pneumatic cylinders move through the fixed plate and are fixedly connected to the upper surface of the mounting plate. Robots are mounted on the bottom surface of the mounting plate, and the number of robots is set to four.

[0005] The four robotic arms can only grip four materials simultaneously in a straight line during use. However, the yarn bobbins stacked on the forklift pallet may become skewed during transportation due to vibration and other reasons, which makes it impossible for the above technology to accurately grip the materials on the forklift pallet at the same time, thus having shortcomings. Summary of the Invention

[0006] To improve the problem of inaccurate gripping, this application provides a robotic multi-angle automatic variable-distance yarn gripping manipulator.

[0007] The robotic multi-angle automatic variable-distance yarn-grabbing manipulator provided in this application adopts the following technical solution: A robotic multi-angle automatic variable-distance yarn-grabbing manipulator includes a six-axis manipulator with a gripping frame. Multiple yarn-grabbing modules are evenly arranged on the gripping frame, and the yarn-grabbing modules can automatically change distance to identify and grip yarn bobbins.

[0008] By adopting the above technical solution, the control system uses a six-axis robotic arm to move the gripping frame above the yarn bobbin. Then, the yarn-grabbing module on the gripping frame automatically identifies the position of the yarn bobbin below it and then grips the yarn bobbin below it. This solves the problem that the yarn bobbin may shift during transportation, resulting in the yarn bobbin not being able to be gripped accurately.

[0009] Optionally, the yarn gripping module includes a yarn gripping frame disposed on the clamping frame, a base plate slidably disposed on the yarn gripping frame, a driving component for driving the base plate to slide on the yarn gripping frame, an angle plate rotatably disposed on the base plate, an angle motor electrically connected to the control system disposed on the base plate, the angle plate disposed on the output shaft of the angle motor, and a clamping component disposed on the angle plate, the clamping component being able to automatically identify and clamp the yarn bobbin.

[0010] By adopting the above technical solution, the driving component drives the base plate to approach the yarn tube, then the clamping component identifies the position of the yarn tube, and then the control system starts the angle motor. The angle motor drives the base plate to rotate at a certain angle so that the clamping component is directly above the yarn tube. Finally, the clamping component clamps the yarn tube.

[0011] Optionally, the driving component includes a slide rail disposed on the yarn gripping frame, the base plate being slidably disposed on the slide rail, a first cylinder electrically connected to the control system being disposed on the yarn gripping frame, and the base plate being disposed on the piston rod of the first cylinder.

[0012] By adopting the above technical solution, the control system starts the first cylinder. The first cylinder extends or retracts its piston rod, which drives the substrate to slide along the length of the slide rail, thereby causing the substrate to drive the clamping assembly to clamp the yarn tube, which helps to improve the accuracy of controlling the sliding position of the substrate.

[0013] Optionally, the gripping assembly includes a slider slidably disposed on the angle plate, the angle plate having a groove for the slider to slide, a second cylinder electrically connected to the control system being disposed on the angle plate, the slider being disposed on the piston rod of the second cylinder, a gripper cylinder electrically connected to the control system being disposed on the slider, and a plurality of image sensors electrically connected to the control system being disposed on the gripper cylinder.

[0014] By adopting the above technical solution, when the substrate moves the angle plate close to the yarn bobbin, multiple image sensors feed back the position of the yarn bobbin below to the control system. Then, the control system starts the angle motor, which drives the angle plate to rotate at a certain angle. At the same time, the control system starts the second cylinder, and the piston rod of the second cylinder pushes the gripper cylinder to slide directly above the yarn bobbin. Then, the six-axis robot arm moves the gripper cylinder close to the yarn bobbin by driving the gripping frame. Finally, the control system starts the gripper cylinder, which grips the yarn bobbin, thereby achieving the effect of automatic pitch change and gripping of the yarn bobbin.

[0015] Optionally, the gripper of the gripper cylinder is provided with a gripping piece with an arc-shaped cross-section, and the image sensor is disposed on the circumferential outer wall of the gripping piece.

[0016] By adopting the above technical solution, the arc-shaped clamping plate facilitates the clamping of the yarn bobbin, which helps to increase the contact area with the yarn bobbin. At the same time, multiple image sensors are installed on the circumferential outer wall of the clamping plate, which helps to improve the accuracy of the yarn bobbin position positioning.

[0017] Optionally, the clamping piece includes a middle arc plate and a side arc plate, the side arc plate is rotatably disposed on the middle arc plate, the side arc plate is used to clamp the yarn bobbin, and the middle arc plate is provided with a rotating member that drives the side arc plate to rotate.

[0018] By adopting the above technical solution, after the middle arc plate clamps the yarn tube, the rotating component drives the side arc plate to rotate. The side arc plate is in close contact with the outer circumferential wall of the yarn tube, which helps to improve the adaptability to clamping different yarn tube diameters, and at the same time further reduces the possibility of the yarn tube falling off during the clamping process.

[0019] Optionally, the rotating component includes an inner arc plate disposed on the concave side of the intermediate arc plate, a compression spring supporting the inner arc plate and the intermediate arc plate, a torsion spring disposed between the intermediate arc plate and the side arc plate, the inner arc plate being used to abut against the yarn bobbin, a guide rod disposed on the inner arc plate, the guide rod slidingly passing through the clamping plate, an anti-detachment rod disposed on the guide rod and on the side of the intermediate arc plate opposite to the inner arc plate, a pull rope disposed between the anti-detachment rod and the concave side of the side arc plate, and a thread hole for the pull rope to pass through is provided on the intermediate arc plate.

[0020] By adopting the above technical solution, when the middle arc plate clamps the yarn tube, the middle arc plate drives the inner arc plate to approach the yarn tube until the inner arc plate contacts the yarn tube. As the middle arc plate continues to approach the yarn tube, the guide rod slides in the direction away from the yarn tube, the inner arc plate presses against the yarn tube, and at the same time the compression spring is compressed and deformed. The guide rod drives the side arc plate to rotate and clamp the yarn tube through the pull rope. During this process, the torsion spring is subjected to force and deforms.

[0021] Optionally, the cross-section of the inner arc plate is arc-shaped, and a rubber layer is provided on the concave side of the inner arc plate.

[0022] By adopting the above technical solution, it is beneficial to improve the friction of the yarn bobbin and at the same time reduce the possibility of damage to the yarn on the bobbin during the clamping process.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. The control system uses a six-axis robotic arm to move the gripping frame above the yarn bobbin. Then, the yarn gripping module on the gripping frame automatically identifies the position of the yarn bobbin below it and then grips the yarn bobbin below it. This solves the problem that the yarn bobbin may shift during transportation, resulting in the yarn bobbin not being able to be gripped accurately. 2. When the base plate moves the angle plate closer to the yarn bobbin, multiple image sensors feed back the position of the yarn bobbin below to the control system. The control system then activates the angle motor, which rotates the angle plate by a certain angle. Simultaneously, the control system activates the second cylinder, whose piston rod pushes the gripper cylinder to slide directly above the yarn bobbin. Then, the six-axis robotic arm moves the gripper frame to bring the gripper cylinder closer to the yarn bobbin. Finally, the control system activates the gripper cylinder, which then grips the yarn bobbin, thus achieving the effect of automatic pitch adjustment and yarn bobbin gripping. 3. After the middle arc plate clamps the yarn tube, the rotating part drives the side arc plate to rotate. The side arc plate is in close contact with the outer circumferential wall of the yarn tube, which helps to improve the adaptability to clamping different yarn tube diameters and further reduces the possibility of the yarn tube falling off during the clamping process. 4. During the process of the middle arc plate clamping the yarn bobbin, the middle arc plate drives the inner arc plate to approach the yarn bobbin until the inner arc plate contacts the yarn bobbin. As the middle arc plate continues to approach the yarn bobbin, the guide rod slides in the direction away from the yarn bobbin, the inner arc plate presses against the yarn bobbin, and at the same time the compression spring is compressed and deformed. The guide rod drives the side arc plate to rotate and clamp the yarn bobbin through the pull rope. During this process, the torsion spring is subjected to force and deforms. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of an embodiment of this application.

[0025] Figure 2 This is a structural schematic diagram showing the positional relationship between the substrate, the angle plate, and the yarn-grabbing frame in an embodiment of this application.

[0026] Figure 3 This is a structural schematic diagram showing the positional relationship between the first cylinder, the angle plate, and the second cylinder in an embodiment of this application.

[0027] Figure 4 This is a schematic diagram showing the positional relationship between the inner arc plate, the image sensor, and the gripper cylinder in an embodiment of this application.

[0028] Figure 5 This is a schematic diagram showing the positional relationship between the first cylinder and the second cylinder after the angle plate rotates in an embodiment of this application.

[0029] Figure labeling: 0. Yarn bobbin; 1. Six-axis robot arm; 2. Gripping frame; 3. Yarn gripping module; 31. Yarn gripping frame; 32. Base plate; 33. Drive component; 331. Slide rail; 332. First cylinder; 34. Angle plate; 35. Angle motor; 36. Gripping assembly; 361. Slider; 362. Slide groove; 363. Second cylinder; 364. Gripper cylinder; 365. Image sensor; 4. Clamping piece; 41. Middle arc piece; 42. Side arc piece; 5. Rotating component; 51. Inner arc piece; 52. Compression spring; 53. Torsion spring; 54. Guide rod; 55. Anti-detachment rod; 56. Pull rope; 57. Wire hole; 6. Rubber layer; 7. Flange; 8. Mounting plate; 9. Forklift pallet; 10. Distance sensor. Detailed Implementation

[0030] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0031] This application discloses a robotic multi-angle automatic variable-distance yarn-grabbing manipulator.

[0032] Reference Figure 1 A robotic multi-angle automatic variable-distance yarn-grabbing manipulator includes a six-axis manipulator 1, with a flange 7 bolted to the free end of the six-axis manipulator 1. A gripping frame 2 is bolted to the flange 7. The gripping frame 2 is made of aluminum alloy. A forklift pallet 9 is placed next to the six-axis manipulator 1, and a large number of yarn bobbins 0 are stacked on the forklift pallet 9. Multiple sets of yarn-grabbing modules 3 are evenly arranged on the gripping frame 2. The yarn-grabbing modules 3 can automatically change distance to identify and grip the yarn bobbins 0.

[0033] The worker starts the six-axis robot 1 through the control system. The six-axis robot 1 moves the gripper 2 directly above the forklift pallet 9 via the flange 7.

[0034] Reference Figure 2 , Figure 3 and Figure 4 The yarn gripping module 3 includes a yarn gripping frame 31 bolted to the gripping frame 2. A base plate 32 is slidably arranged on the yarn gripping frame 31. A driving component 33 for driving the base plate 32 to slide is arranged on the yarn gripping frame 31. The driving component 33 includes a slide rail 331 welded to the yarn gripping frame 31. The base plate 32 is slidably arranged on the slide rail 331. A first cylinder 332 electrically connected to the control system is bolted to the yarn gripping frame 31. The base plate 32 is welded to the piston rod of the first cylinder 332.

[0035] Reference Figure 2 , Figure 3 and Figure 4An angle plate 34 is rotatably arranged on the base plate 32. An angle motor 35, which is electrically connected to the control system, is bolted to the base plate 32. The angle plate 34 is welded to the output shaft of the angle motor 35. A clamping component 36 is arranged on the angle plate 34. The clamping component 36 can automatically identify and clamp the yarn bobbin 0.

[0036] Reference Figure 2 , Figure 3 and Figure 4 The gripping assembly 36 includes a slider 361 slidably arranged on an angle plate 34. The angle plate 34 has a groove 362 for the slider 361 to slide. A second cylinder 363 electrically connected to the control system is bolted to the angle plate 34. A mounting plate 8 is bolted to the slider 361. The mounting plate 8 is welded to the piston rod of the second cylinder 363. A gripper cylinder 364 electrically connected to the control system is bolted to the mounting plate 8.

[0037] Reference Figure 3 , Figure 4 and Figure 5 The gripper of the gripper cylinder 364 has a gripping piece 4 with an arc-shaped cross section welded on its gripper. The gripping piece 4 includes a middle arc piece 41 and a side arc piece 42. The side arc piece 42 is rotatably connected to the middle arc piece 41 and is used to grip the yarn bobbin 0. An image sensor 365 electrically connected to the control system is bolted to both the middle arc piece 41 and the side arc piece 42. The image sensor 365 is arranged on the circumferential outer wall of the middle arc piece 41 and the side arc piece 42.

[0038] Multiple image sensors 365 identify the yarn bobbin 0 below them and feed back the position of the yarn bobbin 0 to the control system. The control system simultaneously activates the first cylinder 332, the angle motor 35, and the second cylinder 363. The first cylinder 332 pushes the base plate 32 to slide through its piston rod. The base plate 32 drives the angle plate 34 to move synchronously. The control system activates the angle motor 35. After the output shaft of the angle motor 35 drives the angle plate 34 to rotate a certain angle, the control system activates the second cylinder 363. The second cylinder 363 pushes the mounting plate 8 to slide through its piston rod.

[0039] The mounting plate 8 moves the gripper center axis of the gripper cylinder 364 to directly above the yarn bobbin 0. During this process, the image sensor 365 continuously provides feedback on the position of the yarn bobbin 0, while the control system continuously corrects the position of the gripper cylinder 364. Then, the control system restarts the six-axis robot 1. The six-axis robot 1 lowers the gripper frame 2 via the flange 7, so that the yarn bobbin 0 directly below the gripper cylinder 364 is positioned between the two gripping plates 4 of the gripper cylinder 364.

[0040] Reference Figure 3 , Figure 4 and Figure 5A distance sensor 10, which is electrically connected to the control system, is bolted to the gripper cylinder 364. The sensing end of the distance sensor 10 faces the yarn bobbin 0. A rotating component 5, which drives the rotating side arc plate 42, is arranged on the middle arc plate 41. The rotating component 5 includes an inner arc plate 51 arranged on the concave side of the middle arc plate 41. The inner arc plate 51 is used to abut against the yarn bobbin 0. The cross-section of the inner arc plate 51 is arc-shaped. A rubber layer 6 is bonded to the concave side of the inner arc plate 51.

[0041] Reference Figure 3 , Figure 4 and Figure 5 A compression spring 52 supports the inner arc plate 51 and the middle arc plate 41. A torsion spring 53 is arranged at the rotation point between the middle arc plate 41 and the side arc plate 42. A guide rod 54 is welded on the inner arc plate 51. The guide rod 54 slides through the clamping plate 4. An anti-detachment rod 55 is welded on the guide rod 54 and on the side of the middle arc plate 41 facing away from the inner arc plate 51. A pull rope 56 is tied between the anti-detachment rod 55 and the concave side of the side arc plate 42. A wire hole 57 is opened on the middle arc plate 41 for the pull rope 56 to pass through.

[0042] Until the yarn bobbin 0 triggers the distance sensor 10, the control system stops the six-axis robot arm 1 from continuing to work. At the same time, the control system starts the gripper cylinder 364. The gripper of the gripper cylinder 364 drives the middle arc plate 41 to approach the yarn bobbin 0. The middle arc plate 41 drives the inner arc plate 51 to approach the yarn bobbin 0 in sync, until the rubber layer 6 on the inner arc plate 51 contacts the yarn bobbin 0.

[0043] As the middle arc plate 41 continues to approach the yarn tube 0, the inner arc plate 51 presses against the yarn tube 0, the compression spring 52 is compressed and deforms, and at the same time the guide rod 54 slides in the direction away from the yarn tube 0. The guide rod 54 drives the anti-detachment rod 55 to move, and the anti-detachment rod 55 pulls the pull rope 56 through the thread hole 57. The pull rope 56 drives the side arc plate 42 to rotate around its rotation center and gradually clamp the yarn tube 0. The torsion spring 53 is subjected to force and deforms until the side arc plate 42 is tightly attached to the yarn tube 0.

[0044] The implementation principle of the multi-angle automatic variable-distance yarn-grabbing robot in this application embodiment is as follows: the worker starts the six-axis robot 1 through the control system, and the six-axis robot 1 drives the gripper 2 to move directly above the forklift pallet 9 through the flange 7.

[0045] Multiple image sensors 365 identify the yarn bobbin 0 below them and feed back the position of the yarn bobbin 0 to the control system. The control system simultaneously activates the first cylinder 332, the angle motor 35, and the second cylinder 363. The first cylinder 332 pushes the base plate 32 to slide through its piston rod. The base plate 32 drives the angle plate 34 to move synchronously. The control system activates the angle motor 35. After the output shaft of the angle motor 35 drives the angle plate 34 to rotate a certain angle, the control system activates the second cylinder 363. The second cylinder 363 pushes the mounting plate 8 to slide through its piston rod.

[0046] The mounting plate 8 moves the gripper center axis of the gripper cylinder 364 to directly above the yarn bobbin 0. During this process, the image sensor 365 continuously provides feedback on the position of the yarn bobbin 0, while the control system continuously corrects the position of the gripper cylinder 364. Then, the control system restarts the six-axis robot 1. The six-axis robot 1 lowers the gripper frame 2 via the flange 7, so that the yarn bobbin 0 directly below the gripper cylinder 364 is positioned between the two gripping plates 4 of the gripper cylinder 364.

[0047] Until the yarn bobbin 0 triggers the distance sensor 10, the control system stops the six-axis robot arm 1 from continuing to work. At the same time, the control system starts the gripper cylinder 364. The gripper of the gripper cylinder 364 drives the middle arc plate 41 to approach the yarn bobbin 0. The middle arc plate 41 drives the inner arc plate 51 to approach the yarn bobbin 0 in sync, until the rubber layer 6 on the inner arc plate 51 contacts the yarn bobbin 0.

[0048] As the middle arc plate 41 continues to approach the yarn tube 0, the inner arc plate 51 presses against the yarn tube 0, the compression spring 52 is compressed and deforms, and at the same time the guide rod 54 slides in the direction away from the yarn tube 0. The guide rod 54 drives the anti-detachment rod 55 to move, and the anti-detachment rod 55 pulls the pull rope 56 through the thread hole 57. The pull rope 56 drives the side arc plate 42 to rotate around its rotation center and gradually clamp the yarn tube 0. The torsion spring 53 is subjected to force and deforms until the side arc plate 42 is tightly attached to the yarn tube 0.

[0049] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic multi-angle automatic variable-distance yarn-grabbing manipulator, comprising a six-axis manipulator (1), wherein the six-axis manipulator (1) is provided with a gripper (2), characterized in that: The clamping frame (2) is evenly provided with multiple sets of yarn gripping modules (3), and the yarn gripping modules (3) can automatically change the distance to identify and grip the yarn tube (0); The yarn grabbing module (3) includes a yarn grabbing frame (31) disposed on the clamping frame (2), a base plate (32) is slidably disposed on the yarn grabbing frame (31), a driving member (33) for driving the base plate (32) to slide is disposed on the yarn grabbing frame (31), an angle plate (34) is rotatably disposed on the base plate (32), an angle motor (35) electrically connected to the control system is disposed on the base plate (32), the angle plate (34) is disposed on the output shaft of the angle motor (35), and a clamping component (36) is disposed on the angle plate (34). The clamping component (36) can automatically identify and clamp the yarn cylinder (0). The gripping assembly (36) includes a slider (361) slidably disposed on the angle plate (34), the angle plate (34) having a groove (362) for the slider (361) to slide, a second cylinder (363) electrically connected to the control system being disposed on the angle plate (34), the slider (361) being disposed on the piston rod of the second cylinder (363), a gripper cylinder (364) electrically connected to the control system being disposed on the slider (361), and a plurality of image sensors (365) electrically connected to the control system being disposed on the gripper cylinder (364); The gripper of the gripper cylinder (364) is provided with a gripping piece (4) with an arc-shaped cross-section, and the image sensor (365) is provided on the circumferential outer wall of the gripping piece (4). The clamping piece (4) includes a middle arc piece (41) and a side arc piece (42). The side arc piece (42) is rotatably disposed on the middle arc piece (41). The side arc piece (42) is used to clamp the yarn tube (0). The middle arc piece (41) is provided with a rotating member (5) that drives the side arc piece (42) to rotate. The rotating component (5) includes an inner arc plate (51) disposed on the concave side of the intermediate arc plate (41), a compression spring (52) supporting the inner arc plate (51) and the intermediate arc plate (41), a torsion spring (53) disposed between the intermediate arc plate (41) and the side arc plate (42), the inner arc plate (51) being used to abut against the yarn bobbin (0), a guide rod (54) disposed on the inner arc plate (51), the guide rod (54) sliding through the clamping plate (4), an anti-detachment rod (55) disposed on the guide rod (54) and on the side of the intermediate arc plate (41) facing away from the inner arc plate (51), a pull rope (56) disposed between the anti-detachment rod (55) and the concave side of the side arc plate (42), and a wire hole (57) for the pull rope (56) to pass through is opened on the intermediate arc plate (41).

2. The robotic multi-angle automatic variable-distance yarn-grabbing manipulator device according to claim 1, characterized in that: The driving component (33) includes a slide rail (331) disposed on the yarn gripping frame (31), the base plate (32) is slidably disposed on the slide rail (331), the yarn gripping frame (31) is provided with a first cylinder (332) electrically connected to the control system, and the base plate (32) is disposed on the piston rod of the first cylinder (332).

3. The robotic multi-angle automatic variable-distance yarn-grabbing manipulator device according to claim 1, characterized in that: The inner arc plate (51) has an arc-shaped cross-section, and a rubber layer (6) is provided on the concave side of the inner arc plate (51).

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