Composite robot for recovering empty coils of elasticizer

Abstract

The invention belongs to the technical field of elasticizer feeding and discharging equipment, and particularly relates to an elasticizer empty coil recycling composite robot which is characterized in that a lifting frame is arranged on a moving body, and a mechanical arm is arranged on the lifting frame in a sliding mode and driven by a lifting assembly; a material placing box is arranged on the mechanical arm, a visual sensor is arranged on the material placing box, and the material placing box is connected with the mechanical arm through a bolt; a material receiving cavity is formed in the material placing box, four groups of spring clamping jaws are arranged at the front end of the material placing box, a material pushing plate is connected to the material receiving cavity in a sliding manner, and the material pushing plate is driven by a material pushing assembly; a storage basket is arranged on the moving body, and a plurality of paper rolls are arranged in the storage basket.

Description

Technical Field

[0001] The invention belongs to the technical field of loading and unloading equipment of a texturing machine, in particular to an empty roll recovery composite robot for a texturing machine. Background Art

[0002] The texturing machine is an indispensable and important equipment in chemical fiber production. It can stretch and deform polyester fibers or other synthetic fibers to make them more elastic and soft. It plays a key role in improving the quality, performance and added value of chemical fiber products, expanding their application areas and optimizing production processes. The speed, efficiency and timeliness of loading and unloading of the texturing machine are key factors that restrict the production rhythm. At present, there are relatively mature solutions for unloading of texturing machines (recycling finished products), which use hanging conveyors in conjunction with automated stereoscopic warehouses to achieve full automation of finished product storage.

[0003] However, there is no mature solution for loading empty rolls, and most of the materials are still moved and loaded manually.

[0004] Therefore, the present invention designs a composite robot for recovering empty rolls of a texturing machine to solve the technical problems existing in the prior art. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a composite robot for recycling empty rolls of a texturing machine, which solves the technical problem that there is currently no mature solution for loading empty rolls, and most of the materials are still transported and put on line manually.

[0006] The solution adopted by the present invention is: a composite robot for recycling empty rolls of a texturing machine, including a moving body, characterized in that: a lifting frame is provided on the moving body, a mechanical arm is slidably provided on the lifting frame, and the mechanical arm is driven by a lifting assembly; a material discharge box is provided on the mechanical arm, a visual sensor is provided on the material discharge box, and the material discharge box and the mechanical arm are connected by bolts; a material receiving cavity is provided inside the material discharge box, four groups of spring clamps are provided at the front end of the material discharge box, a pushing plate is slidably connected to the material receiving cavity, and the pushing plate is driven by a pushing assembly; a material storage basket is provided on the moving body, and a plurality of paper rolls are provided in the material storage basket.

[0007] Preferably, the lifting assembly includes a lifting linear module provided on a lifting frame, a sliding end of the lifting linear module is fixedly connected to a mechanical arm, and the lifting linear module is electrically connected to a controller.

[0008] Preferably, the pushing assembly comprises a pushing linear module disposed on the material discharge box, a sliding end of the pushing linear module is fixedly connected to a pushing plate, and the pushing linear module is electrically connected to a controller.

[0009] Preferably, the pushing plate is provided with a pushing groove matched with the paper roll, and a sponge pad is provided in the pushing groove.

[0010] Preferably, the mobile body comprises a vehicle body, driving wheels, driven wheels and a steering gear, and the driving wheels and driven wheels are each provided with two groups, the two groups of driving wheels and driven wheels are diagonally symmetrically arranged around the center of the vehicle body, and the two groups of driving wheels are driven by the steering gear;

[0011] The vehicle body is provided with two groups of obstacle avoidance radars, batteries and charging brush plates. The two groups of obstacle avoidance radars are arranged diagonally symmetrically with respect to the center of the vehicle body and are electrically connected to the controller.

[0012] Preferably, a laser navigation radar is provided at the upper end of the lifting frame, and the laser navigation radar is electrically connected to the controller.

[0013] Preferably, the visual sensor is a 3D camera, and the 3D camera is electrically connected to the controller.

[0014] Preferably, the mobile body is provided with two groups of profiles, the storage basket is provided with four groups of locking screws cooperating with the profiles, and the two groups of profiles are slidably connected with boat-shaped nuts cooperating with the locking screws.

[0015] Preferably, the robotic arm is a six-axis robotic arm, and the robotic arm is electrically connected to the controller.

[0016] Preferably, the four groups of spring clamps are arranged symmetrically with respect to the discharge box.

[0017] Beneficial effects:

[0018] 1. This application can place up to three paper rolls at a time, which is more efficient than conventional clamps; the number of paper rolls placed can be adjusted according to the number of paper rolls missing in the placement station, which is highly flexible; the clamp uses an extrusion structure, which can directly squeeze the paper roll into the placement station, which has fewer movements and faster speed than conventional clamps;

[0019] 2. The storage frame uses flexible guide materials to squeeze the paper roll directly to the center of the frame. When the clamp takes the material, the flexible material can be sent to the side, which can effectively reduce the damage to the paper roll and greatly increase the number of times the paper roll is used. The quick-change structure of the storage frame can easily complete the action of unloading the entire basket on the empty frame, and the switching speed is fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is one of the perspective views of the stereogram of the present invention.

[0021] Figure 2 It is one of the perspectives of the three-dimensional cross-sectional view of the present invention.

[0022] Figure 3 It is the second perspective of the three-dimensional cross-sectional view of the present invention.

[0023] Figure 4 It is the third perspective of the three-dimensional cross-sectional view of the present invention.

[0024] Figure numerals: 1. lifting frame; 2. robotic arm; 3. material discharge box; 4. visual sensor; 5. material receiving chamber; 6. spring clamp; 7. material pusher plate; 8. material storage basket; 9. paper roll; 10. lifting linear module; 11. material pusher linear module; 12. vehicle body; 13. driving wheel; 14. driven wheel; 15. servo; 16. obstacle avoidance radar; 17. battery; 18. charging brush plate; 19. laser navigation radar; 20. profile. DETAILED DESCRIPTION

[0025] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figure 1-4 The detailed description of the embodiments will clearly show that the structural contents mentioned in the following embodiments are all based on the drawings in the specification.

[0026] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

[0027] Embodiment 1, a composite robot for recycling empty rolls of a texturing machine, comprises a moving body, which is an AGV trolley or a tracking track trolley, which is selected according to the location of the texturing machine plant, and is characterized in that: a lifting frame 1 is provided on the moving body, a mechanical arm 2 is slidably provided on the lifting frame 1, and the mechanical arm 2 is driven by a lifting assembly; a track is provided on the lifting frame 1 to further improve the stability of the movement of the mechanical arm 2, a material discharge box 3 is provided on the mechanical arm 2, a visual sensor 4 is provided on the material discharge box 3, and the material discharge box 3 is connected to the mechanical arm 2 by bolts; a material receiving cavity 5 is provided inside the material discharge box 3, four groups of spring clamps 6 are provided at the front end of the material discharge box 3, a material pushing plate 7 is slidably connected to the material receiving cavity 5, and the material pushing plate 7 is driven by a material pushing assembly; a material storage basket 8 is provided on the moving body, and a plurality of paper rolls 9 are provided in the material storage basket 8.

[0028] As an optional solution of Example 1, the lifting component includes a lifting linear module 10 provided on the lifting frame 1, the sliding end of the lifting linear module 10 is fixedly connected to the robot arm 2, and the lifting linear module 10 is electrically connected to the controller.

[0029] As an optional solution of Example 1, the pushing assembly includes a pushing linear module 11 provided on the discharge box 3, the sliding end of the pushing linear module 11 is fixedly connected to the pushing plate 7, and the pushing linear module 11 is electrically connected to the controller.

[0030] As an optional solution of Example 1, the pushing plate is provided with a pushing groove matched with the paper roll 9, and a sponge pad is provided in the pushing groove to prevent damage to the paper roll 9.

[0031] As an optional solution of Example 1, the visual sensor 4 is a 3D camera, and the 3D camera is electrically connected to the controller. The 3D camera can identify the remaining material in the silo and replenish it with each action.

[0032] As an optional solution of Example 1, the robotic arm 2 is a six-axis robotic arm 2. The robotic arm 2 is electrically connected to the controller, and the six-axis robotic arm 2 can realize material discharge in a narrow docking position.

[0033] As an optional solution of Example 1, the four groups of spring clamps 6 are arranged symmetrically with respect to the discharge box 3 to ensure that the paper roll 9 enters the receiving cavity 5 .

[0034] When in use, the storage basket 8 is filled with paper rolls 9, and the lifting linear module 10 is driven to change the height position of the mechanical arm 2, which is easy to adjust and easy to operate. The opening of the discharge box 3 is adjusted downward by the mechanical arm 2. The cooperation between the mechanical arm 2 and the visual sensor 4 can quickly realize the correspondence between the discharge box 3 and the paper rolls 9 in the storage basket 8. After the correspondence, the lifting linear module 10 is driven in the reverse direction, and the discharge box 3 is lowered;

[0035] The length of the material discharging box 3 is 1-3 mm greater than the length of the paper roll 9, which is just enough to allow the paper roll 9 to enter the material discharging box 3. On the one hand, the linear module 11 for pushing the material is in a power-off state, and the push plate moves along the receiving cavity 5. On the other hand, under the action of the spring clamp 6, the paper roll 9 at the bottom of the material discharging box 3 is clamped to ensure that the paper roll 9 will not fall out of the material discharging box 3.

[0036] When unloading, the vehicle body 12 can adopt a tracking track trolley or an AGV trolley to move to the designated feeding position, and the position of the unloading box 3 can be changed by the mechanical arm 2 to correspond to the feeding port of the texturizing machine, and the pushing linear module 11 is driven to drive the pushing plate 7 to move along the receiving cavity 5, and the paper roll 9 in the receiving cavity 5 is pushed into the texturizing machine, so as to realize the function of automatic feeding;

[0037] The storage basket 8 can store 126 rolls of materials, supplying multiple devices to improve efficiency;

[0038] Using 3D camera recognition algorithm, combined with AGV positioning accuracy and lifting mechanism, the terminal positioning accuracy is guaranteed to be ±1mm;

[0039] The 3D camera can identify the remaining material in the silo and replenish it with each action.

[0040] Embodiment 2, a composite robot for recovering empty rolls of a texturing machine, based on Embodiment 1, the mobile body comprises a vehicle body 12, a driving wheel 13, a driven wheel 14 and a steering gear 15, the driving wheel 13 and the driven wheel 14 are provided with two groups, the two groups of the driving wheels 13 and the driven wheels 14 are diagonally symmetrically arranged with respect to the center of the vehicle body 12, and the two groups of the driving wheels 13 are driven by the steering gear 15;

[0041] The vehicle body 12 is provided with two groups of obstacle avoidance radars 16 , a battery 17 and a charging brush plate 18 . The two groups of obstacle avoidance radars 16 are symmetrically arranged diagonally around the center of the vehicle body 12 and are electrically connected to the controller.

[0042] As an optional solution of Example 2, a laser navigation radar 19 is provided at the upper end of the lifting frame 1, and the laser navigation radar 19 is electrically connected to the controller.

[0043] When in use, by driving the two sets of driving wheels 13 to rotate, in cooperation with the driven wheels 14, the vehicle body 12 can achieve omnidirectional movement and flexible movement. In addition, two sets of obstacle avoidance radars 16, batteries 17 and charging brush plates 18 are provided on the vehicle body 12;

[0044] The obstacle avoidance radar 16 calculates the distance, direction and speed of obstacles by emitting electromagnetic waves (such as microwaves or lasers) and receiving the reflected signals. The obstacle avoidance radar 16 can monitor the environment in real time to improve safety and efficiency, especially in complex or dynamic environments. Specific applications include automatic parking, path planning and obstacle avoidance;

[0045] LiDAR 19 is a technology that uses laser beams to measure distance. Its basic working principle includes the following steps: emitting laser: the laser emits a short-pulse laser beam and illuminates the target object; receiving reflected light: the laser beam reflected back by the target object is received by the receiver; calculating distance: by measuring the time difference between the emission and reception of the laser beam, combined with the speed of light, the distance between the object and the sensor can be calculated; building an environmental model: by rotating or moving the laser sensor, the three-dimensional point cloud data of the surrounding environment can be obtained to build a detailed environmental model; the advantages of LiDAR 19 include high precision, high resolution and good anti-interference ability. It can work effectively under various lighting conditions and is suitable for complex navigation and obstacle avoidance tasks.

[0046] Embodiment 3, a composite robot for recycling empty rolls of a texturizing machine, is based on Embodiment 1, in which two groups of profiles 20 are provided on the mobile body, and the storage basket 8 is provided with four groups of locking screws cooperating with the profiles 20, and the two groups of profiles 20 are slidably connected with boat-shaped nuts cooperating with the locking screws.

[0047] When the paper rolls 9 in the storage basket 8 are taken out and need to be replaced, the boat-shaped nuts and the groove body of the profile 20 are loosened by rotating the four sets of locking screws. At this time, the storage basket 8 can be moved to slide along the profile 20, the storage basket 8 can be disassembled, and the fully loaded paper rolls 9 can be replaced, thereby achieving the purpose of quick replacement.

[0048] The above description is only for illustrating the present invention. It should be understood that the present invention is not limited to the above embodiments, and various variations that conform to the concept of the present invention are within the protection scope of the present invention.

Claims

1. A composite robot for recovering empty rolls of a texturing machine, comprising a moving body, characterized in that: The movable body is provided with a lifting frame (1), and a mechanical arm (2) is slidably provided on the lifting frame (1), and the mechanical arm (2) is driven by a lifting assembly; the mechanical arm (2) is provided with a material discharge box (3), and a visual sensor (4) is provided on the material discharge box (3), and the material discharge box (3) and the mechanical arm (2) are connected by bolts; a material receiving chamber (5) is provided inside the material discharge box (3), and four groups of spring clamps (6) are provided at the front end of the material discharge box (3), and a material pushing plate (7) is slidably connected to the material receiving chamber (5), and the material pushing plate (7) is driven by a material pushing assembly; the movable body is provided with a material storage basket (8), and a plurality of paper rolls (9) are provided in the material storage basket (8).

2. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The lifting assembly comprises a lifting frame (1) on which a lifting linear module (10) is arranged, a sliding end of the lifting linear module (10) is fixedly connected to a mechanical arm (2), and the lifting linear module (10) is electrically connected to a controller.

3. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The pushing assembly comprises a pushing linear module (11) arranged on the material discharge box (3), the sliding end of the pushing linear module (11) is fixedly connected to the pushing plate (7), and the pushing linear module (11) is electrically connected to the controller.

4. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The pushing plate (7) is provided with a pushing groove matched with the paper roll (9), and a sponge pad is arranged in the pushing groove.

5. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The mobile body comprises a vehicle body (12), a driving wheel (13), a driven wheel (14) and a steering gear (15), wherein the driving wheel (13) and the driven wheel (14) are each provided with two groups, the two groups of the driving wheels (13) and the driven wheels (14) are diagonally symmetrically arranged around the center of the vehicle body (12), and the two groups of the driving wheels (13) are driven by the steering gear (15); The vehicle body (12) is provided with two groups of obstacle avoidance radars (16), a battery (17) and a charging brush plate (18). The two groups of obstacle avoidance radars (16) are symmetrically arranged diagonally around the center of the vehicle body (12) and are electrically connected to a controller.

6. The composite robot for recovering empty rolls of a texturing machine according to claim 5, characterized in that: A laser navigation radar (19) is provided at the upper end of the lifting frame (1), and the laser navigation radar (19) is electrically connected to the controller.

7. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The visual sensor (4) is a 3D camera, and the 3D camera is electrically connected to the controller.

8. The composite robot for recovering empty rolls of a texturing machine according to claim 1, characterized in that: The movable body is provided with two groups of profiles (20), the material storage basket (8) is provided with four groups of locking screws matching with the profiles (20), and boat-shaped nuts matching with the locking screws are slidably connected inside the two groups of profiles (20).

9. The composite robot for collecting empty rolls of a texturing machine according to claim 1, characterized in that: The robotic arm (2) is a six-axis robotic arm (2), and the robotic arm (2) is electrically connected to a controller.

10. The composite robot for collecting empty rolls of a texturing machine according to claim 1, characterized in that: The four groups of spring clamps (6) are arranged symmetrically with respect to the discharge box (3).

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