Double-arm cooperation system and method for assisting winding and knotting of cylindrical part

Abstract

The invention relates to a double-arm cooperation system and method for assisting winding and knotting of a cylindrical part. The double-arm cooperation system comprises a mechanical arm, a yarn cutting assembly, a saddle-shaped surface clamp and a pneumatic clamping assembly. The saddle-shaped surface clamp and the yarn cutting assembly are both loaded on the mechanical arm, and the saddle-shaped surface clamp rotates along with the mechanical arm; the yarn cutting assembly comprises a take-up lever and blades which are stacked in a crossed mode, the take-up lever can achieve winding and knotting, and meanwhile the mechanical arm exerts tension on the two sides to conduct yarn cutting action; the pneumatic clamping assembly is used for clamping a cylindrical piece wound with yarn, the tail end of the pneumatic clamping assembly can ascend and descend, and the movement path of the mechanical arm is avoided. Compared with the prior art, full-automatic winding and knotting of the mechanical arm can be achieved, and the automatic winding and knotting device is efficient, accurate and simple in structure.

Description

Technical Field

[0001] The present invention relates to the technical field of dual-arm collaborative robots, and in particular to a dual-arm collaborative system and method for assisting cylindrical piece winding and knotting. Background Art

[0002] In recent years, with the rapid development of artificial intelligence, machine learning and sensor technology, dual-arm collaborative robots can achieve efficient human-machine interaction and environmental perception, which provides a broad space for their technological innovation and patent protection. The relevant patents involve many aspects such as robot control algorithms, motion planning, human-machine interaction interfaces and safety protection measures. These innovations not only improve the performance and safety of dual-arm collaborative robots, but also promote the application of robots in complex manufacturing environments, and promote the development of manufacturing industry in a more flexible and intelligent direction. Therefore, the patent layout for dual-arm collaborative robots not only provides companies with a competitive advantage, but also provides strong technical support for future intelligent manufacturing.

[0003] However, in the prior art, the winding and knotting of cylindrical parts mostly requires manual intervention, and the robot arm cannot be operated fully automatically. The clamps need to be replaced during the knotting and yarn cutting operations. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a dual-arm cooperative system and method for assisting cylindrical parts in winding and knotting, which can realize fully automatic winding, knotting and cutting by the robotic arm, is efficient and accurate, and has a simple structure.

[0005] The present invention is directed to an automatic winding knotting and yarn cutting process. The process needs to form two pressing points and cut off the excess yarn, and a dual-arm collaborative robot is used to realize the automated process. The two pressing points are formed by changing the overlapping relationship of two adjacent yarns to form two pressing points, one in and one out, so as to realize the process action. The fibers are cut off by two cross-stacked blades.

[0006] The present invention provides a double-arm cooperative system for assisting cylindrical parts in winding and knotting, comprising: a mechanical arm, a yarn cutting assembly, a saddle-shaped surface clamp, and a pneumatic clamping assembly;

[0007] The saddle-shaped surface fixture and the yarn cutting assembly are both mounted on the mechanical arm, and the saddle-shaped surface fixture rotates with the mechanical arm;

[0008] The yarn cutting assembly includes a thread take-up lever and cross-stacked blades. The thread take-up lever can realize winding and knotting. During the knotting process, one end of the yarn is fixed on the saddle-shaped clamp and the other end is wound on the cylindrical member. When the saddle-shaped clamp moves, the yarn is straightened and cut at the blade. Since the yarn on both sides of the blade contact point forms tension, the cutting process is more efficient.

[0009] The pneumatic clamping assembly is used to clamp a cylindrical piece wound with yarn, and the end thereof can be raised and lowered to avoid the movement path of the robot arm.

[0010] Furthermore, the saddle-shaped surface in the middle of the saddle-shaped surface fixture makes the rotation angle of the saddle-shaped surface fixture proportional to the length of the yarn wound thereon during the rotation of the robot arm during rotary winding.

[0011] Furthermore, the pneumatic clamping assembly includes an arc-shaped clamping unit and a pneumatic lifting unit.

[0012] Furthermore, the pneumatic lifting unit realizes lifting and lowering through a pneumatic slide cylinder to avoid the movement path of the robot arm.

[0013] Furthermore, the arc-shaped clamping unit is used to clamp a cylindrical member wound with yarn.

[0014] Furthermore, the thread take-up lever is an "L"-shaped thread take-up lever.

[0015] Furthermore, the thread take-up lever is used to realize two yarn crossing points.

[0016] The present invention also provides a method for assisting a cylindrical member in winding and knotting a wire, comprising the following steps:

[0017] S1: The cylindrical part is clamped by a pneumatic clamping tool that can be lifted and lowered by the end support, and the saddle surface fixture and yarn cutting assembly are loaded on the robot arm;

[0018] S2: The robot arm starts to rotate and wind, and the saddle-shaped fixture rotates accordingly, and the take-up rod of the yarn cutting assembly realizes two yarn intersection points;

[0019] S3: After the winding is completed, the yarn is cut by the blades of the yarn cutting assembly. The cross-stacked blades are used, and the tension on both sides is applied by the robotic arm to implement the yarn cutting action.

[0020] Furthermore, in S2, the formation of the two yarn intersections is specifically as follows: the yarns are clamped by a robotic arm to change the overlapping relationship between two adjacent yarns to form two pressing points, one in and one out, thereby realizing the process action. The first intersection is formed by switching the left and right positions of the two yarns, and the second intersection is formed by cross-flipping the two yarns.

[0021] Furthermore, in S3, the cross-stacked blades can fix the position of the yarn, and a certain tension is applied on both sides, so that the yarn will break at the blade edge.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] (1) A saddle-shaped fixture is used to facilitate the calculation of the robot's position. Both sides are raised to prevent them from falling off during winding.

[0024] (2) An "L"-shaped thread take-up lever is used so that the two threads are always separated during the thread take-up process and do not cross.

[0025] (3) Cross-stacked blades are used to cut the yarn by applying tension on both sides through a robotic arm. The blades are installed on an "L"-shaped thread take-up rod, and there is no need to replace the fixture.

[0026] (4) By lengthening the distance between the blade and the fixing bolt, the blade can be close to the workpiece surface during the yarn cutting process, thereby reducing the remaining yarn length after yarn cutting.

[0027] (5) Since the robot arm needs to rotate around the workpiece in the path of the robot arm to ensure that the yarn is always on the thread take-up rod, a lifting cylinder is used to avoid interference of the support rod in the path of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a dual-arm collaborative system for assisting cylindrical parts in winding and knotting;

[0029] Figure 2 It is a structural schematic diagram of the saddle-shaped surface fixture;

[0030] Figure 3 It is a structural schematic diagram of the yarn cutting component;

[0031] Figure 4 It is a structural schematic diagram of the pneumatic clamping assembly;

[0032] Figure 5 A schematic diagram of the position of the yarn cutting component when it is working;

[0033] Figure 6 It is a schematic diagram of the initial state of winding;

[0034] Figure 7 This is a schematic diagram of the formation of the first pressure point;

[0035] Figure 8 This is a schematic diagram of the second pressure point.

[0036] Figure numerals: 1-mechanical arm; 2-yarn cutting assembly; 3-saddle-shaped surface clamp; 4-pneumatic clamping assembly; 5-blade; 6-"L"-shaped thread taking-up rod; 7-cylindrical part; 8-arc-shaped clamping unit; 9-pneumatic lifting unit. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0038] Example 1

[0039] This embodiment provides a double-arm cooperation system for assisting cylindrical parts in winding and knotting. Figure 1 , 2 , 3, 4, and 5, comprising: a mechanical arm 1, a yarn cutting assembly 2, a saddle-shaped surface fixture 3, and a pneumatic clamping assembly 4;

[0040] The saddle-shaped surface fixture 3 and the yarn cutting assembly 2 are both mounted on the mechanical arm 1, and the saddle-shaped surface fixture 3 rotates with the mechanical arm 1;

[0041] The yarn cutting assembly 2 includes a thread take-up lever and cross-stacked blades 5. The thread take-up lever can realize winding and knotting. During the knotting process, one end of the yarn is fixed on the saddle-shaped surface clamp 3 and the other end is wound on the cylindrical member 7. When the saddle-shaped surface clamp 3 moves, the yarn is straightened and cut at the blade 5. Since the yarn on both sides of the contact point of the blade 5 forms tension, the cutting process is more efficient.

[0042] The pneumatic clamping assembly 4 is used to clamp the cylindrical member 7 wound with yarn, and the end thereof can be raised and lowered to avoid the movement path of the robot arm 1.

[0043] In a specific embodiment, the saddle surface in the middle of the saddle surface clamp 3 is such that during rotary winding, when the robot arm 1 rotates, the rotation angle of the saddle surface clamp 3 is proportional to the length of the yarn wound thereon.

[0044] In a specific implementation, the pneumatic clamping assembly 4 includes an arc-shaped clamping unit 8 and a pneumatic lifting unit 9 .

[0045] In a specific implementation, the pneumatic lifting unit 9 is lifted and lowered by a pneumatic slide cylinder to avoid the movement path of the robot arm 1.

[0046] In a specific embodiment, the arc-shaped clamping unit 8 is used to clamp the cylindrical member 7 wound with yarn.

[0047] In a specific implementation, the thread take-up lever is an “L”-shaped thread take-up lever 6 .

[0048] In a specific embodiment, the thread take-up lever is used to achieve two yarn crossing points.

[0049] This embodiment also provides a method for assisting a cylindrical member in winding and knotting a wire, comprising the following steps:

[0050] S1: Clamp the cylindrical part 7 through the pneumatic clamping tool that can be lifted and lowered by the end support, and load the saddle surface clamp 3 and the yarn cutting assembly 2 on the robot arm 1;

[0051] S2: The robot arm 1 starts to rotate and wind, and the saddle-shaped clamp 3 rotates accordingly, and the thread take-up rod of the yarn cutting component 2 realizes two yarn intersection points;

[0052] S3: After the winding is completed, the yarn is cut by the blade 5 of the yarn cutting component 2. The cross-stacked blades 5 are used, and the mechanical arm 1 applies tension on both sides to implement the yarn cutting action.

[0053] In a specific implementation, in S2, the formation of two yarn intersections is specifically as follows: the robotic arm 1 clamps the yarn, changes the overlapping relationship between two adjacent yarns, and forms two pressing points, one in and one out, to achieve the process action. The first intersection is formed by switching the left and right positions of the two yarns, and the second intersection is formed by cross-flipping the two yarns.

[0054] In a specific implementation, in S3, the cross-stacked blades 5 can fix the position of the yarn, and a certain tension is applied on both sides, so that the yarn will break at the edge of the blade 5.

[0055] like Figure 6 , 7 As shown in Figure 8, the specific process of the formation of the two intersections is analyzed as follows:

[0056] (1) Initial state: Figure 4 As shown, the black wire is on the left side of the red wire, the wire clamping rod clamps the black wire, and the wire take-up rod is ready to enter from the bottom and make a circle to pick out the red wire.

[0057] (2) The first pressure point is formed: Figure 5 As shown, when the thread take-up rod goes around one circle to pick up the red thread, the thread clamping rod drives the black thread to move to the right, and then the thread take-up rod lifts the red thread to form the first thread pressing point.

[0058] (3) The second pressure point is formed: Figure 6 As shown, after the red line is picked up, the black line is moved left to its original position, forming a second intersection point. Then the black line is lifted up, and the thread pick-up rod flips the red line and the black line to leave the black line suspended in the air. Therefore, when tightening, the red line is tightened first and then the black line, forming a second intersection point.

[0059] The picture shows manual analysis, which is implemented using a dual-arm collaboration system in this embodiment.

[0060] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0061] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A double-arm cooperative system for assisting cylindrical parts in winding and knotting, characterized in that: include: A mechanical arm (1), a yarn cutting assembly (2), a saddle-shaped surface fixture (3), and a pneumatic clamping assembly (4); The saddle-shaped surface fixture (3) and the yarn cutting assembly (2) are both mounted on the mechanical arm (1), and the yarn cutting assembly (2) and the saddle-shaped surface fixture (3) can rotate along with the mechanical arm (1); The yarn cutting assembly (2) comprises a thread take-up rod and cross-stacked blades (5), wherein the thread take-up rod can realize winding and knotting. During the knotting process, one end of the thread take-up rod is clamped on the saddle-shaped surface clamp (3) and the other end is wound on the cylindrical member (7). When the saddle-shaped surface clamp (3) moves, the yarn is straightened so that the blade (5) cuts the yarn. The pneumatic clamping assembly (4) is used to clamp a cylindrical member (7) wound with yarn, and the end thereof can be raised and lowered to avoid the movement path of the robot arm (1).

2. A double-arm cooperation system for assisting cylindrical parts winding and knotting according to claim 1, characterized in that: The saddle-shaped surface in the middle of the saddle-shaped surface clamp (3) ensures that during the rotation of the robot arm (1) during rotary winding, the rotation angle of the saddle-shaped surface clamp (3) is proportional to the length of the yarn wound thereon.

3. A double-arm cooperation system for assisting cylindrical parts winding and knotting according to claim 1, characterized in that: The pneumatic clamping assembly (4) comprises an arc-shaped clamping unit (8) and a pneumatic lifting unit (9).

4. A double-arm cooperation system for assisting cylindrical parts winding and knotting according to claim 1, characterized in that: The pneumatic lifting unit (9) is lifted and lowered by means of a pneumatic slide cylinder, thereby avoiding the movement path of the robot arm (1).

5. A double-arm cooperation system for assisting cylindrical parts winding and knotting according to claim 1, characterized in that: The arc-shaped clamping unit (8) is used to clamp the cylindrical member (7) wound with yarn.

6. A double-arm cooperation system for assisting cylindrical piece winding and knotting according to claim 1, characterized in that: The thread take-up lever is an "L"-shaped thread take-up lever (6).

7. A double-arm cooperation system for assisting cylindrical piece winding and knotting according to claim 1, characterized in that: The thread take-up lever is used to realize two yarn crossing points.

8. A method for assisting cylindrical parts in winding and knotting, characterized in that: The following steps are involved: S1: clamping the cylindrical part (7) by means of a pneumatic clamping tool with an end support that can be raised and lowered, and loading the saddle-shaped surface fixture (3) and the yarn cutting assembly (2) onto the mechanical arm (1); S2: the robot arm (1) starts to rotate and wind the yarn, and the saddle-shaped clamp (3) rotates accordingly, and the thread take-up rod of the yarn cutting assembly (2) realizes two yarn intersection points; S3: After the winding is completed, the yarn is cut by the blade (5) of the yarn cutting assembly (2), using cross-stacked blades (5) and applying tension on both sides through the mechanical arm (1) to implement the yarn cutting action.

9. A method for auxiliary cylindrical member winding and knotting according to claim 8, characterized in that: In S2, the formation of the two yarn intersections is specifically as follows: the robotic arm (1) clamps the yarns to change the overlapping relationship between two adjacent yarns, forming two pressing points, one in and one out, thereby realizing the process action. The first intersection is formed by switching the left and right positions of the two yarns, and the second intersection is formed by cross-flipping the two yarns.

10. A method for auxiliary cylindrical member winding and knotting according to claim 8, characterized in that: In S3, the cross-stacked blades (5) can fix the position of the yarn, and when a certain tension is applied on both sides, the yarn will break at the edge of the blades (5).

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