Device of industrial robot end effector for discharging of bobbin winder

Abstract

The invention discloses an industrial robot end effector device for bobbin winder discharging, which comprises a sensor module, a servo motion module, a lifting and compensating mechanism, a telescopic mechanism and a clamping mechanism, the sensor module detects and cooperates with the lifting and compensation mechanism to make corresponding actions in the vertical direction, the horizontal direction, the pitching direction and the yawing direction to adjust the position of the material taking V-shaped block in real time. Four servo motion modules are used for driving the lifting and compensating mechanism to realize position control and zero returning operation; the vertical movement mechanism is used for being matched with the clamping mechanism on the base to complete clamping and fixing actions of the cone yarn. Under the condition that the stress of the cone yarn in all directions is within an acceptable range, the deviation of the cone taking position can be compensated to a certain degree, and automation of cone unloading, clamping and discharging of the cone yarn is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of textile machinery automation, and in particular to a device for the end effector of an industrial robot for the blanking of a winding machine. Background Art

[0002] In the textile industry, a winding machine is a machine that winds yarn into a cylindrical or conical shape. The bobbin has the advantages of large volume and good forming effect. Winding is an indispensable process in the textile industry. The existing blanking process of the bobbin has long relied on manual labor. The process is generally as follows: when the winding machine finishes winding, the worker manually presses the switch to stop the corresponding station, manually transports the bobbin from the winding machine to the trolley, and then manually pushes the trolley to the specified position. The disadvantage of this blanking process is that the labor intensity is large and there is a certain probability of damaging the bobbin, resulting in losses. In addition, due to the high-speed operation of the machine during the process of taking the bobbin, there are relatively large potential safety hazards.

[0003] At present, there are also some automated bobbin picking devices on the market. They adopt pneumatic or electric clamping methods, have high requirements for the picking position, and are approximately rigidly connected after clamping the bobbin, without a position compensation mechanism. Once the position deviates, it is extremely easy to damage the bobbin, and even damage the winding machine and the fixture itself. In addition, the force for clamping the bobbin cannot be adjusted in real time and accurately, and it is not applicable to some relatively fragile fibers. Summary of the Invention

[0004] The present invention provides a device for the end effector of an industrial robot for the blanking of a winding machine. Under the condition that the forces on the bobbin in all directions are within an acceptable range, the present invention can make a certain compensation for the deviation of the bobbin taking position and realize the automation of bobbin unloading, clamping, and discharging, as described in detail below:

[0005] A device for the end effector of an industrial robot for the blanking of a winding machine includes: a sensor module, a servo motion module, a lifting and compensation mechanism, a telescopic mechanism, and a clamping mechanism.

[0006] The sensor module detects and makes corresponding action adjustments in the vertical, horizontal, pitch, and yaw directions in cooperation with the lifting and compensation mechanism to adjust the position of the V-shaped bobbin picking block for real-time adjustment.

[0007] Four servo motion modules are used to drive the lifting and compensation mechanism to achieve position control and zero return operation; the vertical motion mechanism is used in cooperation with the clamping mechanism on the base to complete the clamping and fixing action of the bobbin.

[0008] Among them, the sensor module consists of two tension and compression sensors and two torque sensors, which respectively detect the forces and torques on the bobbin in the vertical, horizontal, pitch, and yaw directions.

[0009] Among them, the servo motion module consists of four servo motors, which serve as the power sources for the vertical motion mechanism, the horizontal motion mechanism, the pitching axis motion mechanism, and the yaw axis motion mechanism respectively.

[0010] Among them, the telescopic mechanism consists of a pair of telescopic slide rails fixed on the base, a second lead screw and a second nut driven by a motor, a first base, and two proximity switches.

[0011] Further, the vertical motion mechanism consists of a first servo motor, a first lead screw and a first nut connected to the output shaft of the first servo motor, a push rod connected to the nut, a first tension and compression sensor connected to the push rod, four first sliders, and a support frame connected to the push rod.

[0012] Among them, the horizontal motion mechanism consists of a second servo motor, a third lead screw and a third nut, a second tension and compression sensor, a second base, and two second sliders;

[0013] The motor base of the second servo motor is fixed on the support frame and drives the third lead screw and the third nut to move. The third nut, the second tension and compression sensor, and the two second sliders are fixed on the second base. The second sliders cooperate with the support frame to achieve the horizontal motion of the second base.

[0014] Among them, the yaw axis motion mechanism consists of a third servo motor, a first speed reducer, a torque sensor, and a third base;

[0015] The first speed reducer is installed on the second base. The output shaft of the servo motor is connected to the first speed reducer. The base of the servo motor is installed on the input shaft of the torque sensor. The base of the torque sensor is installed on the second base through a connecting piece. The output shaft of the first speed reducer is connected to the third base.

[0016] Among them, the pitching axis motion mechanism consists of a fourth servo motor, a second speed reducer, a second torque sensor, two support seats, and a first V-block;

[0017] The two support seats are fixed on the third base. The first V-block is supported by the two support seats. The first V-block rotates along the pitching axis direction. One support seat also serves as the motor base. The output shaft of the second speed reducer is connected to the first V-block. The output shaft of the fourth servo motor is connected to the input shaft of the second speed reducer. The motor base of the fourth servo motor is fixed on the input shaft of the second torque sensor. The base of the torque sensor is connected to the support seat. The adjustment range of the pitching angle of the first V-block is ±10°.

[0018] Among them, the clamping mechanism consists of a second V-block, four optical axes, four linear bearings, four limit rings, four springs, and four optical axis fixators;

[0019] The optical axis is fixed on the second V-block through an optical axis fixator. Four linear bearings are fixed on the base. The optical axis passes through the linear bearings and moves along the direction of the linear bearings. There is a spring on the optical axis between the optical axis fixator and the linear bearings. There is a limit ring outside the linear bearing fixed at the end of the optical axis for limiting.

[0020] The beneficial effects of the technical solution provided by the present invention are as follows:

[0021] 1. During the material taking process of the present invention, it imitates the human hand to rise through the vertical mechanism, and cooperates with the tension and pressure sensor to lift the cheese bobbin in a lifting manner and cooperate with the telescopic mechanism to pull the cheese bobbin outwards; the sensor module detects in real time and makes corresponding action adjustments in the vertical, horizontal, pitch, and yaw directions by the lifting and compensation mechanism to adjust the position of the material taking V-block for real-time adjustment;

[0022] 2. The present invention uses four servo motors to drive the compensation and lifting mechanisms to achieve precise position control and zero return operation; uses the vertical movement mechanism to cooperate with the clamping mechanism on the base to complete the clamping and fixing action of the cheese bobbin, and can achieve precise control of the clamping force; adopts a force feedback control method to precisely control the force of taking the cheese bobbin, effectively preventing damage to the cheese bobbin, and is also applicable to relatively fragile fibers;

[0023] 3. The present invention uses an imitation human hand to lift and take the cheese bobbin, has the ability to operate in a complex environment, and has a relatively wide applicable range of cheese bobbin diameters, up to 80mm - 150mm;

[0024] 4. The present invention uses a servo motor to control the movement with higher precision, can achieve zero return operation, and can successfully complete the material taking action for the deviation of ±10mm in the horizontal and vertical directions and ±10° in the pitch and yaw directions of the cheese bobbin taking position. Description of the Drawings

[0025] Figure 1 It is the front view of a device of an end effector of an industrial robot for cheese bobbin unloading of a winding machine;

[0026] Figure 2 It is the side view of a device of an end effector of an industrial robot for cheese bobbin unloading of a winding machine;

[0027] Figure 3 It is the top view of a device of an end effector of an industrial robot for cheese bobbin unloading of a winding machine;

[0028] Figure 4 It is the sectional view of a device of an end effector of an industrial robot for cheese bobbin unloading of a winding machine.

[0029] In the drawings, the list of each component is as follows:

[0030] 1: Limit ring; 2: Linear bearing;

[0031] 3: First V-block; 4: Second base;

[0032] 5: Yaw axis motor support base; 6: Telescopic slide rail;

[0033] 7: Support frame; 8: First slider;

[0034] 9: Second torque sensor; 10: Third servo motor;

[0035] 11: First lead screw; 12: First nut;

[0036] 13: First servo motor; 14: First speed reducer;

[0037] 15: Second slider; 16: Coupling;

[0038] 17: Motor; 18: First proximity switch;

[0039] 19: First tension and compression sensor; 20: Third base;

[0040] 21: Support base; 22: Fourth servo motor;

[0041] 23: Second speed reducer; 24: Base;

[0042] 25: Second V-block; 26: Optical axis fixer;

[0043] 27: Spring 28: Optical axis;

[0044] 29: Second lead screw; 30: Second nut;

[0045] 31: Second servo motor; 32: Third lead screw;

[0046] 33: Second tension and compression sensor; 34: Third nut;

[0047] 35: First torque sensor 36: First base;

[0048] 37: Second proximity switch; 38: Push rod. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the present invention clearer, the following further describes in detail the implementation manners of the present invention.

[0050] A device for the end effector of an industrial robot for bobbin winder blanking, comprising: a sensor module, a servo motion module, a lifting and compensation mechanism, a telescopic mechanism, and a clamping mechanism.

[0051] During the material taking process, it imitates the human hand to lift the cheese cone by the vertical mechanism in cooperation with the tension and compression sensor, and pulls the cheese cone outwards by the telescopic mechanism; the sensor module detects in real time and makes corresponding attitude adjustments in the vertical, horizontal, pitch, and yaw directions of the V-shaped block by the lifting and compensation mechanism, thereby adjusting the material taking force in real time; using four servo motors to drive the compensation and lifting mechanism can achieve precise position control and zero return operation; using the vertical movement mechanism in cooperation with the clamping mechanism on the base to complete the clamping and fixing action of the cheese cone, and can achieve precise control of the clamping force.

[0052] Among them, the sensor module consists of two tension and compression sensors and two torque sensors, which respectively detect the force and torque of the cheese cone in the vertical, horizontal, pitch, and yaw directions.

[0053] The servo motion module consists of four servo motors, which are respectively used as the power sources of the vertical motion mechanism, the horizontal motion mechanism, the pitch axis motion mechanism, and the yaw axis motion mechanism.

[0054] Among them, the telescopic mechanism consists of a pair of telescopic slide rails 6 fixed on the base, a second lead screw 29 driven by a motor 17, a second nut 30, a first base 36, two proximity switches 18, 37. When working, the motor 17 drives the second lead screw 29 to rotate, driving the first base 36 fixed on the second nut 30 to move forward or backward. The first base 36 is fixed on the slide rail. When the first base 36 moves forward and backward under the action of the motor 17 and contacts the proximity switch, the next action can be triggered.

[0055] Among them, the vertical mechanism consists of a first servo motor 13, a first lead screw 11 connected to the output shaft of the first servo motor 13, a first nut 12, a push rod 38 connected to the nut, a first tension and compression sensor 19 connected to the push rod 38, four first sliders 8, and a support frame 7 connected to the push rod 38. When working, the servo motor 13 fixed on the first base 36 drives the first lead screw 11 to rotate, and the push rod 38 connected to the first nut 12 pushes the support frame 7 and the first tension and compression sensor 19 to slide along the first sliders 8 fixed on the first base 36. The support frame 7 is welded by six slide rails and two auxiliary steel bars, and the stroke of the support frame 7 does not exceed 30mm.

[0056] Among them, the horizontal mechanism consists of a second servo motor 31, a third lead screw 32, a third nut 34, a second tension and compression sensor 33, a second base 4, and two second sliders 15. The motor base of the second servo motor 31 is fixed on the support frame 7, driving the third lead screw 32 and the third nut 34 to move. The third nut 34, the second tension and compression sensor 33, and the two second sliders 15 are fixed on the second base 4, and the second sliders 15 cooperate with the support frame 7, so as to realize the horizontal movement of the second base 4, and the movement range of the second base 4 is ±15mm.

[0057] Among them, the yaw axis motion mechanism consists of a third servo motor 10, a first reduction gear 14, a torque sensor 9, and a third base 20. The first reduction gear 14 is installed on the second base 4. The output shaft of the servo motor is connected to the first reduction gear 14. The servo motor base is installed on the input shaft of the torque sensor 9. The base of the second torque sensor 9 is installed on the second base 4 through a connecting piece. The output shaft of the first reduction gear 14 is connected to the third base 20. During operation, the third servo motor 10 drives the reduction gear 14 to rotate. After the torque is amplified, the output shaft of the first reduction gear 14 drives the third base 20 to rotate. The adjustable range of the yaw angle of the third base 20 is ±10°.

[0058] Among them, the pitching motion mechanism consists of a fourth servo motor 22, a second reduction gear 23, a first torque sensor 35, two support seats 21, and a first V-block 3. The two support seats 21 are fixed on the third base 20. The first V-block 3 is supported by the two support seats 21 and can rotate along the pitching axis direction. One of the support seats 21 also serves as a motor seat. The output shaft of the second reduction gear 23 is connected to the first V-block 3. The output shaft of the fourth servo motor 22 is connected to the input shaft of the second reduction gear 23. The motor seat of the fourth servo motor 22 is fixed on the input shaft of the first torque sensor 35. The base of the first torque sensor 35 is connected to the support seat 21. The adjustable range of the pitching angle of the first V-block 3 is ±10°.

[0059] Among them, the clamping mechanism consists of a second V-block 25, four optical axes 28, four linear bearings 2, four limit rings 1, four springs 27, and four optical axis fixers 26. The optical axes 28 are fixed on the second V-block 25 through the optical axis fixers 26. The four linear bearings 2 are fixed on the base 24. The optical axes 28 pass through the linear bearings 2 and can move along the direction of the linear bearings 2. Springs 27 are located between the optical axis fixers 26 and the linear bearings 2 on the optical axes 28 and are always under compression. Limit rings 1 are fixed at the ends of the optical axes 28 outside the linear bearings 2 for limiting.

[0060] Working principle: When in use, after the cheese is fully collected, the winding machine stops working. At this time, the robot drives the end effector to reach the specified material taking position, and the base 24 is fixed at the end of the robot. Subsequently, the telescopic mechanism drives the first base 36 and the lifting and compensation mechanism thereon to move towards the direction close to the cheese. After the first proximity switch 18 is closed, the telescopic mechanism stops running, and the first base 36 and the lifting and compensation mechanism thereon reach directly below the cheese. The first servo motor 13 drives the vertical movement mechanism to move upward to lift the cheese. When the first tension and compression sensor 19 detects that the pressure can stably lift the cheese, the telescopic mechanism moves outward. At the same time, the horizontal movement mechanism, the vertical movement mechanism, the pitching movement mechanism, and the yaw movement mechanism start the compensation program. Taking the horizontal mechanism as an example, when the pressure received in the positive direction, and the second tension and compression sensor 32 detects that the pressure is greater than a certain value, the second servo motor 30 rotates forward to drive the second base 4 to move in the direction of decreasing pressure so as to reduce the pressure. After the second proximity switch 37 is closed, the telescopic mechanism stops moving, indicating that the cheese has been taken out of the working station. At the same time, the second servo motor 30, the third servo motor 10, and the fourth servo motor 22 perform the zero position return action to drive the horizontal movement mechanism, the pitching movement mechanism, and the yaw movement mechanism back to the zero position. The first servo motor 13 drives the vertical mechanism and the cheese to move upward and the clamping mechanism clamps the cheese. When the first tension and compression sensor 19 detects that the clamping force is greater than a certain value, the first servo motor 13 stops moving and maintains the clamping torque to keep the cheese in a clamped state. Subsequently, the industrial robot drives the end effector to move to the cheese unloading position. The first servo motor 13 returns to the zero position to drive the vertical mechanism back to the zero position and releases the clamping state of the cheese, and the cheese can fall to the unloading place under the action of gravity.

[0061] In the embodiments of the present invention, except for those with special descriptions for the models of each device, the models of other devices are not limited, as long as the devices can perform the above functions.

[0062] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment. The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0063] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An apparatus for the end effector of an industrial robot used for the material discharging of a winding machine, comprising: Sensor module, servo motion module, lifting and compensation mechanism, telescopic mechanism, clamping mechanism, characterized in that The sensor module detects and cooperates with the lifting and compensation mechanism to make corresponding actions in the vertical, horizontal, pitch, and yaw directions to adjust the position of the V-shaped material-taking block in real time. Four servo motion modules are used to drive the lifting and compensation mechanism to achieve position control and zeroing operation; the vertical motion mechanism is used in cooperation with the clamping mechanism on the base to complete the clamping and fixing action of the cheese.

2. The device of an end effector of an industrial robot for unwinding of a winding machine according to claim 1, characterized in that, The sensor module consists of two tensile and compressive sensors and two torque sensors, which respectively detect the force and torque exerted on the cheese in the vertical, horizontal, pitch, and yaw directions.

3. The device of an end effector of an industrial robot for unwinding of a winding machine according to claim 1, characterized in that, The servo motion module consists of four servo motors, which are respectively used as the power sources of the vertical motion mechanism, horizontal motion mechanism, pitch axis motion mechanism, and yaw axis motion mechanism.

4. The device of an end effector of an industrial robot for unwinding a winding machine according to claim 1, characterized in that The telescopic mechanism consists of a pair of telescopic slide rails fixed on the base, a second lead screw and a second nut driven by a motor, a first base, and two proximity switches.

5. The device of an end effector of an industrial robot for the blanking of a winding machine according to claim 3, characterized in that, The vertical motion mechanism consists of a first servo motor, a first lead screw connected to the output shaft of the first servo motor and a first nut, a push rod connected to the nut, a first tensile and compressive sensor connected to the push rod, four first sliders, and a support frame connected to the push rod.

6. The device of an end effector of an industrial robot for unwinding of a winding machine according to claim 1, characterized in that, The horizontal motion mechanism consists of a second servo motor, a third lead screw and a third nut, a second tensile and compressive sensor, a second base, and two second sliders; The motor base of the second servo motor is fixed on the support frame and drives the third lead screw and the third nut to move. The third nut, the second tensile and compressive sensor, and the two second sliders are fixed on the second base, and the second sliders cooperate with the support frame to realize the horizontal motion of the second base.

7. The device of the end effector of an industrial robot for unwinding a bobbin machine according to claim 1, characterized in that, The yaw axis motion mechanism consists of a third servo motor, a first reducer, a torque sensor, and a third base; The first reducer is installed on the second base. The output shaft of the servo motor is connected to the first reducer. The servo motor base is installed on the input shaft of the torque sensor. The torque sensor base is installed on the second base through a connecting piece. The output shaft of the first reducer is connected to the third base.

8. The device of an end effector of an industrial robot for bobbin winder blanking according to claim 1, characterized in that, The pitch axis motion mechanism consists of a fourth servo motor, a second reducer, a second torque sensor, two support seats, and a first V-shaped block; The two support seats are fixed on the third base. The first V-shaped block is supported by the two support seats. The first V-shaped block rotates along the pitch axis direction. One support seat also serves as the motor base. The output shaft of the second reducer is connected to the first V-shaped block. The output shaft of the fourth servo motor is connected to the input shaft of the second reducer. The motor base of the fourth servo motor is fixed on the input shaft of the second torque sensor. The torque sensor base is connected to the support seat. The adjustment range of the pitch angle of the first V-shaped block is ±10°.

9. The device of an end effector of an industrial robot for unwinding of a winding machine according to claim 1, characterized in that, The clamping mechanism consists of a second V-shaped block, four optical axes, four linear bearings, four limit rings, four springs, and four optical axis fixers; The optical axes are fixed on the second V-shaped block through the optical axis fixers. The four linear bearings are fixed on the base. The optical axes pass through the linear bearings and move along the direction of the linear bearings. Springs are provided on the optical axes between the optical axis fixers and the linear bearings. Limit rings are fixed at the ends of the optical axes outside the linear bearings for limiting.

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