Manipulator for dye production and using method thereof

Abstract

The invention belongs to the technical field of dye tank grabbing and carrying, and particularly relates to a manipulator for dye production and a using method thereof, in particular to a manipulator for dye production, which comprises a machine body, a dye dissolving device and a rotary feeding table arranged on the machine body, when the self-adaptive manipulator grabs the dye tank and is driven by the driving mechanism to move towards the dye dissolving device along the preset path, the opening and closing linkage mechanism can drive the sealing cover opening and closing mechanism to rotate in a linkage mode, the sealing cover opening and closing mechanism can rotate to automatically unscrew the tank cover, and on the contrary, after the tank reaches the discharging station and material pouring is completed, the sealing cover can be automatically opened. When the driving mechanism drives the self-adaptive manipulator to return along the original path, the opening and closing linkage mechanism can drive the sealing cover opening and closing mechanism to rotate reversely, the tank cover can be tightened again, automation of the whole process from recognition, grabbing and conveying to cover opening and closing can be achieved, the structure is ingenious, and the production efficiency can be greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of dye can gripping and handling technology, specifically relating to a robotic arm for dye production and its usage method. Background Technology

[0002] In the textile printing and dyeing industry, the handling, opening, and dispensing of dye cans are key links in the production process. Traditional operations mainly rely on manual labor, which has problems such as low efficiency, high labor intensity, and poor consistency. Moreover, dyes are often corrosive or toxic, and long-term exposure poses potential health risks to operators. In recent years, with the development of intelligent manufacturing, some companies have begun to introduce robotic arms for automated handling. However, existing robotic arms cannot achieve closed-loop control of the entire process from identification, grasping, conveying, opening to closing. In addition, during the opening process, there is a lack of precise control over the tightening force, which can easily damage the can lid or equipment due to excessive torque or cause poor sealing due to insufficient torque.

[0003] To address the aforementioned problems, this application proposes a robotic arm for dye production and its usage method. Summary of the Invention

[0004] This invention provides a robotic arm for dye production and its usage method, which can effectively solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for dye production, comprising a body, a dye processing device, and a rotary feeding table mounted on the body. A drive mechanism is connected to the top of the body via a bracket. An adaptive robotic arm is mounted on the drive mechanism. The adaptive robotic arm is equipped with a vision positioning system, a monitoring system, and an intelligent electronic control system. The vision positioning system is used to identify and position the size and location of the dye cans conveyed on the rotary feeding table. The monitoring system is used to monitor the contact force between the adaptive robotic arm and the dye cans in real time during the gripping process and feed the signal back to the intelligent electronic control system. The intelligent electronic control system can dynamically adjust the clamping force of the adaptive robotic arm on the dye cans through an algorithm. The adaptive robot includes a pressurizing mechanism. A first electric telescopic rod is fixedly mounted on the outside of the pressurizing mechanism. A flipping motor is fixedly connected to the bottom end of the first electric telescopic rod through a connecting plate. A gripping gripper is fixedly connected to the output shaft end of the flipping motor. An oil supply pipe is connected through the gripping gripper and the pressurizing mechanism. A second electric telescopic rod is fixedly mounted on the gripping gripper. A sealing cover opening and closing mechanism is fixedly mounted on the top end of the second electric telescopic rod. An opening and closing linkage mechanism is provided on the robot body. The opening and closing linkage mechanism is used to drive the sealing cover opening and closing mechanism to open or tighten the lid of the dye tank during the movement and feeding of the adaptive robot. The opening and closing linkage mechanism includes a linkage plate fixed to the machine body by a bracket. A linkage ramp is provided on one side of the linkage plate, and the surface of the linkage ramp is provided with anti-slip texture.

[0006] Preferably, a guide assembly is provided between the adaptive manipulator and the drive mechanism. The guide assembly consists of a guide slide rail disposed on the outside of the drive mechanism and a guide slider disposed on the rear side of the pressurization mechanism.

[0007] Preferably, the drive mechanism includes a frame and a first sprocket and a second sprocket rotatably disposed inside the frame via bearings. A drive chain connects the first sprocket and the second sprocket. A servo motor is fixedly mounted on the top of one end of the frame, and the output shaft end of the servo motor is fixedly connected to the first sprocket.

[0008] Preferably, the pressurization mechanism includes a hydraulic cylinder fixedly connected to the drive chain. The top of the hydraulic cylinder is provided with an electric push rod and an exhaust port. The bottom of the electric push rod is fixedly provided with a compression piston, which is used to squeeze the hydraulic oil in the hydraulic cylinder into the clamping gripper to control the extension of the clamping gripper or to draw the hydraulic oil in the clamping gripper out in the opposite direction to control the contraction of the clamping gripper.

[0009] Preferably, the clamping gripper includes a U-shaped gripper body and a diversion channel formed inside the U-shaped gripper body, and the diversion channel is connected to the pressurization mechanism through an oil supply pipe. The U-shaped gripper body is symmetrically provided with telescopic components, and a dye tank clamping component is fixedly provided at one end of the telescopic components.

[0010] Preferably, the telescopic assembly includes a cylinder that is connected in communication with the diversion channel. A telescopic rod is slidably inserted at one end of the cylinder. A linkage piston is fixedly installed at one end of the telescopic rod, and the other end is fixedly connected to the dye tank clamping component. A return spring is sleeved on the outside of the telescopic rod.

[0011] Preferably, the sealing cap opening and closing mechanism includes a lifting platform fixedly installed at the top of the second electric telescopic rod. A rotating column is rotatably connected to the lifting platform via a bearing. A shaped linkage wheel and a can cap holder are respectively fixed at the upper and lower ends of the rotating column. A collector ring is connected to the top of the rotating column through the shaped linkage wheel. The collector ring is used to provide rotational power to the can cap holder. The can lid holder includes a kit, with a third electric telescopic rod fixedly mounted on the outside of the kit, and a can lid clamping plate fixedly mounted on one end of the third electric telescopic rod.

[0012] Preferably, the visual positioning system uses multiple sets of industrial cameras, which are installed on the adaptive robot arm according to the shooting requirements. These cameras are used to identify and locate the size and position of the dye cans conveyed on the rotating feeding table, so that the adaptive robot arm can grasp the dye cans more accurately. The monitoring system includes a torque sensor positioned between the rotating column and the can lid holder, and a pressure sensor integrated on the dye can holder. The torque sensor provides real-time feedback on the torque during opening and closing of the can lid, while the pressure sensor monitors the contact force between the adaptive robotic arm and the dye can during the gripping process.

[0013] The present invention also provides a method for using a robotic arm for dye production, comprising the following steps: S1. The visual positioning system identifies the model and location of the dye tank at the workstation to be grasped and sends the information to the intelligent electronic control system. S2. After the intelligent electronic control system controls the adaptive robot arm to move above the dye tank, it controls the gripper to descend via the first electric telescopic rod and simultaneously controls the gripper to perform a gripping action. S3. After the grabbing is completed, control the first electric telescopic rod to retract, raise the dye can to the conveying height, and control the can lid holder to clamp the can lid. Then, control the adaptive robot to move along the preset trajectory to the dyeing device through the drive mechanism. S4. When the adaptive robot moves to the opening and closing linkage mechanism, the opening and closing linkage mechanism works in conjunction with the irregular linkage wheel. The irregular linkage wheel is driven to rotate by friction. When the irregular linkage wheel rotates, the can lid holder rotates synchronously through the rotating column to loosen the can lid. S5. When the adaptive robotic arm reaches the top of the dyeing and processing device, it controls the sealing cover opening and closing mechanism to rise through the second electric telescopic rod, so that the can cover is separated from the dye can. Then, the intelligent electronic control system controls the flipping motor to rotate a certain angle to perform the tilting action. S6. After the dye is poured out, the adaptive robot arm is controlled by the drive mechanism to return along the preset trajectory. When the adaptive robot arm moves to the opening and closing linkage mechanism, the opening and closing linkage mechanism drives the irregular linkage wheel to rotate in the opposite direction, tightening the can lid, and finally putting the dye can back to its original place or the designated position, completing one work cycle.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up a visual positioning system, the size and position of the dye can can be identified and located, enabling the adaptive robot to grasp the dye can more accurately. By setting up a pressure sensor on the monitoring system, the contact force between the adaptive robot and the dye can can be monitored in real time during the grasping process, and the signal is fed back to the intelligent electronic control system. The intelligent electronic control system dynamically adjusts the clamping force of the adaptive robot through algorithms, which can ensure that dye cans of different diameters can be firmly grasped without deforming or damaging the dye cans due to excessive clamping force.

[0015] 2. When the adaptive robot grabs the dye can and moves along a preset path to the dyeing device under the drive of the drive mechanism, the opening and closing linkage mechanism can drive the sealing cap opening and closing mechanism to rotate. The rotation of the sealing cap opening and closing mechanism can automatically unscrew the can lid. Conversely, after reaching the unloading station and completing the unloading, when the adaptive robot is driven to return along the original path by the drive mechanism, the opening and closing linkage mechanism can drive the sealing cap opening and closing mechanism to rotate in the opposite direction, which can tighten the can lid again. It can realize the full automation of the process from identification, grabbing, conveying to opening and closing the lid. The ingenious structure can greatly improve production efficiency.

[0016] 3. The intelligent electronic control system communicates with the adaptive robot, vision positioning system, and monitoring system. It can not only receive feedback signals from the pressure sensor in the monitoring system and run force control algorithms to achieve closed-loop control of the gripping force, ultimately realizing adaptive gripping control, but also precisely control the lifting and lowering of the adaptive robot and the sealing cap opening and closing mechanism. This facilitates precise control of the engagement and disengagement between the irregularly shaped linkage wheel on the sealing cap opening and closing mechanism and the linkage ramp on the opening and closing linkage mechanism, enabling more accurate automatic opening and closing of the cap. Furthermore, by monitoring the torque feedback during the cap opening process through the torque sensor on the monitoring system, it can precisely control the tightening force of the can cap. When the tightening force is too great, the intelligent electronic control system controls the adaptive robot and the sealing cap opening and closing mechanism to adjust their lifting and lowering, automatically disconnecting the connection between the irregularly shaped linkage wheel and the linkage ramp, preventing damage to the equipment due to the can cap being too tight or jammed. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a robotic arm for dye production according to the present invention; Figure 2 This is a schematic diagram of the drive mechanism in this invention; Figure 3 This is a schematic diagram of the linkage structure between the adaptive manipulator and the opening and closing linkage mechanism in this invention; Figure 4 This is a schematic diagram of the adaptive robotic arm in this invention; Figure 5 This is a cross-sectional view of the pressurization mechanism in this invention. Figure 6 For the present invention Figure 5 A in the figure shows the enlarged structural diagram; Figure 7 This is a cross-sectional view of the clamping gripper in this invention; Figure 8 For the present invention Figure 7The enlarged structural diagram at B in FIG.

[0018] In the picture: 1. Organism; 2. Dyeing and dyeing equipment; 3. Rotary feeding table; 4. Drive mechanism; 401. Frame; 402. Servo motor; 403. First sprocket; 404. Second sprocket; 405. Drive chain; 5. Adaptive robotic arm; 501. Pressurization mechanism; 5011. Hydraulic cylinder; 5012. Electric push rod; 5013. Exhaust port; 5014. Extrusion piston; 502. First electric telescopic rod; 503. Tilting motor; 504. Gripping gripper; 5041. U-shaped gripper body; 5042. Diverting channel; 5043. Telescopic assembly; 5044. Dye tank clamping component; 5045. Cylinder; 5046. Telescopic rod; 5047. Linkage piston; 5048. Return spring; 505. Oil supply pipe; 506. Second electric telescopic rod; 507. Sealing cap opening and closing mechanism; 5071. Lifting platform; 5072. Rotating column; 5073. Irregularly shaped linkage wheel; 5074. Can lid clamp; 5075. Slip ring; 5076. Third electric telescopic rod; 5077. Can lid clamping plate; 6. Guiding components; 7. Opening and closing linkage mechanism; 701. Linkage plate; 702. Linkage ramp; 703. Anti-slip texture; 8. Industrial cameras; 9. Torque sensor. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Examples, such as Figure 1-8 As shown, a robotic arm for dye production includes a body 1, a dye processing device 2, and a rotary feeding table 3 mounted on the body 1. A drive mechanism 4 is connected to the top of the body 1 via a bracket. An adaptive robotic arm 5 is mounted on the drive mechanism 4. The adaptive robotic arm 5 is equipped with a vision positioning system, a monitoring system, and an intelligent electronic control system. The vision positioning system is used to identify and position the size and position of the dye cans conveyed on the rotary feeding table 3. The monitoring system is used to monitor the contact force between the adaptive robotic arm 5 and the dye cans in real time during the gripping process and feed the signal back to the intelligent electronic control system. The intelligent electronic control system can dynamically adjust the clamping force of the adaptive robotic arm 5 on the dye cans through an algorithm. The adaptive robot arm 5 includes a pressurizing mechanism 501. A first electric telescopic rod 502 is fixedly provided on the outside of the pressurizing mechanism 501. A flipping motor 503 is fixedly connected to the bottom end of the first electric telescopic rod 502 through a connecting plate. A gripping gripper 504 is fixedly connected to the end of the output shaft of the flipping motor 503. An oil supply pipe 505 is connected through the gripping gripper 504 and the pressurizing mechanism 501. A second electric telescopic rod 506 is fixedly provided on the gripping gripper 504. A sealing cover opening and closing mechanism 507 is fixedly provided at the top end of the second electric telescopic rod 506. An opening and closing linkage mechanism 7 is provided on the body 1. The opening and closing linkage mechanism 7 is used to drive the sealing cover opening and closing mechanism 507 to open or tighten the lid of the dye tank during the movement and feeding process of the adaptive robot arm 5. The opening and closing linkage mechanism 7 includes a linkage plate 701 fixed to the body 1 by a bracket. A linkage ramp 702 is provided on one side of the linkage plate 701, and anti-slip texture 703 is provided on the surface of the linkage ramp 702.

[0021] In this implementation scheme: when the adaptive robot arm 5 grabs the dye can and moves along the preset path to the dyeing device 2 under the drive of the drive mechanism 4, the opening and closing linkage mechanism 7 can drive the sealing cap opening and closing mechanism 507 to rotate. The rotation of the sealing cap opening and closing mechanism 507 can automatically unscrew the can lid. Conversely, after reaching the feeding station and completing the unloading, when the adaptive robot arm 5 is driven by the drive mechanism 4 to return along the original path, the opening and closing linkage mechanism 7 can drive the sealing cap opening and closing mechanism 507 to rotate in the opposite direction, which can tighten the can lid again. This can realize the full automation of the process from identification, grabbing, conveying to opening and closing the lid. The ingenious structure can greatly improve production efficiency. The intelligent electronic control system communicates with the adaptive robotic arm 5, the vision positioning system, and the monitoring system. It can not only receive feedback signals from the pressure sensor in the monitoring system and run a force control algorithm to achieve closed-loop control of the gripping force, ultimately realizing adaptive gripping control, but also precisely control the lifting and lowering of the adaptive robotic arm 5 and the sealing cap opening and closing mechanism 507. This facilitates precise control of the engagement and disengagement between the irregularly shaped linkage wheel 5073 on the sealing cap opening and closing mechanism 507 and the linkage ramp 702 on the opening and closing linkage mechanism 7, enabling more accurate automatic opening and closing of the cap. Furthermore, by monitoring the torque feedback during the opening process through the torque sensor 9 on the monitoring system, it can precisely control the tightening force of the can cap. If the tightening force is too large, the intelligent electronic control system will detect the problem. The system controls the adaptive manipulator 5 and the sealing cap opening and closing mechanism 507 to adjust their height. It can automatically disconnect the connection between the irregular linkage wheel 5073 and the linkage ramp 702 when tightening is complete or a jamming failure occurs. This can prevent damage to the equipment due to the can cap being too tight or jammed. By setting the linkage ramp 702 and the anti-slip texture 703, the contact area between the irregular linkage wheel 5073 and the linkage ramp 702 can be increased, which can improve the friction driving force. In actual use, controlling the irregular linkage wheel 5073 to rise so that the irregular linkage wheel 5073 separates from the linkage ramp 702 can disconnect the connection. Conversely, controlling the irregular linkage wheel 5073 to fall so that the irregular linkage wheel 5073 contacts the linkage ramp 702 can initiate linkage rotation.

[0022] Furthermore: In an optional embodiment, a guide assembly 6 is provided between the adaptive robot 5 and the drive mechanism 4. The guide assembly 6 consists of a guide slide disposed on the outside of the drive mechanism 4 and a guide slider disposed on the rear side of the pressurization mechanism 501.

[0023] In this embodiment, the guide component 6 can guide and limit the adaptive robot arm 5, so that the adaptive robot arm 5 can move stably under the drive of the drive mechanism 4, which can improve the stability during transportation.

[0024] In an optional embodiment, the drive mechanism 4 includes a frame 401 and a first sprocket 403 and a second sprocket 404 rotatably disposed inside the frame 401 via bearings. A drive chain 405 is connected between the first sprocket 403 and the second sprocket 404. A servo motor 402 is fixedly mounted on the top of one end of the frame 401, and the end of the output shaft of the servo motor 402 is fixedly connected to the first sprocket 403.

[0025] In this embodiment, the servo motor 402 can drive the drive chain 405 to rotate through the first sprocket 403, and when the drive chain 405 rotates, it can drive the adaptive robot arm 5 to move left and right.

[0026] In an optional embodiment, the pressurization mechanism 501 includes a hydraulic cylinder 5011 fixedly connected to the drive chain 405. The top end of the hydraulic cylinder 5011 is provided with an electric push rod 5012 and an exhaust port 5013. The bottom end of the electric push rod 5012 is fixedly provided with a compression piston 5014, which is used to squeeze the hydraulic oil in the hydraulic cylinder 5011 into the clamping gripper 504 to control the extension of the clamping gripper 504 or to draw the hydraulic oil in the clamping gripper 504 out in the opposite direction to control the contraction of the clamping gripper 504.

[0027] In this embodiment: when the electric push rod 5012 controls the extrusion piston 5014 to descend or rise, the hydraulic oil in the oil cylinder 5011 can be squeezed into the clamping gripper 504 to control the extension of the telescopic component 5043 on the clamping gripper 504, or the hydraulic oil in the clamping gripper 504 can be drawn out in the opposite direction to control the contraction of the telescopic component 5043 on the clamping gripper 504. The extension of the telescopic component 5043 can clamp the dye canister, and the contraction of the clamping gripper 504 can stop clamping the dye canister.

[0028] In an optional embodiment, the clamping gripper 504 includes a U-shaped gripper body 5041 and a diversion channel 5042 formed inside the U-shaped gripper body 5041. The diversion channel 5042 is connected to the pressurization mechanism 501 through an oil supply pipe 505. A telescopic component 5043 is symmetrically provided on the inner side of the U-shaped gripper body 5041. A dye tank clamping component 5044 is fixedly provided at one end of the telescopic component 5043.

[0029] In this embodiment: when the hydraulic oil in the cylinder 5011 is squeezed into the inner cavity of the diversion channel 5042 by the squeeze piston 5014, the extension component 5043 can be controlled by the hydraulic oil, and conversely, the extension component 5043 can be controlled by the hydraulic oil to contract.

[0030] In an optional embodiment, the telescopic assembly 5043 includes a cylindrical body 5045 that is connected through the diversion channel 5042. A telescopic rod 5046 is slidably inserted at one end of the cylindrical body 5045. A linkage piston 5047 is fixedly installed at one end of the telescopic rod 5046, and the other end is fixedly connected to the dye tank clamping member 5044. A return spring 5048 is sleeved on the outside of the telescopic rod 5046.

[0031] In this embodiment: when the hydraulic oil in the cylinder 5011 is squeezed into the inner cavity of the diversion channel 5042 by the squeezing piston 5014, the hydraulic oil can push the linkage piston 5047 to move outward, causing the telescopic component 5043 to extend. Conversely, when the hydraulic oil in the clamping gripper 504 is sucked out in the opposite direction, the linkage piston 5047 is reset under the action of the return spring 5048, which can control the telescopic component 5043 to retract and stop clamping the dye tank.

[0032] Furthermore: In an optional embodiment, the sealing cap opening and closing mechanism 507 includes a lifting platform 5071 fixedly mounted on the top end of the second electric telescopic rod 506. A rotating column 5072 is rotatably connected to the lifting platform 5071 via a bearing. A shaped linkage wheel 5073 and a can cap holder 5074 are respectively fixedly mounted at the upper and lower ends of the rotating column 5072. A collector ring 5075 is connected to the top end of the rotating column 5072 through the shaped linkage wheel 5073. The collector ring 5075 is used to provide rotational power to the can cap holder 5074. The can lid holder 5074 includes a kit, with a third electric telescopic rod 5076 fixedly mounted on the outside of the kit, and a can lid holding plate 5077 fixedly mounted on one end of the third electric telescopic rod 5076.

[0033] In this embodiment: by setting an inclined chamfer on the edge of the irregular linkage wheel 5073, the contact area between the irregular linkage wheel 5073 and the linkage ramp 702 can be increased, thereby increasing the frictional driving force. When the adaptive robot arm 5 moves to the opening and closing linkage mechanism 7, the opening and closing linkage mechanism 7 and the irregular linkage wheel 5073 are linked and cooperated, using friction to drive the irregular linkage wheel 5073 to rotate. When the irregular linkage wheel 5073 rotates, it drives the can cap holder 5074 to rotate synchronously through the rotating column 5072 to loosen the can cap, and the adaptive robot arm 5 reaches the dye chemical. When the device is above the device 2, the sealing cap opening and closing mechanism 507 is raised by the second electric telescopic rod 506, so that the can lid is separated from the dye can. Then, the intelligent electronic control system controls the flipping motor 503 to rotate at a certain angle to perform the pouring action. After the dye is poured, the adaptive robot arm 5 is controlled by the drive mechanism 4 to return along the preset trajectory. When the adaptive robot arm 5 moves to the opening and closing linkage mechanism 7, the opening and closing linkage mechanism 7 drives the irregular linkage wheel 5073 to rotate in the opposite direction, tightening the can lid. Finally, the dye can is put back to its original position or the designated position, completing one work cycle.

[0034] In an optional embodiment, the visual positioning system employs multiple sets of industrial cameras 8, which are installed on the adaptive robot arm 5 according to the shooting requirements. These cameras are used to identify and position the size and location of the dye cans conveyed on the rotating feeder 3, enabling the adaptive robot arm 5 to grasp the dye cans more accurately. The monitoring system includes a torque sensor 9 disposed between the rotating column 5072 and the lid holder 5074, and a pressure sensor integrated on the dye can holder 5044. The torque sensor 9 is used to provide real-time feedback on the torque during opening and closing of the lid, and the pressure sensor is used to monitor the contact force between the adaptive robot 5 and the dye can during the gripping process.

[0035] In this embodiment: the visual positioning system can identify and locate the size and position of the dye can, so that the adaptive robot 5 can more accurately grasp the dye can being transported on the rotating feeder 3. The pressure sensor on the monitoring system can monitor the contact force between the adaptive robot 5 and the dye can in real time during the grasping process and feed the signal back to the intelligent electronic control system. The intelligent electronic control system dynamically adjusts the clamping force of the adaptive robot through the algorithm, which can ensure that it can firmly grasp dye cans of different diameters without deforming or damaging the dye cans due to excessive clamping force.

[0036] The present invention also provides a method for using a robotic arm for dye production, comprising the following steps: S1. The visual positioning system identifies the model and location of the dye tank at the workstation to be grasped and sends the information to the intelligent electronic control system. S2. After the intelligent electronic control system controls the adaptive robot arm 5 to move above the dye tank, it controls the gripper 504 to descend through the first electric telescopic rod 502 and simultaneously controls the gripper 504 to perform a gripping action. S3. After the grabbing is completed, control the first electric telescopic rod 502 to retract, raise the dye tank to the conveying height, and control the can lid holder 5074 to hold the can lid. Then, control the adaptive robot arm 5 to move along the preset trajectory to the dyeing device 2 through the drive mechanism 4. S4. When the adaptive manipulator 5 moves to the opening and closing linkage mechanism 7, the opening and closing linkage mechanism 7 is linked with the irregular linkage wheel 5073. The irregular linkage wheel 5073 is driven to rotate by friction. When the irregular linkage wheel 5073 rotates, it drives the can lid holder 5074 to rotate synchronously through the rotating column 5072 to loosen the can lid. S5. When the adaptive robotic arm 5 reaches above the dyeing and chemical processing device 2, it controls the sealing cover opening and closing mechanism 507 to rise through the second electric telescopic rod 506, so that the can cover is separated from the dye can. Then, the intelligent electronic control system controls the flipping motor 503 to rotate a certain angle to perform the tilting action. S6. After the dye is poured out, the adaptive robot arm 5 is controlled by the drive mechanism 4 to return along the preset trajectory. When the adaptive robot arm 5 moves to the opening and closing linkage mechanism 7, the opening and closing linkage mechanism 7 drives the irregular linkage wheel 5073 to rotate in the opposite direction, tightening the can lid, and finally putting the dye can back to its original place or the designated position, completing one work cycle.

[0037] In practice: The visual positioning system identifies the model and location of the dye can at the workstation to be grasped, and sends the information to the intelligent electronic control system. The intelligent electronic control system controls the adaptive robot arm 5 to move above the dye can, and then controls the gripper 504 to descend via the first electric telescopic rod 502, and simultaneously controls the gripper 504 to perform the grasping action. After the grasping is completed, the first electric telescopic rod 502 is controlled to retract, raising the dye can to the conveying height, and the can lid gripper 5074 is controlled to grip the can lid. Then, the adaptive robot arm 5 is controlled to move along the preset trajectory to the dyeing device 2 via the drive mechanism 4. When the adaptive robot arm 5 moves toward the dyeing and chemical processing device 2, the opening and closing linkage mechanism 7 and the irregular linkage wheel 5073 work together to drive the irregular linkage wheel 5073 to rotate using friction. When the irregular linkage wheel 5073 rotates, it drives the lid holder 5074 to rotate synchronously through the rotating column 5072 to loosen the lid. When the adaptive robot arm 5 reaches above the dyeing and chemical processing device 2, it controls the sealing lid opening and closing mechanism 507 to rise through the second electric telescopic rod 506, so that the lid is separated from the dye can. Then, the intelligent electronic control system controls the flipping motor 503 to rotate at a certain angle to perform the tilting action. After the dye is tilted, the drive mechanism 4 controls the adaptive robot arm 5 to return along the preset trajectory. When the adaptive robot arm 5 moves to the opening and closing linkage mechanism 7, the opening and closing linkage mechanism 7 drives the irregular linkage wheel 5073 to rotate in the opposite direction to tighten the lid. Finally, the dye can is put back to its original position or the designated position to complete one work cycle. The intelligent electronic control system communicates with the adaptive robotic arm 5, the vision positioning system, and the monitoring system. It can not only receive feedback signals from the pressure sensor in the monitoring system and run force control algorithms to achieve closed-loop control of the gripping force, ultimately realizing adaptive gripping control, but also precisely control the lifting and lowering of the adaptive robotic arm 5 and the sealing cap opening and closing mechanism 507. This facilitates precise control of the engagement and disengagement between the irregularly shaped linkage wheel 5073 on the sealing cap opening and closing mechanism 507 and the linkage ramp 702 on the opening and closing linkage mechanism 7, enabling more accurate automatic opening and closing of the cap. Furthermore, by monitoring the torque feedback during the opening process through the torque sensor 9 on the monitoring system, it can precisely control the tightening force of the can cap. When the tightening force is too great, the intelligent electronic control system controls the adaptive robotic arm 5 and the sealing cap opening and closing mechanism 507 to adjust their height. It can automatically disconnect the connection between the irregularly shaped linkage wheel 5073 and the linkage ramp 702 when tightening is complete or a jamming fault occurs, preventing damage to the equipment due to an overly tight or jammed can cap.

[0038] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for dye production, comprising a body (1), a dye preparation device (2), and a rotary feeding table (3) mounted on the body (1), characterized in that: The top of the machine body (1) is connected to a drive mechanism (4) via a bracket. The drive mechanism (4) is equipped with an adaptive manipulator (5). The adaptive manipulator (5) is equipped with a vision positioning system, a monitoring system and an intelligent electronic control system. The vision positioning system is used to identify and position the size and position of the dye tank conveyed on the rotating feeding table (3). The monitoring system is used to monitor the contact force between the adaptive manipulator (5) and the dye tank in real time during the gripping process and feed the signal back to the intelligent electronic control system. The intelligent electronic control system can dynamically adjust the clamping force of the adaptive manipulator (5) on the dye tank through an algorithm. The adaptive manipulator (5) includes a pressurizing mechanism (501). A first electric telescopic rod (502) is fixedly provided on the outside of the pressurizing mechanism (501). A flipping motor (503) is fixedly connected to the bottom end of the first electric telescopic rod (502) through a connecting plate. A clamping gripper (504) is fixedly connected to the end of the output shaft of the flipping motor (503). An oil supply pipe (505) is connected through the clamping gripper (504) and the pressurizing mechanism (501). A second electric telescopic rod (506) is fixedly provided on the clamping gripper (504). A sealing cover opening and closing mechanism (507) is fixedly provided at the top end of the second electric telescopic rod (506). An opening and closing linkage mechanism (7) is provided on the body (1). The opening and closing linkage mechanism (7) is used to drive the sealing cover opening and closing mechanism (507) to open or tighten the lid of the dye tank during the process of the adaptive manipulator (5) moving and feeding. The opening and closing linkage mechanism (7) includes a linkage plate (701) fixed on the body (1) by a bracket. A linkage ramp (702) is provided on one side of the linkage plate (701), and anti-slip texture (703) is provided on the surface of the linkage ramp (702).

2. The robotic arm for dye production according to claim 1, characterized in that: A guide assembly (6) is provided between the adaptive manipulator (5) and the drive mechanism (4). The guide assembly (6) consists of a guide slide provided on the outside of the drive mechanism (4) and a guide slider provided on the rear side of the pressurization mechanism (501).

3. The robotic arm for dye production according to claim 2, characterized in that: The drive mechanism (4) includes a frame (401) and a first sprocket (403) and a second sprocket (404) rotatably mounted inside the frame (401) via bearings. A drive chain (405) is connected between the first sprocket (403) and the second sprocket (404). A servo motor (402) is fixedly mounted on the top of one end of the frame (401), and the end of the output shaft of the servo motor (402) is fixedly connected to the first sprocket (403).

4. The robotic arm for dye production according to claim 3, characterized in that: The pressurization mechanism (501) includes a hydraulic cylinder (5011) fixedly connected to the drive chain (405). The top of the hydraulic cylinder (5011) is provided with an electric push rod (5012) and an exhaust port (5013). The bottom of the electric push rod (5012) is fixedly provided with a compression piston (5014), which is used to squeeze the hydraulic oil in the hydraulic cylinder (5011) into the clamping gripper (504) to control the extension of the clamping gripper (504) or to draw out the hydraulic oil in the clamping gripper (504) in the opposite direction to control the contraction of the clamping gripper (504).

5. The robotic arm for dye production according to claim 4, characterized in that: The clamping gripper (504) includes a U-shaped gripper body (5041) and a diversion channel (5042) opened inside the U-shaped gripper body (5041). The diversion channel (5042) is connected to the pressurization mechanism (501) through an oil supply pipe (505). The U-shaped gripper body (5041) is symmetrically provided with telescopic components (5043) on its inner side. One end of the telescopic component (5043) is fixedly provided with a dye tank clamping component (5044).

6. A robotic arm for dye production according to claim 5, characterized in that: The telescopic assembly (5043) includes a cylindrical body (5045) that is connected through the diversion channel (5042). A telescopic rod (5046) is slidably inserted at one end of the cylindrical body (5045). A linkage piston (5047) is fixedly installed at one end of the telescopic rod (5046), and the other end is fixedly connected to the dye tank clamping member (5044). A return spring (5048) is sleeved on the outside of the telescopic rod (5046).

7. A robotic arm for dye production according to claim 6, characterized in that: The sealing cap opening and closing mechanism (507) includes a lifting platform (5071) fixedly installed at the top of the second electric telescopic rod (506). A rotating column (5072) is rotatably connected to the lifting platform (5071) via bearings. A shaped linkage wheel (5073) and a can cap holder (5074) are fixedly installed at the upper and lower ends of the rotating column (5072). A collector ring (5075) is connected to the top of the rotating column (5072) through the shaped linkage wheel (5073). The collector ring (5075) is used to provide rotational power to the can cap holder (5074). The can lid holder (5074) includes a kit, on the outside of which a third electric telescopic rod (5076) is fixedly provided, and a can lid holding plate (5077) is fixedly provided at one end of the third electric telescopic rod (5076).

8. A robotic arm for dye production according to claim 7, characterized in that: The visual positioning system uses multiple sets of industrial cameras (8). The multiple sets of industrial cameras (8) are installed on the adaptive robot (5) according to the shooting requirements. They are used to identify and position the size and position of the dye cans conveyed on the rotating feeder (3), so that the adaptive robot (5) can grasp the dye cans more accurately. The monitoring system includes a torque sensor (9) set between the rotating column (5072) and the lid holder (5074) and a pressure sensor integrated on the dye can holder (5044). The torque sensor (9) is used to provide real-time feedback on the torque when opening and closing the lid, and the pressure sensor is used to monitor the contact force between the adaptive manipulator (5) and the dye can during the gripping process.

9. A method of using a robotic arm for dye production, applied to the robotic arm for dye production as described in claim 8, characterized in that: Includes the following steps: S1. The visual positioning system identifies the model and location of the dye tank at the workstation to be grasped and sends the information to the intelligent electronic control system. S2. After the intelligent electronic control system controls the adaptive robot (5) to move above the dye tank, it controls the gripper (504) to descend through the first electric telescopic rod (502) and simultaneously controls the gripper (504) to perform the gripping action. S3. After the grabbing is completed, control the first electric telescopic rod (502) to retract, raise the dye tank to the conveying height, and control the can lid holder (5074) to hold the can lid. Then, control the adaptive robot (5) to move along the preset trajectory to the dyeing device (2) through the drive mechanism (4). S4. When the adaptive manipulator (5) moves to the opening and closing linkage mechanism (7), the opening and closing linkage mechanism (7) and the irregular linkage wheel (5073) work together to drive the irregular linkage wheel (5073) to rotate using friction. When the irregular linkage wheel (5073) rotates, it drives the can lid holder (5074) to rotate synchronously through the rotating column (5072) to loosen the can lid. S5. When the adaptive robotic arm (5) reaches above the dyeing device (2), it controls the sealing cover opening and closing mechanism (507) to rise through the second electric telescopic rod (506), so that the can cover is separated from the dye can. Then, the intelligent electronic control system controls the flipping motor (503) to rotate a certain angle and perform the tilting action. S6. After the dye is poured out, the adaptive robot (5) is controlled by the drive mechanism (4) to return along the preset trajectory. When the adaptive robot (5) moves to the opening and closing linkage mechanism (7), the opening and closing linkage mechanism (7) drives the irregular linkage wheel (5073) to rotate in the opposite direction, tightening the can lid, and finally putting the dye can back to its original place or the designated position to complete one work cycle.

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