A mechanical hand for dye production and method of use thereof

Abstract

The present application belongs to the technical field of dye tank grabbing and carrying, and particularly relates to a mechanical hand for dye production and a use method thereof, and particularly relates to a mechanical hand for dye production, which comprises a machine body, a dyeing material device and a rotary feeding table arranged on the machine body, a driving mechanism is connected to the top of the machine body through a support, when the adaptive mechanical hand grabs a dye tank and moves along a preset path to the dyeing material device under the driving of the driving mechanism, the sealing cover opening and closing mechanism can be driven to rotate through the opening and closing linkage mechanism, the sealing cover opening and closing mechanism can automatically unscrew the tank cover, conversely, after reaching the discharging station to complete the discharging, when the adaptive mechanical hand returns along the original path through the driving of the driving mechanism, the sealing cover opening and closing mechanism can be driven to rotate reversely through the opening and closing linkage mechanism, the tank cover can be screwed tightly again, the whole process automation from identification, grabbing, conveying to cover opening and closing can be realized, the structure is ingenious, and the production efficiency can be greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of dye tank grabbing and carrying, and particularly relates to a mechanical hand for dye production and a use method thereof. BACKGROUND

[0002] In the textile printing and dyeing industry, the carrying, uncapping and dosing of dye tanks are key links in the production process. The traditional operation mainly relies on manual completion, and there are problems such as low efficiency, high labor intensity and poor consistency. Moreover, dyes are often corrosive or toxic, and long-term contact poses a potential risk to the health of operators. In recent years, with the development of intelligent manufacturing, some enterprises have begun to introduce mechanical hands for automated carrying. However, the existing mechanical hands cannot achieve full-process closed-loop control from recognition, grabbing, conveying, uncapping to capping. Moreover, in the uncapping process, there is a lack of precise control over the tightening force, which may easily damage the tank cap or equipment due to excessive torque or result in poor sealing due to insufficient torque.

[0003] To solve the above problems, the application provides a mechanical hand for dye production and a use method thereof. SUMMARY

[0004] The application provides a mechanical hand for dye production and a use method thereof, which can effectively solve the problems raised in the background.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme: a mechanical hand for dye production, comprising a machine body, a dyeing and dosing device and a rotary feeding table arranged on the machine body. The top of the machine body is connected with a driving mechanism through a support. An adaptive mechanical hand is arranged on the driving mechanism. A visual positioning system, a monitoring system and an intelligent electric control system are arranged on the adaptive mechanical hand. The visual positioning system is used to identify and locate the size and position of the dye tank conveyed on the rotary feeding table. The monitoring system is used to monitor the contact force between the adaptive mechanical hand and the dye tank in real time during the grabbing process and feed the signal to the intelligent electric control system. The intelligent electric control system can dynamically adjust the clamping force of the adaptive mechanical hand on the dye tank through an algorithm.

[0006] The adaptive mechanical hand comprises a pressure charging mechanism. A first electric telescopic rod is fixedly arranged outside the pressure charging mechanism. A turnover motor is fixedly connected to the bottom end of the first electric telescopic rod through a connecting plate. A clamping grab is fixedly connected to the output shaft end of the turnover motor. An oil conveying pipe is connected through the clamping grab and the pressure charging mechanism. A second electric telescopic rod is fixedly arranged on the clamping grab. A sealing cap opening and closing mechanism is fixedly arranged at the top end of the second electric telescopic rod. An opening and closing linkage mechanism is arranged on the machine body. The opening and closing linkage mechanism is used to drive the sealing cap opening and closing mechanism to open or tighten the tank cap at the top end of the dye tank during the movement and feeding of the adaptive mechanical hand.

[0007] The opening and closing linkage mechanism comprises a linkage plate fixed on the machine body through a support, one side of the linkage plate is provided with a linkage slope, and the surface of the linkage slope is provided with anti-skid lines.

[0008] Preferably, a guide assembly is arranged between the adaptive manipulator and the driving mechanism, the guide assembly is composed of a guide slide arranged outside the driving mechanism and a guide block arranged at the rear side of the pressure charging mechanism.

[0009] Preferably, the driving mechanism comprises a rack and a first sprocket and a second sprocket rotatably arranged in the rack through bearings, a driving chain is connected between the first sprocket and the second sprocket, a servo motor is fixedly arranged at the top of one end of the rack, and the output shaft end of the servo motor is fixedly connected with the first sprocket.

[0010] Preferably, the pressure charging mechanism comprises an oil cylinder fixedly connected with the driving chain, the top end of the oil cylinder is provided with an electric push rod and an exhaust port, the bottom end of the electric push rod is fixedly provided with an extrusion piston, which is used for extruding the hydraulic oil in the oil cylinder to the clamping grab to control the extension of the clamping grab or reversely sucking out the hydraulic oil in the clamping grab to control the contraction of the clamping grab.

[0011] Preferably, the clamping grab comprises a U-shaped grab body and a shunt passage arranged in the U-shaped grab body, the shunt passage is connected with the pressure charging mechanism through an oil delivery pipe, and the inner side of the U-shaped grab body is symmetrically provided with a telescopic assembly, one end of the telescopic assembly is fixedly provided with a dye tank clamping piece.

[0012] Preferably, the telescopic assembly comprises a cylinder body connected with the shunt passage, a telescopic rod is slidably inserted into one end of the cylinder body, one end of the telescopic rod is fixedly provided with a linkage piston, the other end of the linkage piston is fixedly connected with the dye tank clamping piece, and a return spring is sleeved on the outer side of the telescopic rod.

[0013] Preferably, the sealing cover opening and closing mechanism comprises a lifting platform fixedly arranged at the top end of the second electric telescopic rod, a rotating column is rotatably connected to the lifting platform through a bearing, a special-shaped linkage wheel and a tank cover clamp are fixedly arranged at the upper end and the lower end of the rotating column respectively, and a current collector ring is connected to the top end of the rotating column through the special-shaped linkage wheel, the current collector ring is used for rotating power supply for the tank cover clamp.

[0014] The tank cover clamp comprises a sleeve, a third electric telescopic rod is fixedly arranged on the outer side of the sleeve, and a tank cover clamping plate is fixedly arranged at one end of the third electric telescopic rod.

[0015] Preferably, the visual positioning system adopts multiple industrial cameras, the multiple industrial cameras are installed on the adaptive manipulator according to shooting requirements, and are used for identifying and positioning the size and position of the dye tank conveyed on the rotary feeding table, so that the adaptive manipulator can more accurately grasp the dye tank.

[0016] The monitoring system comprises a torque sensor arranged between the rotating column and the tank cover gripper and a pressure sensor arranged on the dye tank gripper in an integrated manner, the torque sensor is used for feeding back the torque in real time when the cover is opened and closed, and the pressure sensor is used for monitoring the contact force between the adaptive manipulator and the dye tank in real time during the grabbing process.

[0017] The application also provides a use method of the manipulator for dye production, comprising the following steps:

[0018] S1, the visual positioning system identifies the model and position of the dye tank on the to-be-grabbed station, and sends the information to the intelligent electric control system;

[0019] S2, after the intelligent electric control system controls the adaptive manipulator to move above the dye tank, the first electric telescopic rod is controlled to control the clamping grab to descend, and the clamping grab is controlled to perform a grabbing action synchronously;

[0020] S3, after the grabbing is completed, the first electric telescopic rod is controlled to shrink, the dye tank is lifted to a conveying height, the tank cover gripper is controlled to clamp the tank cover, and then the adaptive manipulator is controlled to move along a preset track to the dyeing device by the driving mechanism;

[0021] S4, when the adaptive manipulator moves to the opening and closing linkage mechanism, the opening and closing linkage mechanism is linked with the special-shaped linkage wheel, the special-shaped linkage wheel is driven to rotate by friction, and when the special-shaped linkage wheel rotates, the tank cover gripper is driven to rotate synchronously by the rotating column to loosen the tank cover;

[0022] S5, when the adaptive manipulator reaches above the dyeing device, the sealing cover opening and closing mechanism is controlled to rise by the second electric telescopic rod, so that the tank cover is separated from the dye tank, then the intelligent electric control system is controlled to rotate the turnover motor by a certain angle to perform a pouring action;

[0023] S6, after the dye is poured, the adaptive manipulator is controlled to return along the preset track by the driving mechanism, when the adaptive manipulator moves to the opening and closing linkage mechanism, the opening and closing linkage mechanism drives the special-shaped linkage wheel to rotate reversely to tighten the tank cover, and finally the dye tank is returned to the original place or a specified position, and a working cycle is completed.

[0024] Compared with the prior art, the application has the following beneficial effects:

[0025] 1. The visual positioning system can identify and locate the size and position of the dye tank, so that the adaptive manipulator can more accurately grab the dye tank, the pressure sensor on the monitoring system can monitor the contact force between the adaptive manipulator and the dye tank in real time during the grabbing process, and the signal is fed back to the intelligent electric control system, the intelligent electric control system dynamically adjusts the clamping force of the adaptive manipulator through an algorithm, so that the dye tank of different diameters can be firmly grabbed, and the dye tank will not be deformed or damaged due to excessive clamping force.

[0026] 2、When the adaptive mechanical hand grabs the dye tank and moves along the preset path to the dyeing device under the drive of the driving mechanism, the opening and closing linkage mechanism can be driven to rotate the sealing cover opening and closing mechanism, and the rotation of the sealing cover opening and closing mechanism can automatically unscrew the tank cover. Conversely, after reaching the discharging station to complete the pouring, the adaptive mechanical hand is driven to return along the original path by the driving mechanism, and the opening and closing linkage mechanism can be driven to rotate the sealing cover opening and closing mechanism in the opposite direction, so that the tank cover can be tightened again, and the whole process automation from identification, grabbing, conveying to opening and closing can be realized. The structure is ingenious, and the production efficiency can be greatly improved.

[0027] 3、The intelligent electric control system is in communication connection with the adaptive mechanical hand, the visual positioning system and the monitoring system. Not only can the feedback signal of the pressure sensor in the monitoring system be received to realize closed-loop control of the grabbing force by running the force control algorithm, so as to finally realize adaptive grabbing control, but also the adaptive mechanical hand and the sealing cover opening and closing mechanism can be accurately controlled to rise and fall, so as to facilitate the accurate control of the meshing and separation between the special-shaped linkage wheel on the sealing cover opening and closing mechanism and the linkage slope on the opening and closing linkage mechanism, and the automatic opening and closing of the tank cover can be more accurately completed. Moreover, the torque feedback in the opening process can be monitored by the torque sensor on the monitoring system, so that the tightening force of the tank cover can be accurately controlled. When the tightening force is too large, the intelligent electric control system controls the adaptive mechanical hand and the sealing cover opening and closing mechanism to rise and fall, so that the connection between the special-shaped linkage wheel and the linkage slope can be automatically disconnected, and the equipment can be prevented from being damaged due to the tank cover being too tight or being stuck. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments thereof, and explain the present application, and do not constitute a limitation of the present application. In the drawings:

[0029] Figure 1 It is a whole structure schematic diagram of the mechanical hand for dye production of the present application;

[0030] Figure 2 It is a structure schematic diagram of the driving mechanism in the present application;

[0031] Figure 3 It is a linkage structure schematic diagram between the adaptive mechanical hand and the opening and closing linkage mechanism in the present application;

[0032] Figure 4 It is a structure schematic diagram of the adaptive mechanical hand in the present application;

[0033] Figure 5 It is a sectional structure schematic diagram of the pressure charging mechanism in the present application;

[0034] Figure 6 It is a whole structure schematic diagram of the mechanical hand for dye production of the present application; Figure 5An enlarged structural schematic view of A in FIG. 1;

[0035] Figure 7 An enlarged structural schematic view of B in FIG. 1;

[0036] Figure 8 An enlarged structural schematic view of C in FIG. 1. Figure 7

[0037] An enlarged structural schematic view of D in FIG. 1.

[0038] 1, machine body;

[0039] 2, dyeing device;

[0040] 3, rotating feeding table;

[0041] 4, driving mechanism; 401, rack; 402, servo motor; 403, first sprocket; 404, second sprocket; 405, driving chain;

[0042] 5, adaptive manipulator; 501, pressure charging mechanism; 5011, oil cylinder; 5012, electric push rod; 5013, exhaust port; 5014, extrusion piston; 502, first electric telescopic rod; 503, overturning motor; 504, clamping grab; 5041, U-shaped grab body; 5042, shunt passage; 5043, telescopic assembly; 5044, dye tank clamping piece; 5045, cylinder body; 5046, telescopic rod; 5047, linkage piston; 5048, return spring; 505, oil delivery pipe; 506, second electric telescopic rod; 507, sealing cover opening and closing mechanism; 5071, lifting platform; 5072, rotating column; 5073, special-shaped linkage wheel; 5074, tank cover clamp; 5075, collector ring; 5076, third electric telescopic rod; 5077, tank cover clamping plate;

[0043] 6, guide assembly;

[0044] 7, opening and closing linkage mechanism; 701, linkage plate; 702, linkage slope; 703, anti-slip pattern;

[0045] 8, industrial camera;

[0046] 9, torque sensor. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0048] ​The embodiment, such as Figures 1-8 As shown in the figure, a mechanical arm for dye production includes a machine body 1, a dyeing device 2, and a rotating feeding table 3 arranged on the machine body 1. The top of the machine body 1 is connected with a driving mechanism 4 through a support. An adaptive mechanical arm 5 is arranged on the driving mechanism 4. A visual positioning system, a monitoring system, and an intelligent electric control system are arranged on the adaptive mechanical arm 5. The visual positioning system is used to identify and locate 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 mechanical arm 5 and the dye tank in real time during the grabbing process, and feed the signal to the intelligent electric control system. The intelligent electric control system can dynamically adjust the clamping force of the adaptive mechanical arm 5 on the dye tank through an algorithm.

[0049] The adaptive mechanical arm 5 includes a pressure charging mechanism 501. A first electric telescopic rod 502 is fixedly arranged outside the pressure charging mechanism 501. A turnover motor 503 is fixedly connected to the bottom end of the first electric telescopic rod 502 through a connecting plate. A clamping grab 504 is fixedly connected to the output shaft end of the turnover motor 503. An oil conveying pipe 505 is connected through the clamping grab 504 and the pressure charging mechanism 501. A second electric telescopic rod 506 is fixedly arranged on the clamping grab 504. A sealing cover opening and closing mechanism 507 is fixedly arranged at the top end of the second electric telescopic rod 506. An opening and closing linkage mechanism 7 is arranged on the machine 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 tank cover at the top end of the dye tank during the movement of the adaptive mechanical arm 5 for feeding.

[0050] The opening and closing linkage mechanism 7 includes a linkage plate 701 fixed on the machine body 1 through a support. A linkage slope 702 is arranged on one side of the linkage plate 701. Anti-slip lines 703 are arranged on the surface of the linkage slope 702.

[0051] In the embodiment: when the adaptive mechanical arm 5 grabs the dye tank and moves along the preset path to the dyeing device 2 under the driving of the driving mechanism 4, the sealing cover opening and closing mechanism 507 can be driven to rotate through the opening and closing linkage mechanism 7. The sealing cover opening and closing mechanism 507 can automatically unscrew the tank cover. Conversely, after reaching the discharging station to complete the pouring, when the adaptive mechanical arm 5 returns along the original path through the driving of the driving mechanism 4, the sealing cover opening and closing mechanism 507 can be driven to rotate in the opposite direction through the opening and closing linkage mechanism 7. The tank cover can be tightened again. The whole process automation from identification, grabbing, conveying to opening and closing cover can be realized. The structure is ingenious, and the production efficiency can be greatly improved.

[0052] The intelligent electric control system is in communication connection with the adaptive manipulator 5, the visual positioning system and the monitoring system. Not only can the intelligent electric control system realize adaptive grabbing control by receiving feedback signals of the pressure sensor in the monitoring system and running force control algorithm to realize closed-loop control of grabbing force, but also can the intelligent electric control system accurately control the lifting of the adaptive manipulator 5 and the sealing cover opening and closing mechanism 507, facilitate the meshing and separation between the special-shaped linkage wheel 5073 on the sealing cover opening and closing mechanism 507 and the linkage slope 702 on the opening and closing linkage mechanism 7, and more accurately complete automatic cover opening and closing. In addition, the intelligent electric control system can accurately control the tightening force on the tank cover by monitoring the torque feedback in the opening process through the torque sensor 9 on the monitoring system. When the tightening force is too large, the intelligent electric control system controls the adaptive manipulator 5 and the sealing cover opening and closing mechanism 507 to adjust the lifting, so as to automatically disconnect the connection between the special-shaped linkage wheel 5073 and the linkage slope 702 when the tightening is completed or a jamming fault occurs, thereby preventing the equipment from being damaged due to the tank cover being too tight or stuck. By arranging the linkage slope 702 and the anti-skid pattern 703, the contact area between the special-shaped linkage wheel 5073 and the linkage slope 702 can be increased, and the friction driving force can be improved. In actual use, the special-shaped linkage wheel 5073 is controlled to rise to separate the special-shaped linkage wheel 5073 from the linkage slope 702 to disconnect, and vice versa.

[0053] Further, the application provides the following:

[0054] In an optional embodiment, a guide assembly 6 is arranged between the adaptive manipulator 5 and the driving mechanism 4. The guide assembly 6 is composed of a guide slide arranged on the outer side of the driving mechanism 4 and a guide block arranged on the rear side of the pressure charging mechanism 501.

[0055] In this embodiment, the guide assembly 6 can guide and limit the adaptive manipulator 5, so that the adaptive manipulator 5 can stably move under the driving of the driving mechanism 4, and the stability during conveying can be improved.

[0056] In an optional embodiment, the driving mechanism 4 includes a rack 401, a first sprocket 403 and a second sprocket 404 rotatably arranged in the rack 401, a driving chain 405 connected between the first sprocket 403 and the second sprocket 404, and a servo motor 402 fixedly arranged at the top of one end of the rack 401. The output shaft end of the servo motor 402 is fixedly connected with the first sprocket 403.

[0057] In this embodiment, the servo motor 402 can drive the driving chain 405 to rotate through the first sprocket 403. When the driving chain 405 rotates, the adaptive manipulator 5 can be driven to move left and right.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] Furthermore:

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The present invention also provides a method for using a robotic arm for dye production, comprising the following steps:

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] In practice:

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 mechanical hand for dye production, comprising a machine body (1), a dyeing device (2) and a rotating feeding table (3) arranged on the machine body (1), characterized in that: The body (1) top is connected with driving mechanism (4) through support, driving mechanism (4) is equipped with self-adapting manipulator (5), self-adapting manipulator (5) is equipped with visual positioning system, monitoring system and intelligent electric control system, visual positioning system is used for identifying and positioning the size and position of the dye tank conveyed on rotating feeding table (3), monitoring system is used for real-time monitoring the contact force between self-adapting manipulator (5) and dye tank in the process of grabbing, and the signal is fed back to intelligent electric control system, and intelligent electric control system can dynamically adjust the clamping force of self-adapting manipulator (5) to dye tank through algorithm; The self-adapting manipulator (5) includes a pressure charging mechanism (501), a first electric telescopic rod (502) is fixedly arranged outside the pressure charging mechanism (501), a turnover motor (503) is fixedly connected to the bottom end of the first electric telescopic rod (502) through a connecting plate, a clamping grab (504) is fixedly connected to the output shaft end of the turnover motor (503), an oil delivery pipe (505) is connected through the clamping grab (504) and the pressure charging mechanism (501), a second electric telescopic rod (506) is fixedly arranged on the clamping grab (504), a sealing cover opening and closing mechanism (507) is fixedly arranged at the top end of the second electric telescopic rod (506), the sealing cover opening and closing mechanism (507) includes a lifting platform (5071) fixedly arranged at the top end of the second electric telescopic rod (506), a rotating column (5072) is rotatably connected to the lifting platform (5071) through a bearing, a special-shaped linkage wheel (5073) and a tank cover gripper (5074) are fixedly arranged at the upper and lower ends of the rotating column (5072), respectively, a current collector ring (5075) is connected to the special-shaped linkage wheel (5073) penetrating the rotating column (5072) at the top end, and the current collector ring (5075) is used for rotating power supply to the tank cover gripper (5074), an opening and closing linkage mechanism (7) is arranged on the body (1), and the opening and closing linkage mechanism (7) is used for driving the sealing cover opening and closing mechanism (507) to open or tighten the tank cover at the top end of the dye tank during the movement of the self-adapting manipulator (5) for feeding; The opening and closing linkage mechanism (7) includes a linkage plate (701) fixed on the body (1) through a support, and a linkage slope (702) is arranged on one side of the linkage plate (701), and an anti-skid pattern (703) is arranged on the surface of the linkage slope (702); The monitoring system includes a torque sensor (9) arranged between the rotating column (5072) and the tank cover gripper (5074) and a pressure sensor integrally arranged on the dye tank clamping piece (5044), the torque sensor (9) is used for real-time feedback of the torque when opening and closing the cover, and the pressure sensor is used for real-time monitoring of the contact force between the self-adapting manipulator (5) and the dye tank during the grabbing process.

2. The mechanical hand for dye production according to claim 1, characterized in that: A guide assembly (6) is arranged between the self-adapting manipulator (5) and the driving mechanism (4), and the guide assembly (6) is composed of a guide slide arranged outside the driving mechanism (4) and a guide slide block arranged at the back side of the pressure charging mechanism (501).

3. A mechanical hand for dye production according to claim 2, characterized in that: The driving mechanism (4) comprises a rack (401), a first sprocket (403) and a second sprocket (404) rotatably arranged in the rack (401), a driving chain (405) connected between the first sprocket (403) and the second sprocket (404), and a servo motor (402) fixedly arranged at the top of one end of the rack (401) and fixedly connected with the first sprocket (403) at the output shaft end.

4. The mechanical hand for dye production according to claim 3, characterized in that: The pressure charging mechanism (501) comprises an oil cylinder (5011) fixedly connected with the driving chain (405), an electric push rod (5012) and an exhaust port (5013) arranged at the top end of the oil cylinder (5011), and an extrusion piston (5014) fixedly arranged at the bottom end of the electric push rod (5012), which is used for extruding the hydraulic oil in the oil cylinder (5011) into the clamping grab (504) to control the extension of the clamping grab (504) or reversely sucking out the hydraulic oil in the clamping grab (504) to control the contraction of the clamping grab (504).

5. A mechanical hand for dye production according to claim 4, characterized in that: The clamping grab (504) comprises a U-shaped grab body (5041) and a shunt passage (5042) arranged in the U-shaped grab body (5041), and the shunt passage (5042) is connected with the pressure charging mechanism (501) through an oil delivery pipe (505); the inner side of the U-shaped grab body (5041) is symmetrically provided with a telescopic assembly (5043), and one end of the telescopic assembly (5043) is fixedly provided with a dye tank clamping piece (5044).

6. A mechanical hand for dye production according to claim 5, characterized in that: The telescopic assembly (5043) comprises a cylinder (5045) connected with the shunt passage (5042), a telescopic rod (5046) slidably inserted into one end of the cylinder (5045), a linkage piston (5047) fixedly arranged at one end of the telescopic rod (5046) and fixedly connected with the dye tank clamping piece (5044) at the other end of the telescopic rod (5046), and a return spring (5048) sleeved on the outer side of the telescopic rod (5046).

7. The mechanical hand for dye production according to claim 6, characterized in that: The tank cover gripper (5074) comprises a sleeve, and a third electric telescopic rod (5076) is fixedly arranged on the outer side of the sleeve, and a tank cover clamping plate (5077) is fixedly arranged at one end of the third electric telescopic rod (5076).

8. A mechanical hand for dye production according to claim 7, characterized in that: The visual positioning system adopts a plurality of industrial cameras (8), which are installed on the adaptive mechanical hand (5) according to shooting requirements, and are used to identify and locate the size and position of the dye tank conveyed on the rotary feeding table (3), so that the adaptive mechanical hand (5) can more accurately grab the dye tank.

9. A method of using a dye production robot for use in a dye production robot as claimed in claim 8, characterized in that: The method comprises the following steps: S1, the visual positioning system identifies the model and position of the dye tank on the waiting grabbing station, and sends the information to the intelligent electric control system; S2, after the intelligent electric control system controls the adaptive mechanical hand (5) to move above the dye tank, the first electric telescopic rod (502) controls the clamping grab (504) to descend, and simultaneously controls the clamping grab (504) to perform a grabbing action. S3, after the completion of the capture, control the first electric telescopic rod (502) retraction, lifting the dye tank to the conveying height, and control the tank cover clamping device (5074) clamping the tank cover, and then through the drive mechanism (4) control adaptive robot (5) along the preset trajectory to the dyeing device (2) moves; S4, when the adaptive robot (5) moves to the opening and closing linkage mechanism (7), the opening and closing linkage mechanism (7) and the special linkage wheel (5073) linkage cooperation, using the friction drive special linkage wheel (5073) rotation, special linkage wheel (5073) rotation through the rotating column (5072) drive tank cover clamping device (5074) synchronous rotation will tank cover unscrew; S5, when the adaptive robot (5) reaches the top of the dyeing device (2), through the second electric telescopic rod (506) control sealing cover opening and closing mechanism (507) rising, so that the tank cover and the dye tank separate, and then through the intelligent electric control system control the turnover motor (503) rotation a certain angle, execute dumping action; S6, after the completion of the dye pouring, through the drive mechanism (4) control adaptive robot (5) along the preset trajectory back, when the adaptive robot (5) moves to the opening and closing linkage mechanism (7), the opening and closing linkage mechanism (7) drive special linkage wheel (5073) reverse rotation, tighten the tank cover, finally put the dye tank back to the original place or designated location, complete a working cycle.

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