Positioning and moving device

Abstract

The utility model provides a positioning and moving device, which comprises a visual identification mechanism used for acquiring real-time images of trolley tiles of a protofilament trolley and comparing the real-time images with standard images of the trolley tiles stored in the visual identification mechanism; the visual identification mechanism is installed on the tile mechanism and located below the tile mechanism, and the tile mechanism is used for bearing yarn balls; and the drum unloading robot is in driving connection with the tile mechanism to drive the tile mechanism and the visual identification mechanism to move so as to take, place and move the yarn roll, so that the problem that the surface of the yarn roll is easily scratched in the yarn taking and placing process due to deformation caused by long-time use of the tile of the protofilament trolley in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of glass fiber production, in particular to a positioning mobile device. Background Art

[0002] Glass fiber yarn is a yarn made by winding multiple glass fiber bundles drawn from molten glass on a winding drum. In the glass fiber production industry, in order to facilitate processing and packaging, glass fiber yarn needs to be operated between different processes.

[0003] At present, automatic unloading robots are commonly used in the wire drawing area to take and place yarn balls. However, the tiles of the raw yarn trolley are deformed due to long-term use, which makes it easy to scratch the surface of the yarn ball during the process of taking and placing the yarn, thus affecting the quality of the yarn ball. Utility Model Content

[0004] The main purpose of the utility model is to provide a positioning and moving device to solve the problem in the prior art that the tiles of the raw yarn trolley are deformed after long-term use and the surface of the yarn ball is easily scratched during the process of taking and placing the yarn.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a positioning and moving device, including: a visual recognition mechanism, the visual recognition mechanism is used to collect the real-time image of the trolley tile of the raw silk trolley and compare the real-time image with the standard image of the trolley tile stored in the visual recognition mechanism; a tile mechanism, the visual recognition mechanism is installed on the tile mechanism and is located below the tile mechanism, and the tile mechanism is used to carry the yarn ball; the unloading robot is connected to the tile mechanism to drive the tile mechanism and the visual recognition mechanism to move so as to take, place and move the yarn ball.

[0006] Furthermore, the positioning and moving device also includes a weighing mechanism, the drum unloading robot is fixedly connected to the weighing mechanism, the weighing mechanism is fixedly connected to the tile mechanism, and the weighing mechanism is used to weigh the yarn ball located on the tile mechanism.

[0007] Furthermore, the positioning mobile device also includes a control component, which is electrically connected to the visual recognition mechanism, tile mechanism, tube unloading robot and weighing mechanism to control the working state of the tube unloading robot according to the comparison result between the real-time image and the standard image, and record the weight of each yarn ball weighed by the weighing mechanism.

[0008] Furthermore, the visual recognition mechanism includes a visual positioning component, a light source and a power cord. The visual positioning component and the light source are arranged at intervals and are both arranged toward the side of the tile mechanism away from the drum unloading robot. The power cord is used to connect to an external power supply device, and the power cord is electrically connected to the visual positioning component and the light source to supply power to the visual positioning component and the light source.

[0009] Furthermore, the visual recognition mechanism includes: a first mounting plate, on which the light source is mounted, and the first mounting plate is fixedly connected to the tile mechanism; and a second mounting plate, on which the visual positioning component is mounted, and the second mounting plate is fixedly connected to the first mounting plate.

[0010] Furthermore, the tile mechanism comprises a yarn taking tile and a tile connecting plate, the yarn taking tile is mounted on the tile connecting plate, and the drum unloading robot is drivingly connected to the tile connecting plate.

[0011] Furthermore, the surface of one side of the yarn tile for carrying the yarn ball is a curved surface arranged corresponding to the inner surface of the yarn ball.

[0012] Furthermore, the yarn taking tile comprises a tile body and a flexible pad arranged on the tile body, and the flexible pad is used to contact with the inner surface of the yarn ball.

[0013] Furthermore, the weighing mechanism includes a weighing sensor and a weighing mounting plate, the tile mechanism is mounted on the weighing sensor, and the weighing sensor is mounted on the weighing mounting plate.

[0014] Furthermore, the weighing mechanism includes a connecting rod, one end of which is fixedly connected to the weighing mounting plate, and the other end of the connecting rod is used to be fixedly connected to the barrel unloading robot.

[0015] Applying the technical solution of the utility model, the positioning and moving device of the utility model comprises: a visual recognition mechanism, the visual recognition mechanism is used to collect the real-time image of the trolley tile of the raw silk trolley and compare the real-time image with the standard image of the trolley tile stored in the visual recognition mechanism; a tile mechanism, the visual recognition mechanism is installed on the tile mechanism and is located below the tile mechanism, and the tile mechanism is used to carry the yarn group; and a drum unloading robot, the drum unloading robot is connected to the tile mechanism to drive the tile mechanism and the visual recognition mechanism to move to take, place and move the yarn group. In this way, the positioning and moving device of the utility model can make a visual judgment when reaching the predetermined yarn placement position. If the trolley tile has been deformed and the deformation exceeds a certain range, a signal will be given to the drum unloading robot to fine-tune the actual yarn placement position so that the yarn group can be accurately placed on the trolley tile, which solves the problem in the prior art that the tiles of the raw silk trolley are deformed due to long-term use and are easy to scratch the surface of the yarn group in the process of taking and placing the yarn, thereby affecting the quality of the yarn group, reducing the scratch rate on the surface of the yarn group and improving the quality of glass fiber products. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of an embodiment of a positioning and moving device according to the utility model in one direction is shown;

[0018] Figure 2 Shows Figure 1 A schematic diagram of the structure of the visual recognition mechanism of the positioning mobile device shown;

[0019] Figure 3 Shows Figure 1 A structural schematic diagram of a tile mechanism of a positioning and moving device shown;

[0020] Figure 4 Shows Figure 1 The structure diagram of the positioning moving device shown in another direction.

[0021] The above drawings include the following reference numerals:

[0022] 100, visual recognition mechanism; 110, visual positioning component; 120, light source; 130, first mounting plate; 140, second mounting plate; 150, power cord;

[0023] 200, tile mechanism; 210, yarn taking tile; 220, tile connecting plate;

[0024] 300, weighing mechanism; 310, weighing sensor; 320, weighing mounting plate; 330, connecting rod. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] like Figures 1 to 4 As shown, the utility model provides a positioning mobile device, including: a visual recognition mechanism 100, the visual recognition mechanism 100 is used to collect the real-time image of the trolley tile of the raw silk trolley and compare the real-time image with the standard image of the trolley tile stored in the visual recognition mechanism 100; a tile mechanism 200, the visual recognition mechanism 100 is installed on the tile mechanism 200 and is located below the tile mechanism 200, and the tile mechanism 200 is used to carry the yarn ball; a drum unloading robot, the drum unloading robot is connected to the tile mechanism 200 to drive the tile mechanism 200 and the visual recognition mechanism 100 to move so as to take, place and move the yarn ball.

[0027] In this way, the positioning and moving device of the utility model can make a visual judgment when reaching the predetermined yarn release position. If the trolley tile has been deformed and the deformation amount exceeds a certain range, a signal will be given to the unloading robot to fine-tune the actual yarn release position so that the yarn ball can be accurately placed on the trolley tile. This solves the problem in the prior art that the tiles of the raw silk trolley are deformed due to long-term use and are easily scratched on the surface of the yarn ball during the process of taking and placing the yarn, thereby affecting the quality of the yarn ball. This reduces the scratch rate on the surface of the yarn ball and improves the quality of glass fiber products.

[0028] like Figure 1 As shown, the positioning and moving device also includes a weighing mechanism 300 , the drum unloading robot is fixedly connected to the weighing mechanism 300 , the weighing mechanism 300 is fixedly connected to the tile mechanism 200 , and the weighing mechanism 300 is used to weigh the yarn balls on the tile mechanism 200 .

[0029] Since the prior art divides yarn ball taking and weighing into two steps, it does not take into account that weight data can be collected and uploaded while the yarn ball is taken. The positioning and moving device of the utility model is provided with a weighing mechanism 300. When the drum unloading robot takes the yarn ball, the weighing mechanism 300 can obtain the weight data of the yarn ball in real time and upload it to the control component. There is no need for additional manual weighing operation, which saves working time and greatly improves work efficiency.

[0030] Specifically, the positioning mobile device also includes a control component, which is electrically connected to the visual recognition mechanism 100, the tile mechanism 200, the tube unloading robot and the weighing mechanism 300, so as to control the working state of the tube unloading robot according to the comparison result between the real-time image and the standard image, and record the weight of each yarn ball weighed by the weighing mechanism 300.

[0031] like Figure 2 As shown, the visual recognition mechanism 100 includes a visual positioning component 110, a light source 120 and a power cord 150. The visual positioning component 110 and the light source 120 are arranged at intervals and are both arranged toward the side of the tile mechanism 200 away from the drum unloading robot. The power cord 150 is used to connect to an external power supply device, and the power cord 150 is electrically connected to the visual positioning component 110 and the light source 120 to supply power to the visual positioning component 110 and the light source 120.

[0032] Specifically, the visual positioning component 110 includes a camera, and the visual positioning component 110 also includes an information storage module for storing information such as standard images and a data comparison and analysis module for performing comparative analysis, etc. The data comparison and analysis module is electrically connected to the camera, the information storage module and the control component to obtain real-time images and standard images and perform comparative analysis, and finally transmit the comparative analysis results to the control component.

[0033] The working principle of the visual recognition mechanism 100 of the utility model is as follows: the standard image of the trolley tile of the raw silk trolley is stored in the visual positioning component 110. Before each yarn release, the visual positioning component 110 will first capture the real-time image of the trolley tile of the raw silk trolley, and compare and analyze the real-time image with the standard image. If the comparison and analysis result is within the error range, there is no need to adjust the actual yarn release position of the positioning mobile device. If the comparison result is outside the error range, it is necessary to adjust the actual yarn release position of the positioning mobile device.

[0034] Since the light in the working environment is insufficient, a light source 120 is provided to provide good light for the visual positioning component 110 .

[0035] Specifically, the light source 120 may be a circular ring-shaped light source, and the visual positioning component 110 is located at the center of the circular ring-shaped light source.

[0036] Specifically, the visual recognition mechanism 100 includes: a first mounting plate 130, the light source 120 is mounted on the first mounting plate 130, and the first mounting plate 130 is fixedly connected to the tile mechanism 200; a second mounting plate 140, the visual positioning component 110 is mounted on the second mounting plate 140, and the second mounting plate 140 is fixedly connected to the first mounting plate 130.

[0037] like Figure 3 As shown, the tile mechanism 200 includes a yarn taking tile 210 and a tile connecting plate 220 , the yarn taking tile 210 is mounted on the tile connecting plate 220 , and the drum unloading robot is drivingly connected to the tile connecting plate 220 .

[0038] Preferably, the surface of the yarn tile 210 on one side for carrying the yarn ball is a curved surface arranged corresponding to the inner surface of the yarn ball.

[0039] In this way, the yarn taking tile 210 of the utility model is used to insert or pull out the winding drum of the glass fiber yarn ball. The surface of the yarn taking tile 210 is set as a curved surface, which is conducive to achieving the fitting contact between the yarn taking tile 210 and the inner wall of the winding drum of the glass fiber yarn ball, and is conducive to ensuring the accuracy of the yarn ball weighing mechanism.

[0040] Specifically, the curvature of the surface of the yarn taking tile 210 can be set according to actual needs.

[0041] Further preferably, the yarn taking tile 210 comprises a tile body and a flexible pad arranged on the tile body, and the flexible pad is used to contact with the inner surface of the yarn ball to avoid damaging the yarn ball.

[0042] Wherein, the tile body and the flexible pad are adhesively connected; and / or the flexible pad includes a rubber pad.

[0043] like Figure 4As shown, the weighing mechanism 300 includes a weighing sensor 310 and a weighing mounting plate 320 , the tile mechanism 200 is mounted on the weighing sensor 310 , and the weighing sensor 310 is mounted on the weighing mounting plate 320 .

[0044] In one embodiment of the present invention, the weighing sensor 310 is a resistive strain type weighing sensor, and its working principle is: the elastomer (or elastic element, or sensitive beam, etc., which refers to the tile mechanism 200 in the present invention) produces elastic deformation under the action of external force, causing the resistive strain gauge pasted on its surface (that is, the conversion element of the weighing sensor 310) to also deform accordingly. When the resistive strain gauge is deformed, its resistance value will change (that is, increase or decrease), and the change in resistance value is converted into an electrical signal through the corresponding conversion circuit, thereby completing the process of converting the external force into an electrical signal.

[0045] Thus, unlike the weighing mechanism in the prior art which needs to be lifted and then weighed, the weighing mechanism 300 of the utility model can automatically weigh the yarn ball in real time and upload the data to the control component after taking the yarn ball.

[0046] Specifically, the weighing mechanism 300 includes a connecting rod 330 , one end of which is fixedly connected to the weighing mounting plate 320 , and the other end of the connecting rod 330 is used to be fixedly connected to the barrel unloading robot.

[0047] In addition, in addition to the drum unloading robot, the connecting rod 330 of the positioning and moving device of the utility model can also be connected with other structures, so that the positioning and moving device of the utility model can be used in different working occasions.

[0048] In summary, the positioning and moving device of the utility model has good matching with the glass fiber yarn ball, can smoothly complete the taking and placing of the yarn ball and the automatic weighing work, can automatically identify and adjust the yarn placement position, reduce the abrasion rate of the yarn ball surface, improve the taking and placing efficiency of the yarn ball, improve the quality of the yarn ball, thereby greatly improving work efficiency.

[0049] The working process of the positioning mobile device of the utility model is as follows:

[0050] (1) After the unloading robot drives the tile mechanism 200 to take the yarn ball, first, the weighing mechanism 300 recognizes the weight signal of the yarn ball, obtains the weight data of the yarn ball and uploads it to the control component.

[0051] (2) Then, before placing the yarn ball on the trolley tile of the raw silk trolley, the unloading robot transports the yarn ball to the predetermined yarn placement position, turns on the light source 120, and the visual positioning component 110 captures the real-time image of the trolley tile of the raw silk trolley, and compares the real-time image with the standard image. If the comparison result is within the error range, there is no need to adjust the real-time yarn placement position. If the comparison result is outside the error range, the real-time yarn placement position needs to be adjusted. The visual positioning component 110 will give the comparison analysis result to the control component, and the control component controls the movement of the unloading robot. The unloading robot reaches the accurate yarn placement position by adjusting its own servo motor; the manipulator of the unloading robot extends out to place the yarn ball on the tile mechanism 200 on the trolley tile, and then the manipulator of the unloading robot retracts to complete the yarn placement action.

[0052] (3) Finally, the unloading robot is reset to complete the entire yarn placing process.

[0053] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0054] The positioning and moving device of the utility model includes: a visual recognition mechanism 100, which is used to collect the real-time image of the trolley tile of the raw silk trolley and compare the real-time image with the standard image of the trolley tile stored in the visual recognition mechanism 100; a tile mechanism 200, the visual recognition mechanism 100 is installed on the tile mechanism 200 and is located below the tile mechanism 200, and the tile mechanism 200 is used to carry the yarn ball; a drum unloading robot, which is driven and connected to the tile mechanism 200 to drive the tile mechanism 200 and the visual recognition mechanism 100 to move so as to take, place and move the yarn ball. In this way, the positioning and moving device of the utility model can make a visual judgment when reaching the predetermined yarn release position. If the trolley tile has been deformed and the deformation amount exceeds a certain range, a signal will be given to the unloading robot to fine-tune the actual yarn release position so that the yarn ball can be accurately placed on the trolley tile. This solves the problem in the prior art that the tiles of the raw silk trolley are deformed due to long-term use and are easily scratched on the surface of the yarn ball during the process of taking and placing the yarn, thereby affecting the quality of the yarn ball. This reduces the scratch rate on the surface of the yarn ball and improves the quality of glass fiber products.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0057] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0058] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0059] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0060] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A positioning mobile device, characterized in that: include: A visual recognition mechanism (100), the visual recognition mechanism (100) being used to collect a real-time image of a trolley tile of a raw silk trolley and compare the real-time image with a standard image of the trolley tile stored in the visual recognition mechanism (100); A tile mechanism (200), the visual recognition mechanism (100) being installed on the tile mechanism (200) and located below the tile mechanism (200), and the tile mechanism (200) being used to carry a yarn ball; A yarn unloading robot is connected to the tile mechanism (200) to drive the tile mechanism (200) and the visual recognition mechanism (100) to move so as to take, place and move the yarn balls.

2. The positioning mobile device according to claim 1, characterized in that: The positioning and moving device also includes a weighing mechanism (300), the drum unloading robot is fixedly connected to the weighing mechanism (300), the weighing mechanism (300) is fixedly connected to the tile mechanism (200), and the weighing mechanism (300) is used to weigh the yarn ball located on the tile mechanism (200).

3. The positioning mobile device according to claim 2, characterized in that: The positioning and moving device also includes a control component, which is electrically connected to the visual recognition mechanism (100), the tile mechanism (200), the tube unloading robot and the weighing mechanism (300) to control the working state of the tube unloading robot according to the comparison result between the real-time image and the standard image, and record the weight of each yarn ball weighed by the weighing mechanism (300).

4. The positioning mobile device according to any one of claims 1 to 3, characterized in that: The visual recognition mechanism (100) includes a visual positioning component (110), a light source (120) and a power cord (150); the visual positioning component (110) and the light source (120) are arranged at intervals and are both arranged toward a side of the tile mechanism (200) away from the drum unloading robot; the power cord (150) is used to connect to an external power supply device, and the power cord (150) is electrically connected to the visual positioning component (110) and the light source (120) to supply power to the visual positioning component (110) and the light source (120).

5. The positioning mobile device according to claim 4, characterized in that: The visual recognition mechanism (100) comprises: a first mounting plate (130), the light source (120) being mounted on the first mounting plate (130), the first mounting plate (130) being fixedly connected to the tile mechanism (200); A second mounting plate (140), the visual positioning component (110) is mounted on the second mounting plate (140), and the second mounting plate (140) is fixedly connected to the first mounting plate (130).

6. The positioning mobile device according to any one of claims 1 to 3, characterized in that: The tile mechanism (200) comprises a yarn taking tile (210) and a tile connecting plate (220), the yarn taking tile (210) being mounted on the tile connecting plate (220), and the drum unloading robot being drivingly connected to the tile connecting plate (220).

7. The positioning mobile device according to claim 6, characterized in that: The surface of one side of the yarn taking tile (210) used for carrying the yarn ball is a curved surface arranged corresponding to the inner surface of the yarn ball.

8. The positioning mobile device according to claim 6, characterized in that: The yarn taking tile (210) comprises a tile body and a flexible pad arranged on the tile body, wherein the flexible pad is used for contacting the inner surface of the yarn ball.

9. The positioning mobile device according to claim 2 or 3, characterized in that: The weighing mechanism (300) comprises a weighing sensor (310) and a weighing mounting plate (320), the tile mechanism (200) is mounted on the weighing sensor (310), and the weighing sensor (310) is mounted on the weighing mounting plate (320).

10. The positioning mobile device according to claim 9, characterized in that: The weighing mechanism (300) comprises a connecting rod (330), one end of which is fixedly connected to the weighing mounting plate (320), and the other end of which is used to be fixedly connected to the barrel unloading robot.

Images