Autonomous thread end robot

Abstract

The utility model relates to an autonomous thread end robot. The robot comprises a mobile base; the movable assembly is connected to the movable base, and the movable base drives the movable assembly to move; the connection tail end comprises a frame body, a clamping assembly and a thread end connection device; the frame body is connected to the tail end of the movable assembly, and the movable assembly drives the frame body to move so as to change the spatial position. The clamping assembly is connected to the frame body and used for clamping a thread end. The thread end connection device is connected to the frame body through a moving assembly, and the moving assembly drives the thread end connection device to move in the direction away from or close to the clamping end of the clamping assembly. The autonomous thread end robot is high in automation degree, the scene does not need to be improved too much, and the thread end clamping process is simple and fast.

Description

Technical Field

[0001] The present application relates to the technical field of textile wiring equipment, and in particular to an autonomous thread end robot. Background Art

[0002] In textile operations, thread ends need to be spliced. The traditional splicing method is manual splicing or manual splicing with semi-automatic auxiliary equipment. This has the disadvantages of low efficiency, inhalation of tiny hair debris that affects human health, and high cost.

[0003] In order to improve the degree of automation, some automated splicing equipment has also appeared in the prior art. However, the thread splicing equipment in the prior art is usually unable to move, and the scene needs to be structurally modified to adapt to the existing automated splicing equipment. In addition, the automated splicing equipment needs to be equipped with some guiding structures to guide the broken wires to the splicing station.

[0004] For example, in a pneumatic splicing device provided by announcement number CN213679266U, in order to place the broken yarn in the splicing working area, it is necessary to not only use the yarn suction nozzle to suck the broken yarn, drive the yarn suction nozzle to move and put the broken yarn into the yarn groove II during the splicing process, but also use the large suction nozzle to suck the bobbin broken yarn, and use the yarn holding device to press the bobbin broken yarn into the yarn groove I. As a result, the clamping process before splicing is very cumbersome. Utility Model Content

[0005] Based on this, it is necessary to provide an autonomous thread end robot, and its specific technical solution is as follows.

[0006] An autonomous thread-end robot, comprising:

[0007] Mobile base;

[0008] The movable component is connected to the movable base, and the movable base drives the movable component to move;

[0009] The connecting end includes a frame, a clamping assembly and a thread connecting device; the frame is connected to the end of the movable assembly, and the movable assembly drives the frame to move and change the spatial position; the clamping assembly is connected to the frame and is used to clamp the thread end; the thread connecting device is connected to the frame through a movable assembly, and the movable assembly drives the thread connecting device to move in the direction away from or close to the clamping end of the clamping assembly.

[0010] Furthermore, the movable component includes a lifting device and a multi-axis robotic arm; the lifting device is connected to a mobile base, and the mobile base drives the lifting device to move; the multi-axis robotic arm is connected to the lifting device, and the lifting device drives the multi-axis robotic arm to rise and fall; the frame is connected to the end of the multi-axis robotic arm.

[0011] Furthermore, the multi-axis robotic arm is a six-axis robotic arm.

[0012] Furthermore, the clamping assembly includes two groups of jaw assemblies, each group of jaw assemblies includes two jaws for clamping or loosening the thread ends; the jaws are connected to the frame; the two jaws of the same group of jaw assemblies are aligned to clamp the same thread end, and the two groups of jaw assemblies are respectively used to clamp two thread ends so that the two thread ends are arranged crosswise.

[0013] Furthermore, the jaw assembly is divided into a first group of jaw assemblies and a second group of jaw assemblies, the first group of jaw assemblies includes a first jaw and a second jaw, the clamping groove of the first jaw is aligned with the clamping groove of the second jaw and arranged along a first straight line direction; the second group of jaw assemblies includes a third jaw and a fourth jaw, the clamping groove of the third jaw is aligned with the clamping groove of the fourth jaw and arranged along a second straight line direction; the first straight line direction intersects with the second straight line direction.

[0014] Furthermore, the frame includes a top plate, a first mounting plate and a second mounting plate; the first mounting plate and the second mounting plate are respectively connected to the top plate; the first clamp and the third clamp are installed on the first mounting plate, and the second clamp and the fourth clamp are installed on the second mounting plate.

[0015] Furthermore, the first mounting plate and the second mounting plate are respectively connected to the first side of the top plate and extend in a direction away from the first side of the top plate; the first clamp and the third clamp are movably mounted on the first mounting plate along the extension direction of the first mounting plate; the second clamp and the fourth clamp are movably mounted on the second mounting plate along the extension direction of the second mounting plate.

[0016] Furthermore, the thread end connecting device is located between two clamping jaws of the same clamping jaw assembly.

[0017] Furthermore, the clamping assembly is a pneumatic clamping assembly, and the moving assembly is a pneumatic linear module; an air pump assembly is provided in the moving base, and the air pump assembly is respectively connected to the pneumatic clamping assembly and the pneumatic linear module.

[0018] Furthermore, the mobile base is also provided with a pan-tilt navigation module for mobile navigation of the mobile component.

[0019] Beneficial effects: The autonomous thread robot provided by the utility model is composed of a mobile base and a movable component, which changes the position and posture of the connection end, so that the hanging thread can be clamped. During the process of clamping the thread, the mobile module drives the thread connection device to move in a direction away from the clamping end to avoid interference with the clamping. After the thread is clamped, the mobile module drives the thread connection module to move in a direction close to the clamping end, so that the clamped thread falls into the working area of ​​the thread connection device, so as to connect. The autonomous thread robot has a high degree of automation, does not require too much improvement on the scene, and the thread clamping process is simple and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is the overall schematic diagram of the autonomous robot;

[0022] Figure 2 for Figure 1 A magnified schematic diagram of the middle A area;

[0023] Figure 3 for Figure 1 A magnified schematic diagram of the middle B area;

[0024] Figure 4 It is a schematic diagram of the end face of the wire end connection device;

[0025] Figure 5 It is a structural diagram of the frame;

[0026] Figure 6 This is a schematic diagram of the scene when the autonomous thread robot is working;

[0027] Figure 7 This is a schematic diagram of clamping a wire end;

[0028] Figure 8 This is a schematic diagram of clamping two wire ends.

[0029] Description of reference numerals: 1. mobile base; 2. lifting device; 3. multi-axis robotic arm; 4. docking end; 5. air pump assembly; 6. pan / tilt navigation module;

[0030] 41. frame; 42. thread connection device; 43. moving assembly; 44. first clamp; 45. second clamp; 46. third clamp; 47. fourth clamp; 48. first straight line direction; 49. second straight line direction;

[0031] 411, top plate; 412, first mounting plate; 413, second mounting plate; 414, long groove; 415, docking identification camera;

[0032] 61. Pan-tilt structure; 62. Navigation camera. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0039] Example

[0040] Reference Figure 1 As shown, this embodiment provides an autonomous thread end robot, including a mobile base 1, a movable component and a docking terminal 4. In this embodiment, the mobile base 1 adopts an AGV base, and other structural forms of bases can also be selected in other embodiments.

[0041] Specifically, continue to refer to Figure 1 As shown, the movable component is connected to the movable base 1, and the movable base 1 drives the movable component to move, and the movable component itself can perform various actions such as swinging, rotating, lifting, etc., so as to change the position of the end of the movable component.

[0042] Specifically, refer to Figure 2As shown, the connection end 4 includes a frame 41, a clamping assembly and a thread end connection device 42. The frame 41 is connected to the end of the movable assembly. The frame 41 is driven to move by the action of the movable assembly, thereby changing the spatial position of the frame 41. The clamping assembly is connected to the frame 41 and is used to clamp the thread end; the thread end connection device 42 is connected to the frame 41 through a moving assembly 43, and the moving assembly 43 drives the thread end connection device 42 to move in a direction away from or close to the clamping end of the clamping assembly. Before the connection operation, the moving assembly 43 is used to drive the thread end connection device 42 to move in a direction away from or close to the clamping end of the clamping assembly, so as to avoid interference with the clamping process. The mobile base 1 cooperates with the movable assembly to drive the clamping assembly to move, change the position and posture of the clamping assembly, and thus clamp the two thread ends respectively. After the clamping is completed, the moving assembly 43 drives the thread end connection device 42 to move in a direction close to the thread end, so that the clamped thread ends enter the connection work area.

[0043] The autonomous thread robot provided in this embodiment is composed of a mobile base 1 and a movable component, which changes the position and posture of the connection end 4, so that the hanging thread can be clamped. During the process of clamping the thread, the mobile module drives the thread connection device 42 to move in a direction away from the clamping end to avoid interference with the clamping. After the thread is clamped, the mobile module drives the thread connection module to move in a direction close to the clamping end, so that the clamped thread falls into the working area of ​​the thread connection device 42, so as to connect. The autonomous thread robot has a high degree of automation, does not require too much improvement on the scene, and the thread clamping process is simple and fast.

[0044] Specifically, continue to refer to Figure 1 As shown, the movable assembly includes a lifting device 2 and a multi-axis robot 3. The lifting device 2 is connected to the mobile base 1, and the mobile base 1 drives the lifting device 2 to move; the multi-axis robot 3 is connected to the lifting device 2, and the lifting device 2 drives the multi-axis robot 3 to rise and fall; the frame 41 is connected to the end of the multi-axis robot 3. In this embodiment, the lifting device 2 can use a linear lifting module, and the lifting device 2 changes the height of the docking end 4; the multi-axis robot 3 can use a six-axis robot, and the multi-axis robot 3 drives the docking end 4 to move, adjust the position and posture of the clamping assembly, so that the thread head can be clamped.

[0045] Specifically, refer to Figure 2As shown, the clamping assembly includes two groups of jaw assemblies, and each group of jaw assemblies includes two jaws for clamping or loosening the thread ends. In this embodiment, the jaws can be pneumatic jaws, and the air pressure in the pneumatic jaws is changed by an air pump, so that the jaws are deformed to clamp the thread ends. In other embodiments, other structural forms of jaws can also be selected. The jaws are connected to the frame 41, and when the frame 41 moves, the jaws are driven to move, thereby changing to a position and posture that adapts to clamping the thread ends. The two jaws of the same group of jaw assemblies are aligned to clamp the same thread end, and the two groups of jaw assemblies are respectively used to clamp two thread ends so that the two thread ends are arranged crosswise. The process of splicing the thread ends is roughly that the thread end connection device 42 blows out a rotating airflow, so that the two thread ends are rotated and then spliced. By making the two thread ends arranged crosswise, the splicing of the two thread ends is more convenient.

[0046] Specifically, refer to Figure 2 and Figure 4 As shown, the clamping jaw assembly is divided into a first group of clamping jaw assemblies and a second group of clamping jaw assemblies, the first group of clamping jaw assemblies includes a first clamping jaw 44 and a second clamping jaw 45, the clamping groove of the first clamping jaw 44 is aligned with the clamping groove of the second clamping jaw 45 and arranged along a first straight line direction 48; the second group of clamping jaw assemblies includes a third clamping jaw 46 and a fourth clamping jaw 47, the clamping groove of the third clamping jaw 46 is aligned with the clamping groove of the fourth clamping jaw 47 and arranged along a second straight line direction 49; by making the deflection angle between the clamping groove of the first clamping jaw 44 and the clamping groove of the third clamping jaw 46 on the same side form a non-parallel state, the first straight line direction 48 is crossed with the second straight line direction 49, so that the two thread ends are in a crossed state after being clamped.

[0047] Specifically, refer to Figure 5 As shown, the frame 41 includes a top plate 411, a first mounting plate 412 and a second mounting plate 413; the first mounting plate 412 and the second mounting plate 413 are respectively connected to the top plate 411, specifically, the first mounting plate 412 and the second mounting plate 413 are both connected to the first side of the top plate 411, and extend in a direction away from the first side of the top plate 411, and a certain distance is spaced between the first mounting plate 412 and the second mounting plate 413 to form a space for accommodating the thread end connection device 42. The first clamping jaw 44 and the third clamping jaw 46 are mounted on the first mounting plate 412, and the second clamping jaw 45 and the fourth clamping jaw 47 are mounted on the second mounting plate 413; the thread end connection device 42 is mounted on the first side of the top plate 411 through the moving assembly 43, and the thread end connection device 42 is located between the first mounting plate 412 and the second mounting plate 413.

[0048] Specifically, the first clamp 44 and the third clamp 46 are movably mounted on the first mounting plate 412 along the extension direction of the first mounting plate 412; the second clamp 45 and the fourth clamp 47 are movably mounted on the second mounting plate 413 along the extension direction of the second mounting plate 413, so that the distance between the first clamp 44 and the third clamp 46 can be adjusted, and the angle formed by the intersection of the two wire ends can be adjusted.

[0049] In this embodiment, continue to refer to Figure 5 As shown, for example, a long slot 414 extending along the extension direction of the first mounting plate 412 is provided on the first mounting plate 412, and a connecting shaft is provided at the end of the first clamping jaw 44, and the connecting shaft passes through the long slot 414 and can move along the extension direction of the long slot 414, and the connecting shaft can be locked by a nut after passing through the long slot 414. When the nut is loosened, the position and angle of the first clamping jaw 44 can be adjusted, and the first clamping jaw 44 can be fixed after the nut is tightened. In other embodiments, other methods can also be used to achieve the movable connection between the first clamping jaw 44 and the first mounting plate 412.

[0050] Continue to refer to Figure 2 As shown, specifically, the moving assembly 43 includes a guide rail and a slider. The guide rail is installed on the first side of the top plate 411 and extends in a direction close to or away from the thread end. The slider is slidably installed on the guide rail along the extension direction of the guide rail. The thread end docking device 42 is connected to the slider. The slider moves relative to the guide rail to drive the thread end docking device 42 to move. In this embodiment, a pneumatic linear module can be selected as the moving module. In other embodiments, other structural forms such as a screw-type linear moving module can also be selected.

[0051] Specifically, in this embodiment, the thread end connection device 42 can be an air splicer, which splices the two thread ends by applying a rotating airflow to the two thread ends. The specific structure of the air splicer can be selected from the prior art and will not be described in detail in this embodiment. In other embodiments, splicers with other structural forms such as a mechanical splicer can also be selected.

[0052] Specifically, a docking identification camera 415 is also installed on the frame 41, through which the position of the thread end can be identified, thereby providing guidance for the action of the movable component when clamping the thread end.

[0053] Specifically, an air pump assembly 5 is also provided in the mobile base 1, and the air pump assembly 5 is respectively connected to the clamping claw, the mobile assembly 43, the thread end connection device 42, etc., to provide air pressure for them and control the movement of these structures. As for the specific structure and connection method of the air pump assembly 5, they can be selected from the prior art.

[0054] Specifically, refer to Figure 3 As shown, the mobile base 1 is also provided with a pan-tilt navigation module 6, which includes a pan-tilt structure 61 and a navigation camera 62 installed on the pan-tilt structure 61. The pan-tilt navigation module 6 is used to navigate the movement of the mobile base 1.

[0055] Operation process:

[0056] First, the thread end clamping operation is performed, and at this time, the moving assembly 43 is used to drive the thread end connecting device 42 to move in a direction away from the clamping end of the clamping assembly. Figure 6 As shown, the mobile base 1 moves the autonomous thread robot to the corresponding thread barrel position, and the multi-axis robot arm 3 and the lifting device 2 drive the docking terminal 4 to move to the corresponding position of the first thread to be clamped, and adjust the posture of the docking terminal 4 so that the first clamping claw 44 and the third clamping claw 46 clamp the first thread. Figure 7 As shown; the mobile base 1, the multi-axis robot 3 and the lifting device 2 drive the docking terminal 4 to move again, so that the docking terminal 4 moves to the corresponding position of the second thread to be clamped, and adjusts the posture of the docking terminal 4 so that the second clamping jaw 45 and the fourth clamping jaw 47 clamp the second thread.

[0057] After the thread end is clamped, the connection operation is performed. The moving component 43 drives the thread end connection device 42 to move toward the direction close to the clamping end of the clamping component, so that the clamped thread end enters the connection working area, and drives the thread end connection device 42 to perform the connection operation.

[0058] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An autonomous thread end robot, characterized in that: include: Mobile base; The movable component is connected to the movable base, and the movable base drives the movable component to move; The connecting end includes a frame, a clamping assembly and a thread connecting device; the frame is connected to the end of the movable assembly, and the movable assembly drives the frame to move and change the spatial position; the clamping assembly is connected to the frame and is used to clamp the thread end; the thread connecting device is connected to the frame through a movable assembly, and the movable assembly drives the thread connecting device to move in the direction away from or close to the clamping end of the clamping assembly.

2. The autonomous thread end robot according to claim 1, characterized in that: The movable component includes a lifting device and a multi-axis robotic arm; the lifting device is connected to a mobile base, and the mobile base drives the lifting device to move; the multi-axis robotic arm is connected to the lifting device, and the lifting device drives the multi-axis robotic arm to rise and fall; the frame is connected to the end of the multi-axis robotic arm.

3. The autonomous thread end robot according to claim 2, characterized in that: The multi-axis robotic arm is a six-axis robotic arm.

4. The autonomous thread end robot according to claim 1, characterized in that: The clamping assembly includes two groups of jaw assemblies, each group of jaw assemblies includes two jaws for clamping or loosening the thread ends; the jaws are connected to the frame; the two jaws of the same group of jaw assemblies are aligned to clamp the same thread end, and the two groups of jaw assemblies are respectively used to clamp two thread ends so that the two thread ends are arranged crosswise.

5. The autonomous thread end robot according to claim 4, characterized in that: The jaw assembly is divided into a first group of jaw assemblies and a second group of jaw assemblies. The first group of jaw assemblies includes a first jaw and a second jaw, and the clamping groove of the first jaw is aligned with the clamping groove of the second jaw and arranged along a first straight line direction; the second group of jaw assemblies includes a third jaw and a fourth jaw, and the clamping groove of the third jaw is aligned with the clamping groove of the fourth jaw and arranged along a second straight line direction; the first straight line direction intersects with the second straight line direction.

6. The autonomous thread-end robot according to claim 5, characterized in that: The frame includes a top plate, a first mounting plate and a second mounting plate; the first mounting plate and the second mounting plate are respectively connected to the top plate; the first clamp and the third clamp are installed on the first mounting plate, and the second clamp and the fourth clamp are installed on the second mounting plate.

7. The autonomous thread-end robot according to claim 6, characterized in that: The first mounting plate and the second mounting plate are respectively connected to the first side of the top plate and extend in a direction away from the first side of the top plate; the first clamp and the third clamp are movably mounted on the first mounting plate along the extension direction of the first mounting plate; the second clamp and the fourth clamp are movably mounted on the second mounting plate along the extension direction of the second mounting plate.

8. The autonomous thread-end robot according to claim 4, characterized in that: The thread end connecting device is located between two clamping jaws of the same clamping jaw assembly.

9. The autonomous thread-end robot according to claim 1, characterized in that: The clamping assembly is a pneumatic clamping assembly, and the moving assembly is a pneumatic linear module; an air pump assembly is arranged in the moving base, and the air pump assembly is respectively connected to the pneumatic clamping assembly and the pneumatic linear module.

10. An autonomous thread-end robot according to any one of claims 1 to 9, characterized in that: The mobile base is also provided with a pan-tilt navigation module for navigating the mobile component.

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