Manipulator for grabbing spinning cakes

Abstract

The utility model belongs to the technical field of manipulators, and relates to a manipulator for grabbing a spinning cake, which comprises a control system and n mechanical fingers, n is greater than 1, each mechanical finger is provided with a resistance sensor, a tension sensor and a fuse device, the resistance sensor is used for monitoring the resistance of the outer surface of the mechanical finger, and the tension sensor is used for monitoring the tension of the outer surface of the mechanical finger. The resistance sensor is used for monitoring the tension applied to the spinning cake paper tube by the mechanical fingers and sending resistance information to the control system, the tension sensor is used for monitoring the tension applied to the spinning cake paper tube by the mechanical fingers and sending the tension information to the control system, and the control system is used for controlling the spinning cake paper tube when the tension monitored by the tension sensor is zero and the resistance monitored by the resistance sensor is not zero. And sending an instruction I to control the temperature of the fuse device to be higher than the melting point of the tows on the spinning cake. According to the utility model, whether wires are wound on the mechanical fingers can be monitored in real time, and when the wires are wound, the wire fusing device and the wire sucking device are started and automatically cleaned in time, so that the potential safety hazard caused by manual cleaning is avoided, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators and relates to a manipulator for grabbing silk cakes. Background Art

[0002] With the rapid development of science and technology, the production process of polyester filament is gradually becoming highly automated. The application of automation technology has significantly improved production efficiency, reduced production costs, and improved product quality. Among them, automated robotic arms play an important role in the polyester filament production line, especially in processes such as external inspection and packaging. The robotic arm can accurately grasp and sort the yarn cakes through background programming instructions. The application of this technology not only replaces traditional manual operations, but also improves the accuracy and efficiency of operations, and reduces the impact of human factors on product quality.

[0003] However, in the actual production process, there are also some problems with the mechanical fingers on the manipulator. For example, the silk heads of the silk cake are easy to fall off, and the fallen silk heads are easy to entangle on the mechanical fingers. As the number of entangled silk heads increases, the mechanical fingers cannot stretch smoothly, and even deform and malfunction, affecting the accuracy and efficiency of grabbing silk cakes. In order to solve these problems, manual cleaning and maintenance of the manipulator are required regularly. However, manual cleaning will not only reduce the working efficiency of automatic external wire picking, but also pose certain safety hazards during the cleaning process. For example, improper operation may cause damage to the manipulator or injury to personnel.

[0004] Therefore, it is of great significance to develop a robot for grabbing silk cakes to solve the above problems. Utility Model Content

[0005] The utility model aims to solve the problems existing in the prior art and provides a mechanical arm for grabbing silk cakes.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A manipulator for grabbing a silk cake, comprising n mechanical fingers, n>1, and a control system, each of which is provided with a resistance sensor, a tension sensor and a fuse device;

[0008] The resistance sensor is used to monitor the resistance of the outer surface of the robot finger and send the resistance information to the control system. When the robot finger starts to grab the silk cake, it gradually expands and contacts the silk cake paper tube. Before contacting the silk cake paper tube and the robot finger is not entangled with silk, the value of the resistance sensor is zero. Before contacting the silk cake paper tube and the robot finger is entangled with silk, the value of the resistance sensor is not zero.

[0009] The tension sensor is used to monitor the tension applied by the mechanical finger to the bobbin paper tube and send the tension information to the control system. After the mechanical finger contacts the bobbin paper tube, the mechanical finger applies tension to the inner wall of the bobbin paper tube to prevent the bobbin from slipping off.

[0010] The control system is used to issue an instruction I to control the temperature of the fuse device to be higher than the melting point of the filament bundle on the bobbin when the tension monitored by the tension sensor is zero (at this time, the mechanical finger has not contacted the bobbin paper tube) and the resistance monitored by the resistance sensor is not zero (which means that the mechanical finger is entangled with the filament).

[0011] As a preferred technical solution:

[0012] For a manipulator for grasping a bobbin as described above, the fuse device includes a resistance wire.

[0013] For a manipulator for grasping a bobbin as described above, the resistance wire is wrapped around the outer surface of the mechanical finger.

[0014] For a manipulator for grasping a bobbin as described above, it further includes a filament suction device;

[0015] The control system is further used to issue an instruction II to start the filament suction device to suck the melted filament bundle on the mechanical finger from the mechanical finger when the tension monitored by the tension sensor is zero and the resistance monitored by the resistance sensor is not zero.

[0016] For a manipulator for grasping a bobbin as described above, it further includes a robotic arm, and all the mechanical fingers are connected to the robotic arm.

[0017] For a manipulator for grasping a bobbin as described above, there is 1 filament suction hole in the area between adjacent two mechanical fingers on the robotic arm, and the filament suction device is a suction device connected to the filament suction hole. After the suction device is started, the melted filament bundle on the mechanical finger is quickly sucked away from the filament suction hole.

[0018] Beneficial effects:

[0019] By providing a resistance sensor, a tension sensor and a fuse device on the mechanical finger, when it is judged that there is a filament entanglement situation, the control system will issue an instruction to start the fuse device to melt the entangled filament, and at the same time start the filament suction device to quickly suck away the melted filament head. This avoids the problems of loss of work efficiency caused by manual cleaning and potential safety hazards during the cleaning process, and also avoids the problem of damage to the mechanical finger caused by serious filament entanglement that is not dealt with in time, thus playing a protective role for the mechanical finger. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a manipulator for grasping a bobbin of the present utility model;

[0021] Among them, 1 - robotic arm, 2 - wire suction hole, 3 - robotic finger, 4 - resistance wire. Specific embodiments

[0022] The following further elaborates on the present utility model in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present utility model and not to limit the scope of the present utility model. In addition, it should be understood that after reading the content taught by the present utility model, those skilled in the art can make various changes or modifications to the present utility model, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0023] A robotic hand for grasping a silk cake, as Figure 1 shown, includes a control system, a robotic arm 1, robotic fingers 3, and a wire suction device;

[0024] The number of robotic fingers 3 is 3, and each robotic finger 3 is provided with a resistance sensor, a tension sensor, and a fusing device. All the robotic fingers 3 are connected to the robotic arm 1;

[0025] The resistance sensor is used to monitor the resistance on the outer surface of the robotic finger 3 and send the resistance information to the control system;

[0026] The tension sensor is used to monitor the tension applied by the robotic finger 3 to the silk cake paper tube and send the tension information to the control system;

[0027] The fusing device includes a resistance wire 4, and the resistance wire 4 is wrapped around the outer surface of the robotic finger 3;

[0028] One wire suction hole 2 is provided in the area between two adjacent robotic fingers 3 on the robotic arm 1, and the wire suction device is a suction device connected to the wire suction hole 2;

[0029] The control system is used to issue command I to control the temperature of the fusing device to be higher than the melting point of the filament on the silk cake and issue command II to start the suction device to suck the melted filament on the robotic finger from the robotic finger when the tension monitored by the tension sensor is zero and the resistance monitored by the resistance sensor is not zero.

[0030] The usage process of the above device is as follows: During the process of using the robotic arm to grasp and sort the silk cake, the resistance sensor and the tension sensor will send the resistance and tension information to the control system in real time. The control system makes a judgment based on the received information. When the tension monitored by the tension sensor is zero and the resistance monitored by the resistance sensor is not zero, the control system issues command I to control the temperature of the fusing device to be higher than the melting point of the filament on the silk cake, and at the same time issues command II to start the suction device to suck the melted filament on the robotic finger from the robotic finger.

Claims

1. A robot for grabbing a silk cake, comprising n mechanical fingers, n>1, characterized in that: It also includes a control system, and each mechanical finger is provided with a resistance sensor, a tension sensor and a fuse device; The resistance sensor is used to monitor the resistance of the outer surface of the robot finger and send the resistance information to the control system; The tension sensor is used to monitor the tension applied by the mechanical fingers to the bobbin paper tube and send the tension information to the control system; The control system is used to issue an instruction I to control the temperature of the fuse device to be higher than the melting point of the wire bundle on the wire cake when the tension monitored by the tension sensor is zero and the resistance monitored by the resistance sensor is not zero.

2. A robot for grabbing silk cakes according to claim 1, characterized in that: The fuse device includes a resistance wire.

3. A robot for grabbing silk cakes according to claim 2, characterized in that: The resistance wire is wrapped around the outer surface of the mechanical finger.

4. The robot for grabbing silk cake according to claim 1, characterized in that: Also included is a wire suction device; The control system is also used to issue instruction II to start the wire suction device to suck the fused wire bundle from the mechanical finger when the tension detected by the tension sensor is zero and the resistance detected by the resistance sensor is not zero.

5. A robot for grabbing silk cakes according to claim 4, characterized in that: It also includes a robotic arm, and all the robotic fingers are connected to the robotic arm.

6. A robot for grabbing silk cakes according to claim 5, characterized in that: The area between two adjacent mechanical fingers on the mechanical arm is provided with a wire suction hole, and the wire suction device is a suction device connected to the wire suction hole.

Images