CN110270607B - Correction device, correction equipment, yarn cage correction equipment and correction method - Google Patents
Correction device, correction equipment, yarn cage correction equipment and correction method Download PDFInfo
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- CN110270607B CN110270607B CN201910482272.2A CN201910482272A CN110270607B CN 110270607 B CN110270607 B CN 110270607B CN 201910482272 A CN201910482272 A CN 201910482272A CN 110270607 B CN110270607 B CN 110270607B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
Abstract
The invention provides a correction device, a yarn cage correction device and a correction method, wherein the correction device is used for correcting a workpiece to be corrected, the workpiece to be corrected is provided with a deformation point, and the correction device comprises: the positioning assembly is used for determining the position information of the workpiece to be corrected; the fixing component and the positioning component are arranged at intervals, the fixing component comprises a fixing part, and the fixing part is used for limiting and contacting with a workpiece to be corrected; the correcting component is movably arranged at least partially to be in contact with the fixing part and drive the workpiece to be corrected to rotate around the deformation point by a preset angle through the fixing part. The correcting device solves the problem of low automation degree of yarn rod correction in the prior art.
Description
Technical Field
The invention relates to the field of mechanical correction, in particular to a correction device, correction equipment, yarn cage correction equipment and a correction method.
Background
At present, a yarn rod of a yarn cage is deformed under the action of external force in a dyeing process flow, so that an automatic production flow is unsmooth in operation. Among the prior art, the yarn pole is overhauld and is corrected and mainly rely on the manpower to solve, relies on artifical naked eye to detect the yarn pole condition of warping promptly, and when the yarn pole needs to be corrected, the manpower is corrected the yarn pole along yarn pole warp reverse direction and is impeld the yarn pole to resume vertical state.
However, in the production process, the number of the yarn rods is large, manual yarn rod straightening wastes time and labor, the straightening precision is poor, and the using requirement cannot be guaranteed.
Disclosure of Invention
The invention mainly aims to provide a correcting device, a yarn cage correcting device and a correcting method, and aims to solve the problem that the automation degree of yarn rod correction in the prior art is low.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a correction device for correcting a workpiece to be corrected, the workpiece to be corrected having a deformed point, the correction device including: the positioning assembly is used for determining the position information of the workpiece to be corrected; the fixing component and the positioning component are arranged at intervals, the fixing component comprises a fixing part, and the fixing part is used for limiting and contacting with a workpiece to be corrected; the correcting component is movably arranged at least partially to be in contact with the fixing part and drive the workpiece to be corrected to rotate around the deformation point by a preset angle through the fixing part.
Further, the workpiece to be corrected comprises a deformation section, and the deformation section is positioned above the deformation point; the fixing part is movably arranged, so that the extending direction of the fixing part is consistent with the extending direction of the deformation section after the fixing part is in limited contact with the workpiece to be corrected.
Furthermore, the workpiece to be corrected is a rod body, the fixing part is a loop bar, and the loop bar is sleeved on the deformation section.
Further, the fixing assembly further comprises: a first driving section; the first driving part is connected with one end of the connecting part, and the other end of the connecting part is connected with the fixing part, so that the first driving part drives the fixing part to move in the direction close to or far away from the deformation section through the connecting part; wherein, connecting portion are the flexible piece to after fixed part and the spacing contact of work piece of treating correcting, the extending direction of fixed part is unanimous with the extending direction of deformation section.
Further, orthotic devices still includes the frame, and first drive division sets up in the frame, and connecting portion are the rope body, and fixed subassembly still includes: the pulley part is arranged on the frame, and the rope body is erected on the pulley part.
Furthermore, a guide bracket is arranged on the machine frame, and the guide bracket is provided with a guide hole; when the first driving part drives the fixing part to move along the direction close to the deformation section, the fixing part moves to a preset position where the extending direction of the fixing part is consistent with the extending direction of the deformation section after the fixing part is completely separated from the guide hole.
Further, the positioning assembly comprises: the vision monitoring part is used for acquiring the position information of the workpiece to be corrected; and the control part is connected with the visual monitoring part to receive the position information acquired by the visual monitoring part and control the fixing component to move to a position where the fixing part is opposite to the end part of the workpiece to be corrected according to the position information.
Further, orthotic devices still includes the frame, and the locating component still includes: the rotary driving part is arranged on the rack; the visual monitoring part is arranged on the mounting frame, and the rotary driving part is in driving connection with the mounting frame so as to enable the visual monitoring part to move between an original position and an information acquisition position when the rotary driving part drives the mounting frame to rotate around a preset axis; when the vision monitoring part is located at the information acquisition position, the vision monitoring part acquires the position information of the workpiece to be corrected and transmits the position information to the control part, and the control part compares the position information with preset position information to determine the moving distance of the fixed component.
Further, the orthotic assembly comprises: the second driving parts are arranged along the circumferential direction of the fixing part; the plurality of second driving parts are connected with the plurality of correction parts in a one-to-one correspondence mode so as to drive the correction parts to be in contact with the fixing parts and drive the workpiece to be corrected to rotate around the deformation point by a preset angle through the fixing parts.
According to a second aspect of the present invention, there is provided an orthotic device comprising a robot and an orthotic device as described above, the orthotic device being provided on the robot.
According to a third aspect of the invention, a cage straightening device is provided, which comprises a cage and a straightening device, wherein the straightening device is the straightening device, a workpiece to be straightened is a yarn rod of the cage, and the straightening device is positioned above the cage.
According to a fourth aspect of the present invention, there is provided a correction method applied to the above-described correction apparatus, the correction method including: controlling a positioning component to determine the position information of the workpiece to be corrected; controlling the fixing component to move according to the position information, and enabling the fixing part to be in limit contact with the workpiece to be corrected; the correcting component is controlled to be in contact with the fixing part, and the fixing part drives the workpiece to be corrected to rotate around the deformation point by a preset angle.
Further, after the workpiece to be corrected rotates by a preset angle, the correction method further comprises the following steps: controlling the fixing component to return to an initial position; controlling the positioning assembly to secondarily determine the position information of the workpiece to be corrected; when the position information is consistent with the preset position information, the workpiece to be corrected is corrected; or when the position information is inconsistent with the preset position information, controlling the correction assembly to perform secondary correction on the workpiece to be corrected.
The correcting device can quickly correct the workpiece to be corrected through the positioning assembly, the fixing assembly and the correcting assembly. In the specific correction process, the positioning assembly determines the position information of the workpiece to be corrected, the fixing assembly performs position adjustment to enable the fixing portion to be in limit contact with the workpiece to be corrected, at least part of the correcting assembly moves to be in contact with the fixing portion, and the workpiece to be corrected is driven by the fixing portion to rotate around the deformation point by a preset angle until the workpiece to be corrected is corrected. The correcting device can automatically correct the workpiece to be corrected through the mutual matching of the positioning component, the fixing component and the correcting component, and solves the problem of low automation degree of yarn rod correction in the prior art.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of a first state of an embodiment of a gabion rectification device according to the invention;
figure 2 shows a schematic structural view of an embodiment of the orthotic device according to the present invention;
fig. 3 shows a schematic structural view of a second state of an embodiment of a gabion rectification device according to the invention;
fig. 4 shows a schematic structural view of a third state of an embodiment of a yarn cage correction device according to the invention.
Wherein the figures include the following reference numerals:
10. a workpiece to be corrected; 11. a deformation section; 20. a positioning assembly; 21. a vision monitoring section; 22. a rotation driving section; 23. a mounting frame; 30. a fixing assembly; 31. a fixed part; 32. a first driving section; 33. a connecting portion; 34. a pulley section; 40. a corrective component; 41. a second driving section; 42. a correction unit; 50. a frame; 51. a guide bracket; 60. and (4) a yarn cage.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The present invention provides a correction device, please refer to fig. 1 to 4, the correction device is used for correcting a workpiece 10 to be corrected, the workpiece 10 to be corrected has a deformation point, the correction device comprises: the positioning component 20, the positioning component 20 is used for determining the position information of the workpiece 10 to be corrected; the fixing component 30 is arranged at intervals between the fixing component 30 and the positioning component 20, the fixing component 30 comprises a fixing part 31, and the fixing part 31 is used for being in limit contact with the workpiece 10 to be corrected; and the correcting component 40, wherein at least part of the correcting component 40 is movably arranged to contact with the fixing part 31 and drive the workpiece 10 to be corrected to rotate around the deformation point by a preset angle through the fixing part 31.
The correcting device of the invention can quickly correct the workpiece 10 to be corrected through the positioning assembly 20, the fixing assembly 30 and the correcting assembly 40. In the specific correction process, the positioning component 20 determines the position information of the workpiece 10 to be corrected, the fixing component 30 adjusts the position to enable the fixing part 31 to be in limit contact with the workpiece 10 to be corrected, at least part of the correcting component 40 moves to be in contact with the fixing part 31, and the workpiece 10 to be corrected is driven to rotate around the deformation point by a preset angle through the fixing part 31 until the workpiece 10 to be corrected is corrected. The correcting device can automatically correct the workpiece to be corrected 10 through the mutual matching of the positioning component 20, the fixing component 30 and the correcting component 40, and solves the problem of low automation degree of yarn rod correction in the prior art.
In this embodiment, the workpiece 10 to be corrected may be a rod body, and is easily bent during use.
In order to limit the workpiece 10 to be corrected, as shown in fig. 3, the workpiece 10 to be corrected includes a deformation section 11, and the deformation section 11 is located above the deformation point; wherein, the fixing portion 31 is movably disposed so that the extending direction of the fixing portion 31 is consistent with the extending direction of the deformation section 11 after the fixing portion 31 is in limited contact with the workpiece 10 to be corrected.
In this embodiment, after the positioning component 20 determines the position of the deformation section 11, the fixing portion 31 moves to the end of the deformation section 11, and then moves downward along the deformation section 11 until reaching the predetermined position, at this time, the fixing portion 31 is sleeved on the deformation section 11, so that the extending direction of the fixing portion 31 is consistent with the extending direction of the deformation section 11, then the fixing portion 31 is driven by the correction component 40, and the fixing portion 31 drives the deformation section 11 to rotate around the deformation point by the predetermined angle, thereby achieving the correction.
In order to ensure the correction effect, the workpiece 10 to be corrected is a rod body, the fixing portion 31 is a loop bar, and the loop bar is used for being sleeved on the deformation section 11.
In this embodiment, the loop bar is directly sleeved on the bar body in the correction process.
In order to enable the fixing portion 31 to be in limit contact with the deformation section 11 or to be separated after rectification, as shown in fig. 1, the fixing assembly 30 further includes: a first drive section 32; the connecting part 33, the first driving part 32 is connected with one end of the connecting part 33, and the other end of the connecting part 33 is connected with the fixing part 31, so that the first driving part 32 drives the fixing part 31 to move in the direction approaching to or far away from the deformation section 11 through the connecting part 33; the connecting portion 33 is a flexible member, so that the extending direction of the fixing portion 31 is consistent with the extending direction of the deformation section 11 after the fixing portion 31 is in limited contact with the workpiece 10 to be corrected.
In the embodiment, the first driving portion 32 is connected to one end of the connecting portion 33, and the other end of the connecting portion 33 is connected to the fixing portion 31, and under the action of the first driving portion 32, the connecting portion 33 drives the fixing portion 31 to move, so as to achieve the contact or separation between the fixing portion 31 and the deformation section 11.
In the embodiment, in order to enable the fixing portion 31 to adapt to the position of the deformation section 11 during the moving process, the connecting portion 33 is a flexible member, so that after the fixing portion 31 is in limited contact with the workpiece 10 to be corrected, the extending direction of the fixing portion 31 is consistent with the extending direction of the deformation section 11, that is, during the moving process of the fixing portion 31, the position thereof is always in a changing process and does not move along only one linear path.
In view of structural integrity, as shown in fig. 1, the orthotic device further includes a frame 50, the first driving part 32 is disposed on the frame 50, the connecting part 33 is a rope body, and the fixing assembly 30 further includes: the pulley unit 34, the pulley unit 34 are provided on the frame 50, and the rope is laid on the pulley unit 34.
In the present embodiment, the positioning assembly 20, the fixing assembly 30 and the correcting assembly 40 are disposed on the frame 50, and each assembly satisfies its own functional requirements.
In this embodiment, the pulley portion 34 is disposed on the frame 50 and located at the top of the frame 50, and the connecting portion 33 is a rope, so that the rope is laid on the pulley portion 34 and two ends of the rope are respectively connected to the first driving portion 32 and the fixing portion 31. The pulley part 34 can ensure the normal movement of the rope body, and the friction force is reduced to a certain degree.
In order to perform basic limit on the fixing portion 31, as shown in fig. 1, a guide bracket 51 is provided on the frame 50, and the guide bracket 51 has a guide hole; when the first driving portion 32 drives the fixing portion 31 to move in a direction close to the deformation section 11, and after the fixing portion 31 is completely separated from the guide hole, the fixing portion 31 moves to a preset position where an extending direction of the fixing portion 31 is consistent with an extending direction of the deformation section 11.
In this embodiment, when the correction device is not operated, the fixing portion 31 is disposed in the guide hole and is substantially in the vertical direction, and when the fixing portion 31 is used for correction, the first driving portion 32 drives the fixing portion 31 to move in a direction close to the deformation section 11, the fixing portion 31 gradually separates from the guide hole, and after completely separating from the guide hole, the fixing portion 31 moves to a preset position where the extending direction of the fixing portion 31 is consistent with the extending direction of the deformation section 11, and then correction can be performed by the correction assembly 40.
In this embodiment, when the fixing portion 31 is completely separated from the guiding hole, the fixing portion 31 performs a combined movement of rotating and moving along the extending direction of the deformation section 11.
In order to be able to determine the position information of the workpiece 10 to be corrected by the positioning assembly 20, as shown in fig. 1, the positioning assembly 20 includes: the vision monitoring part 21, the vision monitoring part 21 is used for obtaining the position information of the workpiece 10 to be corrected; and the control part is connected with the vision monitoring part 21 to receive the position information acquired by the vision monitoring part 21 and control the fixing component 30 to move to a position where the fixing part 31 is opposite to the end part of the workpiece 10 to be corrected according to the position information.
In the present embodiment, the vision monitoring portion 21 is used for acquiring the position information of the workpiece 10 to be corrected, which is mainly used for acquiring the end point position of the deformation section 11, and after the vision monitoring portion 21 transmits the acquired position information to the control portion, the control portion may determine the relative distance between the fixing portion 31 and the end portion of the workpiece 10 to be corrected, and then control the fixing assembly 30 to move to the position where the fixing portion 31 is disposed opposite to the end portion of the workpiece 10 to be corrected. I.e. the basic positioning is completed, then the fixing portion 31 is brought into a limiting contact with the workpiece 10 to be corrected, and the subsequent correction process.
In order to avoid the vision monitoring unit 21 from interfering with the subsequent processes, the correction device further includes a frame 50, and the positioning assembly 20 further includes: a rotation driving unit 22, the rotation driving unit 22 being provided on the frame 50; the mounting frame 23 is provided with the visual monitoring part 21, the rotary driving part 22 is in driving connection with the mounting frame 23, so that the visual monitoring part 21 moves between an original position and an information acquisition position when the rotary driving part 22 drives the mounting frame 23 to rotate around a preset axis; when the vision monitoring part 21 is located at the information collecting position, the vision monitoring part 21 obtains the position information of the workpiece 10 to be corrected and transmits the position information to the control part, and the control part compares the position information with the preset position information to determine the moving distance of the fixing component 30.
In this embodiment, the vision monitoring portion 21 is disposed on the mounting bracket 23, and the rotation driving portion 22 is drivingly connected to the mounting bracket 23, so that when the vision monitoring portion 21 is used, the rotation driving portion 22 drives the mounting bracket 23 to drive the vision monitoring portion 21 to move from the original position to the information collecting position, and after the position information is determined, the vision monitoring portion can move back to the original position.
In the present embodiment, preset position information is stored in the control portion, and the vision monitoring portion 21 collects position information of the workpiece 10 to be corrected. When the control part compares the position information with the preset position information, the position relationship between the fixing part 31 and the workpiece 10 to be corrected can be determined, thereby determining the moving distance of the fixing member 30.
With respect to the specific structure of the orthodontic assembly 40, as shown in fig. 4, the orthodontic assembly 40 includes: a plurality of second driving portions 41, the plurality of second driving portions 41 being disposed along the circumferential direction of the fixing portion 31; the correction unit 42 is provided with a plurality of correction units 42, and the plurality of second driving units 41 are connected with the plurality of correction units 42 in a one-to-one correspondence manner, so as to drive the correction units 42 to contact with the fixing unit 31 and drive the workpiece 10 to be corrected to rotate around the deformation point by a preset angle through the fixing unit 31.
In the present embodiment, the correcting component 40 is composed of a plurality of second driving portions 41 and a plurality of correcting portions 42, that is, in a specific correcting process, the plurality of second driving portions 41 can interact with each other according to the bending condition of the workpiece 10 to be corrected, so as to realize the final correction of the workpiece 10 to be corrected.
In the present embodiment, the number of the second driving portions 41 and the number of the correction portions 42 are 8, and the pairs are distributed in four directions.
The correcting device is a visual correction yarn rod integrated mechanism and mainly comprises a visual recognition device (a positioning component 20), a hydraulic correcting mechanism (a correcting component 40) and a loop bar mechanism (a fixing component 30).
In this embodiment, the visual recognition device mainly includes a revolving cylinder (rotation driving unit 22), a camera mounting bracket (mounting bracket 23) and a camera kit (visual monitoring unit 21), the camera kit is mounted on the revolving flange of the revolving cylinder through the camera mounting bracket, and can swing to a working position during working, and the camera can be retracted to a storage position after recognition is finished, so that normal use of the correction function is not affected. The hydraulic pressure correction mechanism mainly includes a hydraulic cylinder (second drive portion 41), a servo valve, and a detection sensor. According to the position signal of the hydraulic cylinder piston fed back to the system by the sensor, the flow of the servo valve is adjusted in real time, the piston rod extends out of the hydraulic cylinder to move when the hydraulic cylinder corrects the yarn rod, and meanwhile, the 8 hydraulic cylinders act in a synergistic manner to achieve the effect of accurate correction. The loop bar mechanism mainly includes a loop bar (fixing portion 31), a wire rope (connecting portion 33), and a winding machine (first driving portion 32). The winding machine is used for lifting the loop bar, and the loop bar is sleeved on the yarn bar (the workpiece 10 to be corrected). When the hydraulic cylinder is used for correcting, the hydraulic cylinder acts on the loop bar, so that the damage to the yarn bar is reduced.
In this embodiment, the pulley (pulley portion 34) is mounted on the top of the frame 50, and the loop bar guide (guide bracket 51) is mounted on the column bracket of the frame 50, and the guide hole in the middle of the loop bar guide is aligned with the center of the frame 50 in the vertical direction. The top end of the loop bar is connected with a steel wire rope, and the other end of the steel wire rope is connected with a winch. The camera kit for visual identification comprises a camera and an industrial lens auxiliary light source, the camera is mounted on a camera mounting frame through screws, the other end of the camera mounting frame is mounted on a rotary cylinder rotary flange, and the camera mounting frame can rotate at a specified angle along with the rotary cylinder rotary flange. The steel wire rope bypasses the pulley, the loop bar penetrates through the loop bar guide frame, the winch is installed on the rack 50 in a bolt connection mode, the hydraulic cylinder is fixed on a horizontal direction installation plate of the rack 50, and the rotary cylinder is installed on a fixing plate at the lower part of the rack 50, so that the vision correction integrated mechanism is formed.
The invention also provides a correction device, which comprises a robot and the correction device, wherein the correction device is the correction device, and the correction device is arranged on the robot.
In the present embodiment, the robot drives the correction device to move, so as to adapt the position of the fixing portion 31 to the position of the workpiece 10 to be corrected.
The invention also provides a yarn cage straightening device which comprises a yarn cage 60 and a straightening device, wherein the straightening device is the straightening device, the workpiece 10 to be straightened is a yarn rod of the yarn cage 60, and the straightening device is positioned above the yarn cage 60.
In this embodiment, the straightening device is used to straighten a yarn bar on the yarn cage 60, and the straightening device is robotically position adjusted.
The invention also provides a correction method, which is applied to the correction device and comprises the following steps: controlling the positioning component 20 to determine the position information of the workpiece 10 to be corrected; controlling the fixing component 30 to move according to the position information, and enabling the fixing part 31 to be in limit contact with the workpiece 10 to be corrected; the correcting component 40 is controlled to contact with the fixing part 31, and the fixing part 31 drives the workpiece 10 to be corrected to rotate around the deformation point by a preset angle.
Preferably, after the workpiece 10 to be corrected is rotated by a preset angle, the correcting method further comprises: controlling the fixing component 30 to return to the initial position; controlling the positioning component 20 to secondarily determine the position information of the workpiece 10 to be corrected; when the position information is consistent with the preset position information, the workpiece 10 to be corrected is corrected; or, when the position information is inconsistent with the preset position information, controlling the correcting component 40 to perform secondary correction on the workpiece 10 to be corrected.
The correction method of the invention is a method for visual detection and automatic correction of yarn rod deformation, the correction device is a visual correction integrated mechanism, and the specific correction process comprises the following steps:
after a yarn cage 60 with a yarn rod to be detected is conveyed to a detection position, the vision correction integrated mechanism moves to a standard position A; the rotating cylinder rotates to swing the camera external member to a standard position B point, and the camera detects a target yarn rod and yarn rod position C and compares the target yarn rod and the standard position coordinate A point for calculation; and the vision correction integrated mechanism moves from the standard position A to the yarn rod position C according to the relative coordinates in the XY plane obtained by calculation of the A and the C, the camera performs photographing detection again, and the rotating cylinder swings to take the camera back to the original position after no error occurs. Then, the winch works to release the steel wire rope, the loop bar descends to a yarn loop bar position E from an initial position D, and when the loop bar falls to just contact with the yarn bar, the upper end of the loop bar is separated from the loop bar guide frame. The deformation condition of the yarn rod can be known according to the relative coordinates of the A and the C in an XY plane, external force required for correcting deformation can be obtained through mechanical analysis, data are fed back to a control system to control a hydraulic cylinder to act in a synergistic mode, different displacements are extended out, and the correction state is kept according to the calculation result and the set time, so that the deformation condition of the yarn rod is corrected.
After the yarn rod is corrected, the winch works to tighten the steel wire rope, and the loop bar rises to the initial position D. Completing the detection and correction work of one yarn rod; the vision correction integrated mechanism moves to a standard position A, the camera suite swings to a standard position B again to detect the yarn pole, if the detection result is qualified, the next yarn pole is detected and corrected, and if the detection result is unqualified, the yarn pole is detected and corrected again. And repeating the correction process until all the yarn rods of the yarn cage 60 are detected and corrected, and finishing the yarn rod detection and correction work of the whole yarn cage 60.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the correcting device of the invention can quickly correct the workpiece 10 to be corrected through the positioning assembly 20, the fixing assembly 30 and the correcting assembly 40. In the specific correction process, the positioning component 20 determines the position information of the workpiece 10 to be corrected, the fixing component 30 adjusts the position to enable the fixing part 31 to be in limit contact with the workpiece 10 to be corrected, at least part of the correcting component 40 moves to be in contact with the fixing part 31, and the workpiece 10 to be corrected is driven to rotate around the deformation point by a preset angle through the fixing part 31 until the workpiece 10 to be corrected is corrected. The correcting device can automatically correct the workpiece to be corrected 10 through the mutual matching of the positioning component 20, the fixing component 30 and the correcting component 40, and solves the problem of low automation degree of yarn rod correction in the prior art.
The correcting device adopts an integrated design scheme of visual detection and automatic correction of yarn rod deformation, can obtain accurate yarn rod deformation, can obtain detailed correction force and correction time after mechanical analysis, and controls the hydraulic cylinder to automatically correct the deformed yarn rod by the servo valve after the data are fed back to the system. The problem of yarn pole deformation is corrected to the integration ration by vision, has liberated manpower resources simultaneously, has improved the efficiency that the yarn pole detected, overhauld.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. An orthotic device, for use in orthotic of a workpiece (10) to be orthotic, said workpiece (10) to be orthotic having a point of deformity, said orthotic device comprising:
a positioning assembly (20), wherein the positioning assembly (20) is used for determining the position information of the workpiece (10) to be corrected;
the fixing component (30) and the positioning component (20) are arranged at intervals, the fixing component (30) comprises a fixing part (31), and the fixing part (31) is used for being in limit contact with the workpiece (10) to be corrected;
the correcting component (40) is at least partially movably arranged to be in contact with the fixing part (31) and drive the workpiece (10) to be corrected to rotate around the deformation point by a preset angle through the fixing part (31);
the workpiece (10) to be corrected comprises a deformation section (11), and the deformation section (11) is positioned above the deformation point; wherein the fixing part (31) is movably arranged, so that the extending direction of the fixing part (31) is consistent with the extending direction of the deformation section (11) after the fixing part (31) is in limited contact with the workpiece (10) to be corrected;
the securing assembly (30) further comprises: a first drive unit (32); the first driving part (32) is connected with one end of the connecting part (33), and the other end of the connecting part (33) is connected with the fixing part (31), so that the first driving part (32) drives the fixing part (31) to move in a direction close to or far away from the deformation section (11) through the connecting part (33); the connecting part (33) is a flexible part, so that the extending direction of the fixing part (31) is consistent with the extending direction of the deformation section (11) after the fixing part (31) is in limited contact with the workpiece (10) to be corrected.
2. The correction device according to claim 1, characterized in that the workpiece (10) to be corrected is a rod body, and the fixing portion (31) is a sleeve rod for being sleeved on the deformation section (11).
3. The orthotic device of claim 1, further comprising a frame (50), said first drive portion (32) being disposed on said frame (50), said connecting portion (33) being a rope, said securing assembly (30) further comprising:
the pulley portion (34), pulley portion (34) set up on frame (50), the rope body sets up on pulley portion (34).
4. The orthotic device of claim 3, wherein said frame (50) is provided with a guide bracket (51), said guide bracket (51) having a guide hole;
when the first driving part (32) drives the fixing part (31) to move in the direction close to the deformation section (11), and after the fixing part (31) is completely separated from the guide hole, the fixing part (31) moves to a preset position where the extending direction of the fixing part (31) is consistent with the extending direction of the deformation section (11).
5. The orthotic device of any one of claims 1 to 4, wherein the positioning assembly (20) comprises:
a vision monitoring part (21), wherein the vision monitoring part (21) is used for acquiring the position information of the workpiece (10) to be corrected;
the control part is connected with the vision monitoring part (21) to receive the position information acquired by the vision monitoring part (21) and control the fixing component (30) to move to a position where the fixing part (31) is opposite to the end part of the workpiece (10) to be corrected according to the position information.
6. The orthotic device of claim 5, further comprising a frame (50), the positioning assembly (20) further comprising:
a rotary drive part (22), the rotary drive part (22) being provided on the frame (50);
the mounting frame (23) is provided with the visual monitoring part (21), the rotary driving part (22) is in driving connection with the mounting frame (23) so that the visual monitoring part (21) can move between an original position and an information acquisition position when the rotary driving part (22) drives the mounting frame (23) to rotate around a preset axis;
when the vision monitoring part (21) is located at the information acquisition position, the vision monitoring part (21) acquires the position information of the workpiece (10) to be corrected and transmits the position information to the control part, and the control part compares the position information with preset position information to determine the moving distance of the fixed component (30).
7. Orthotic device according to any one of claims 1 to 4, characterized in that said orthotic assembly (40) comprises:
a plurality of second driving portions (41), the plurality of second driving portions (41) being provided along a circumferential direction of the fixing portion (31);
the correcting devices (42) are multiple, the second driving devices (41) and the correcting devices (42) are connected in a one-to-one correspondence mode to drive the correcting devices (42) to be in contact with the fixing portion (31), and the workpiece (10) to be corrected is driven to rotate around the deformation point by the preset angle through the fixing portion (31).
8. An orthotic device comprising a robot and an orthotic device, wherein the orthotic device is an orthotic device according to any one of claims 1 to 7, the orthotic device being provided on the robot.
9. A cage straightening device comprising a cage (60) and a straightening device, characterized in that the straightening device is a straightening device according to any one of claims 1 to 7, the workpiece (10) to be straightened being a thread rod of the cage (60), the straightening device being located above the cage (60).
10. An orthotic method, applied to an orthotic device according to any one of claims 1 to 7, the orthotic method comprising:
controlling the positioning component (20) to determine the position information of the workpiece (10) to be corrected;
controlling the fixing component (30) to move according to the position information, and enabling the fixing part (31) to be in limit contact with the workpiece (10) to be corrected;
and controlling the correcting component (40) to be in contact with the fixing part (31), and enabling the fixing part (31) to drive the workpiece (10) to be corrected to rotate around the deformation point by a preset angle.
11. The straightening method according to claim 10, characterized in that after the workpiece (10) to be straightened is rotated by the preset angle, the straightening method further comprises:
controlling the fixing component (30) to return to an initial position;
controlling the positioning component (20) to secondarily determine the position information of the workpiece (10) to be corrected;
when the position information is consistent with the preset position information, the workpiece (10) to be corrected is corrected; or when the position information is inconsistent with the preset position information, controlling the correcting component (40) to perform secondary correction on the workpiece (10) to be corrected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910482272.2A CN110270607B (en) | 2019-06-04 | 2019-06-04 | Correction device, correction equipment, yarn cage correction equipment and correction method |
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| CN201910482272.2A CN110270607B (en) | 2019-06-04 | 2019-06-04 | Correction device, correction equipment, yarn cage correction equipment and correction method |
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| CN110270607B true CN110270607B (en) | 2020-11-10 |
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| DE102011106942A1 (en) * | 2011-07-08 | 2013-01-10 | Wafios Ag | Bending device for rod-shaped workpieces |
| CN203356272U (en) * | 2013-07-18 | 2013-12-25 | 际华三五四二纺织有限公司 | Roving frame flyer and spindle blade straightening tool |
| CN205701948U (en) * | 2016-06-02 | 2016-11-23 | 广州大学 | There is automatization's bender of visualization function |
| CN205684528U (en) * | 2016-06-23 | 2016-11-16 | 浙江嘉兴翔阳金属材料科技有限公司 | Bar twists straight machine |
| CN207846015U (en) * | 2017-12-30 | 2018-09-11 | 鲁泰纺织股份有限公司 | Thread carrier yarn bar means for correcting |
| CN109108607A (en) * | 2018-10-24 | 2019-01-01 | 泰安康平纳机械有限公司 | Yarn bar positioning device |
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