CN115502023B - Automatic line drawing method for basketball shell lines - Google Patents
Automatic line drawing method for basketball shell lines Download PDFInfo
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- CN115502023B CN115502023B CN202211148820.6A CN202211148820A CN115502023B CN 115502023 B CN115502023 B CN 115502023B CN 202211148820 A CN202211148820 A CN 202211148820A CN 115502023 B CN115502023 B CN 115502023B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/02—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to separate articles
- B05C1/027—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to separate articles only at particular parts of the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Abstract
The invention provides an automatic line drawing method for basketball shell lines, and belongs to the technical field of basketball machining. The method comprises four steps of secondary positioning, curve drawing, annular line drawing and material receiving, and further comprises six steps of primary positioning before secondary positioning, material transferring after secondary positioning, three material transferring before curve drawing, annular line drawing and material receiving and idle reset after material receiving. After the manual feeding is positioned for the first time, the basketball is positioned for the second time through the rotation of the basketball, the basketball is transferred into a first clamping rotating mechanism on the rotating mechanism, the basketball is sequentially rotated to a curve groove line drawing mechanism and a curve groove line drawing mechanism to respectively draw a curve and draw two annular lines under the curve groove line drawing mechanism, the rotating mechanism rotates the well drawn basketball to the vicinity of a receiving mechanism to carry out ball receiving and discharging, the first clamping rotating mechanism after discharging is rotated to the next station by the rotating mechanism to wait for positioned basketball feeding, automatic line drawing of a basketball shell is realized, the labor intensity of workers is reduced, and the automatic line drawing machine has the advantages of simplicity in operation, high efficiency and the like.
Description
Technical Field
The invention relates to the technical field of basketball machining, in particular to an automatic line drawing method for basketball shell lines.
Background
After the basketball shell is hot-pressed and formed, the basketball is first inflated to keep full, then black rubber is coated on a groove formed during embossing, at present, the basketball is generally rotated manually by one hand, a painting brush stained with black liquid rubber is held by the other hand to paint stripes on the groove, the working mode of painting stripes is low in efficiency, the labor intensity of workers is high, and the automatic production requirement of the basketball cannot be met.
Disclosure of Invention
The invention aims to solve the problems of the prior art and provide an automatic line drawing device for basketball shell lines, which aims to solve the technical problems of how to automatically and quickly draw stripes of the basketball shell.
The aim of the invention can be achieved by the following technical scheme: an automatic line drawing method for basketball shell lines comprises the following steps:
and (3) secondary positioning: the first air cylinder and the second air cylinder of the second clamping and rotating mechanism on the positioning mechanism respectively drive the first clamping jaw and the second clamping jaw to clamp basketball, and the system controls the servo motor to drive the first clamping jaw and the first air cylinder to drive the basketball to rotate to a proper angle according to the comparison analysis of the position state of the basketball shot by the camera;
drawing a curve: the first ball screw motor on the curve groove drawing mechanism drives the ninth mounting seat to descend and drives the first painting brushes to synchronously descend through the tenth mounting seat and the eleventh mounting seat, so that two pen points of the first painting brushes touch on the basketball curve groove, at the moment, the servo motor of the first clamping rotating mechanism on the lower rotating mechanism starts to cooperate to clamp and slowly rotate the basketball clockwise, meanwhile, the second ball screw motor starts to drive the two connecting rods to move downwards, so that the angles of the two first painting brushes change, meanwhile, the positive and negative double-slider linear module drives the two eleventh mounting seats to move outwards and back to the same distance and at the same speed, in the whole action process, the two first painting brushes are close to the vertical angle with the basketball surface, and when the first painting brushes draw the farthest point of the basketball curve groove, the positive and negative double-slider linear module starts to rotate reversely, and simultaneously the first ball screw motor and the second ball screw motor move upwards to draw the curve reversely, so that the basketball curve can be completely drawn, after the curve groove is completed, the first ball screw motor drives the ninth mounting seat to ascend and drive the basketball balls to rotate to the first clamping mechanism to rotate forwards and rotate at 360 degrees through the first mounting seat, and the first mounting seat is continuously rotated to the first clamping seat is continuously rotated to the first rotating position 360 degrees;
drawing a circular line: a piston rod of a sixth cylinder on the annular groove line drawing mechanism stretches out to drive a second painting brush to contact a first annular groove of a basketball, a servo motor on a first clamping rotating mechanism on a lower rotating mechanism drives the basketball to rotate 360 degrees to finish the line drawing of the first annular groove, a piston rod of a fifth cylinder stretches out to drive a third clamping rotating mechanism to descend, piston rod parts of the first cylinder and the second cylinder stretch out to enable a first clamping jaw and a second clamping jaw to clamp the basketball, piston rod parts of the first cylinder and the second cylinder retract on the first clamping rotating mechanism below to enable the first clamping jaw and the second clamping jaw to loosen the basketball, a servo motor on the third clamping rotating mechanism drives the basketball to rotate 360 degrees to finish the line drawing of the second annular groove, the piston rod parts of the first cylinder and the second cylinder stretch out to enable the first clamping jaw and the second clamping jaw to ascend to reset, and the piston rod parts of the first cylinder and the second cylinder retract to enable the first clamping jaw and the second clamping jaw to loosen the basketball, and the piston rod parts of the fifth cylinder on the third clamping rotating mechanism to drive the third clamping jaw to ascend to reset;
and (3) material receiving: a seventh cylinder piston rod on the receiving mechanism extends to enable the movable frame to extend out and be inserted into the first clamping rotating mechanism on the nearby turntable, piston rod parts of the first cylinder and the second cylinder on the nearby first clamping rotating mechanism retract to enable the first clamping jaw and the second clamping jaw to loosen basketball, the basketball falls on the movable frame and rolls onto the fixed frame along the movable frame, and the seventh cylinder piston rod retracts to enable the movable frame to retract.
Furthermore, before the basketball is rotationally positioned, the positioning method also comprises one-time positioning,
primary positioning: the air tap of the basketball to be traced is manually aligned to the right lower part of the positioning needle, and then the basketball is held by a hand to rise, so that the positioning needle is inserted into the air tap.
Further, after the basketball is secondarily positioned, the basketball further comprises material transfer,
transferring materials: the second linear module on the transfer mechanism drives the fourth cylinder to descend, the third clamping jaw of the piston rod part of the fourth cylinder clamps the basketball, the second linear module drives the clamped basketball to ascend, the first linear module drives the clamped basketball to translate backwards in place, the second linear module drives the clamped basketball to descend into the first clamping rotating mechanism fixed on the turntable below, the first cylinder and the second cylinder respectively drive the first clamping jaw and the second clamping jaw to clamp the basketball, and the piston rod of the fourth cylinder retracts to enable the third clamping jaw to loosen the basketball and then the transfer mechanism resets.
Further, before the curve drawing, the annular line drawing and the material receiving, the material transferring device further comprises a material transferring device for transferring the material: the hollow rotating platform on the rotating mechanism drives the turntable and the first clamping rotating mechanism fixed on the turntable clamps the basketball to rotate anticlockwise by 90 degrees, so that the clamped basketball rotates from the previous station to the current station.
Further, after receiving the materials, the device also comprises idle reset,
idle reset: the hollow rotating platform on the rotating mechanism rotates anticlockwise by 90 degrees to enable the first clamping rotating device without basketball to rotate to the side close to the transferring mechanism.
Compared with the prior art, the invention has the beneficial effects that: after the manual feeding is positioned for the first time, the basketball is positioned for the second time through the rotation of the basketball, the positioned basketball is transferred into a first clamping rotating mechanism on the rotating mechanism, the rotating mechanism then rotates the positioned basketball to a curve groove line drawing mechanism and a position right below an annular groove line drawing mechanism to draw a curve and draw two annular lines respectively, the rotating mechanism rotates the well-drawn basketball to the vicinity of a receiving mechanism to carry out ball receiving and discharging, the first clamping rotating mechanism after discharging is rotated to a next station by the rotating mechanism to wait for the positioned basketball to be fed, automatic line drawing of a basketball shell is realized, and the labor intensity of workers is greatly reduced; the curve groove line drawing mechanism adopts two first brushes to draw lines simultaneously, so that the line drawing efficiency of the curve groove is improved.
Drawings
Fig. 1 and fig. 2 are schematic perspective views of an automatic line drawing device for basketball shell according to an embodiment of the present invention.
Fig. 3 and 4 are schematic perspective views of a rotation mechanism for an automatic line drawing device for basketball shell according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of an initial state of the first clamping and rotating mechanism in fig. 4.
Fig. 6 is a schematic perspective view of the first clamping and rotating mechanism of fig. 4 in a basketball state to be clamped.
Fig. 7 is a schematic perspective view of the first clamping and rotating mechanism of fig. 4 in a basketball clamping state.
Fig. 8 is a schematic perspective view of a positioning mechanism for an automatic line drawing device for basketball shells according to an embodiment of the present invention.
Fig. 9 is a schematic perspective view of a visual positioning assembly for a basketball shell automatic line-tracing device according to an embodiment of the invention.
Fig. 10 is a schematic perspective view of a transfer mechanism for an automatic line tracing device for basketball shells according to an embodiment of the present invention.
FIG. 11 is a schematic perspective view of an initial state of a curved slot tracing mechanism for an automatic tracing device for basketball shell lines according to an embodiment of the invention.
Fig. 12 is a schematic perspective view of a first brush maximum opening angle state of a curved slot tracing mechanism for an automatic tracing device for basketball shell lines according to an embodiment of the invention.
FIG. 13 is a schematic perspective view of an initial tracing state of a curved slot tracing mechanism for an automatic tracing device for basketball shell lines according to an embodiment of the invention.
Fig. 14 is a schematic perspective view of a curve slot of a basketball curve slot machine for automatically tracing lines on a basketball shell according to an embodiment of the invention.
Fig. 15 and 16 are schematic perspective views of the annular groove tracing mechanism of the device from different angles.
Fig. 17 is a schematic perspective view showing an initial state of a receiving mechanism for an automatic line drawing device for basketball shells according to an embodiment of the present invention.
Fig. 18 is a schematic perspective view showing a state that a moving frame of a receiving mechanism for an automatic line drawing device for basketball shell is extended.
FIG. 19 is a flowchart illustrating steps performed by an embodiment of the present invention.
100, a rack; 101. a deck plate; 1011. a rectangular notch;
200. a rotation mechanism; 201. a first mount; 202. a hollow rotating platform; 203. a turntable; 2040. a first clamping and rotating mechanism; 2041. a second mounting base; 2042. a first cylinder; 2043. a second cylinder; 2044. a first sliding mount; 2045. the second sliding mounting seat; 2046. a servo motor; 2047. a coupling; 2048. a first jaw; 2049. a second jaw;
30. a positioning mechanism; 310. a second clamping and rotating mechanism; 3110. a mounting assembly; 3111. a third mount; 3112. a fourth mount; 3113. a first mounting frame; 32. a fifth mount; 33. a third cylinder; 34. a positioning needle;
400. a visual positioning assembly; 401. a sixth mounting base; 402. a first fine tuning platform; 403. a seventh mount; 404. a second fine tuning platform; 405. a light source; 406. an eighth mount; 407. a camera; 408. a lens;
500. a transfer mechanism; 501. a second mounting frame; 5020. a two-axis moving unit; 5021. a first linear module; 5022. a third mounting frame; 5023. a second linear module; 5024. a fourth mounting bracket; 503. a fourth cylinder; 504. a third jaw;
600. a curve groove line drawing mechanism; 601. a fifth mounting bracket; 602. a first ball screw motor; 603. a ninth mount; 604. a second ball screw motor; 605. a third sliding mount; 606. a straight line module with double sliding blocks for positive and negative teeth; 607. a connecting plate; 608. a connecting rod; 609. a tenth mount; 610. an eleventh mount; 6101. an arc-shaped groove; 611. a first rotating shaft; 612. a second rotating shaft; 6121. a roller; 613. a first brush;
700. an annular groove line drawing mechanism; 701. a sixth mounting bracket; 702. a fifth cylinder; 703. a fourth sliding mount; 704. a sixth cylinder; 705. a twelfth mount; 706. a second brush; 7070. a third clamping and rotating mechanism; 7071. a thirteenth mount;
800. a receiving mechanism; 801. a fixing frame; 802. a moving rack; 803. a seventh cylinder;
900. basketball; 901. an air tap; 902. a first annular groove; 903. a second annular groove; 904. and (5) a curved groove.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1-2, the machine frame 100 comprises a machine frame 100, a rotating mechanism 200 fixed in the middle of the machine frame 100, a positioning mechanism 30 and a visual positioning assembly 400 fixed in the right upper front of the machine frame 100, a transfer mechanism 500, a curved groove line drawing mechanism 600, an annular groove line drawing mechanism 700 and a material receiving mechanism 800 which are sequentially fixed on the periphery of the machine frame 100 according to the right back left front order, wherein the machine frame 100 comprises a fixed table board 101 for installing all functional mechanisms or assemblies, and one side of the table board 101 is provided with a rectangular notch 1011 so as to be convenient for feeding by sitting manually.
As shown in fig. 3 to 4, the rotating mechanism 200 includes a first mounting seat 201 fixed above the middle of the frame 100, a hollow rotating platform 202 fixed on the first mounting seat 201, a turntable 203 fixed on the hollow rotating platform 202, four first clamping rotating mechanisms 2040 fixed on the periphery of the turntable 203, and the hollow rotating platform 202 is used for driving the four first clamping rotating mechanisms 2040 on the turntable 203 to rotate by 90 °. As shown in fig. 8, the positioning mechanism 30 comprises a second clamping and rotating mechanism 310 fixed on the frame 100, a fifth mounting seat 32 fixed on the clamping and rotating mechanism 310, a third air cylinder 33 fixed on the fifth mounting seat 32, and a positioning needle 34 fixed on the piston rod part of the third air cylinder 33, wherein the positioning needle 34 extends along with the piston rod part of the third air cylinder 33 so as to facilitate the insertion of the basketball air nozzle manually; the retraction of the piston rod of the third cylinder 33 facilitates the withdrawal of the positioning pin 34 after positioning of the basketball, and the first clamping and rotating mechanism 2040 can clamp and rotate the basketball 900 to any angle.
As shown in fig. 9, the visual positioning assembly 400 includes a sixth mount 401 fixed on the panel 101, a first fine adjustment platform 402 fixed on a side of the sixth mount 401, a seventh mount 403 fixed on a movable plate of the first fine adjustment platform 402, a second fine adjustment platform 404 and a light source 405 fixed on the seventh mount 403, an eighth mount 406 fixed on a movable plate of the second fine adjustment platform 404, a camera 407 fixed on the eighth mount 406, a lens 408 screwed with the camera 407, a front end of the lens 408 is fixed on the seventh mount 403, the first fine adjustment platform 402 is used for fine adjustment of an up-down displacement of the camera 407, the second fine adjustment platform 404 is used for fine adjustment of a front-back displacement of the camera 407 and the lens 408, the visual positioning assembly 400 is used for shooting a basketball 900 state on the positioning mechanism 30 and feeding back to a computer system for analysis operation, and then a servo motor 2046 on the positioning mechanism 30 is controlled to drive a first clamping jaw 2048 to rotate the basketball 900 to a proper angle so as to set up a curve position of the basketball 900.
As shown in fig. 10, the transfer mechanism 500 includes a second mounting frame 501, a two-axis moving unit 5020 fixed on the second mounting frame 501, two fourth cylinders 503 fixed on the two-axis moving unit 5020, a third clamping jaw 504 fixed on a piston rod portion of the fourth cylinder 503, and two third clamping jaws (504) are coaxial, the two-axis moving unit 5020 includes a first linear module 5021, a third mounting frame 5022 fixed on a moving plate of the first linear module 5021 and slidably connected with the second mounting frame 501, a second linear module 5023 vertically fixed on the third mounting frame 5022, and a fourth mounting frame 5024 fixed on a moving plate of the second linear module 5023, and the two-axis moving unit 5020 has a horizontal moving function and a vertical moving function, and the transfer mechanism 500 is used for clamping and moving the positioned basketball 900 onto the first clamping and rotating mechanism 2040 near one side of the transfer mechanism 500.
As shown in fig. 11 to 12, the curved groove tracing mechanism 600 includes a fifth mounting bracket 601 fixed to the deck plate 101, a first ball screw motor 602 vertically fixed to the upper front of the fifth mounting bracket 601, a ninth mounting plate 603 fixed to the screw mount of the first ball screw motor 602, a second ball screw motor 604 vertically fixed to the upper front of the ninth mounting plate 603, a third slide mount 605 vertically slidably connected to the ninth mounting plate 603, a double-slider straight line die set 606 horizontally fixed to the lower front of the ninth mounting plate 603, a connection plate 607 fixedly connecting the screw mount of the second ball screw motor 604 and the third slide mount 605, two connecting rods 608 rotatably connected to the lower front of the third slide mount 605, two tenth mounts 609 fixed to the sliders of the double-slider straight line die set 606, an eleventh mount 610 fixed to the tenth mount 609, the first rotating shaft 611 rotatably connected to the eleventh mounting seat 610, the second rotating shaft 612 rotatably connected to the other end of the connecting rod 608, and the first brush 613 fixed to the other end of the second rotating shaft 612, wherein the middle part of the first brush 613 is fixed to the second rotating shaft 612, the eleventh mounting seat 610 is provided with a through arc groove 6101, the middle part of the second rotating shaft 612 is provided with a roller 6121, the second rotating shaft 612 penetrates through the eleventh mounting seat 610, the roller 6121 is arranged in the arc groove 6101, the first ball screw motor 602 is used for driving the two first brushes 6013 to move up and down, and the second ball screw motor 604 is used for controlling the inclination angles of the two first brushes 6013, so that the first brushes 6013 are perpendicular to the curve grooves 904 on the basketball 900 as much as possible, and the drawn curve lines are as uniform as possible.
As shown in fig. 15 to 16, the annular groove line drawing mechanism 700 includes a sixth mounting bracket 701 fixed to the deck plate 101, a fifth cylinder 702 fixed to one side of an inner cavity above the sixth mounting bracket 701, two fourth slide mounts 703 slidably connected to the inner cavity above the sixth mounting bracket 701, a sixth cylinder 704 fixed to the other side of the inner cavity above the sixth mounting bracket 701, a twelfth mount 705 fixed to a piston rod portion of the sixth cylinder 704, a second brush 706 fixed to the twelfth mount 705 at a middle portion thereof, a third clamp rotation mechanism 7070 fixed to a lower portion of the two fourth slide mounts 703, a piston rod portion of the fifth cylinder 702 being fixed to the third clamp rotation mechanism 7070, the fifth cylinder 702 being for driving the third clamp rotation mechanism 7070 to rise or fall, the sixth cylinder being for driving the second brush 706 to rise or fall.
The third clamping and rotating mechanism 7070 has the same function as the first clamping and rotating mechanism 2040 and the second clamping and rotating mechanism 310, and is used for clamping and rotating the basketball 900, and as shown in fig. 5 to 7, the third clamping and rotating mechanism 7070 comprises a mounting seat, a first cylinder 2042 and a second cylinder 2043 fixed on two sides above the mounting seat, a first sliding mounting seat 2044 and a second sliding mounting seat 2045 which are connected to the mounting seat in a sliding manner, a servo motor 2046 fixed on the first sliding mounting seat 2044, a coupler 2047 fixed on an output shaft of the servo motor 2046, a first clamping jaw 2048 connected to the first sliding mounting seat 2044 in a rotating manner, a second clamping jaw 2049 connected to the second sliding mounting seat 2045 in a rotating manner, shaft ends of the first clamping jaw 2048 are fixed in the coupler 2047, and the first clamping jaw 2048 is coaxial with the second clamping jaw 2049. The difference is that, as shown in fig. 8, the axis of the second clamping jaw 2049 on the second clamping and rotating mechanism 310 is penetrated by the positioning needle 34; as shown in fig. 15 to 16, a thirteenth mount 7071, which is a mount of the third clamping and rotating mechanism 7070, is penetrated by the second brush 706; as shown in fig. 8, the mounting base of the second clamping and rotating mechanism 310 is a mounting assembly 3110, the mounting assembly 3110 includes a third mounting base 3111 and two fourth mounting bases 3112 fixed to the lower deck 101, and a first mounting bracket 3113 fixed to the deck 101, a first cylinder 2042 is fixed to the third mounting base 3111, a second cylinder 2043 is fixed to the first mounting bracket 3113, a first sliding mounting base 2044 is slidably connected to the fourth mounting base 3112, and a second sliding mounting base 2045 is slidably connected to the first mounting bracket 3113.
As shown in fig. 17 to 18, the receiving mechanism 800 includes a fixed frame 801 fixed to the deck plate 101, a movable frame 802 slidably connected to the fixed frame 801, a seventh cylinder 803 swingably connected to the deck plate 101, a piston rod portion of the seventh cylinder 803 being connected to a lower portion of the movable frame 802, and a piston rod portion of the seventh cylinder 803 extending out to drive the movable frame 802 to be inserted into a nearby first clamping and rotating mechanism 2040 for blanking the basketball 900 after line drawing.
As shown in fig. 19, the step flow chart includes primary positioning, secondary positioning, material transfer 1, curve drawing, material transfer 2, loop drawing, material transfer 3, material receiving and idle reset, and specifically includes the following steps: before use, except that the piston rod part of the third cylinder 33 is in an extending state, the piston rods of the other cylinders are in a retracting state, and the use is specifically as follows:
s1: primary positioning: the air tap 901 of the basketball 900 to be traced is manually aligned with the right lower part of the positioning needle 34, and then the basketball 900 is held by hand and lifted, so that the positioning needle 34 is inserted into the air tap 901.
S2: and (3) secondary positioning: the piston rod parts of the first cylinder 2042 and the second cylinder 2043 on the second clamping and rotating mechanism 310 are extended to enable the first clamping jaw 2048 and the second clamping jaw 2049 to tightly clamp the basketball 900, the piston rod part of the third cylinder 33 is retracted, the positioning needle 34 is pulled out of the air tap 901 of the basketball 900, the visual positioning assembly 400 shoots the position state of the basketball 900 through the camera 407 and feeds the position state back to a computer system, and the computer system calculates and controls the servo motor 2046 on the second clamping and rotating mechanism 310 to enable the basketball 900 to rotate to a proper angle.
S3: transferring materials: the second linear module 5023 on the transfer mechanism 500 drives the third jaw 504 to descend to the basketball 900 in place, the fourth cylinder 503 drives the third jaw 504 to clamp the basketball 900, the first cylinder 2042 and the piston rod portions of the second cylinder 2043 on the second clamp rotary mechanism 310 retract, the second linear module 5023 on the transfer mechanism 500 drives the clamped basketball 900 to ascend into place, the first linear module 5021 drives the clamped basketball 900 to translate back into place, the second linear module 5023 drives the clamped basketball 900 to descend into the first clamp rotary mechanism 2040 directly below, the piston rod portions of the first cylinder 2042 and the second cylinder 2043 of the first clamp rotary mechanism 2040 extend to clamp the basketball 900, the fourth cylinder piston rod retract to unclamp the third jaw 504, and the transfer mechanism 500 resets to the state shown in fig. 10.
S4: transfer 1: the rotation of the hollow rotation platform 202 by 90 counter-clockwise as viewed in fig. 1 causes the basketball to be traced 900 to rotate directly under the curved slot tracing mechanism 600.
S5: drawing a curve: the first ball screw motor 602 drives the ninth mounting plate 603 to descend, so that the nibs of the two first brushes 613 touch the curved groove 904 of the basketball 900, the state is shown in fig. 13, at this time, the servo motor 2046 of the first clamping rotating mechanism 2040 below starts to cooperate to clamp the basketball 900 and rotate slowly clockwise as shown in fig. 2, meanwhile, the second ball screw motor 604 starts to drive the two connecting rods 608 to move downwards, the angles of the two first brushes 613 change, meanwhile, the positive and negative double-slider linear module 606 drives the two eleventh mounting seats 610 to move outwards and away from the same speed, in the whole action process, the two first brushes 613 and the surface of the basketball 900 are close to the vertical angle, the state is shown in fig. 14, the positive and negative double-slider linear module 606 starts to rotate reversely when the first ball screw motor 602 and the second ball screw motor 604 move upwards simultaneously, the curve of the basketball 900 can be completely traced, and after the curve is completed, the first ball screw motor 602 and the second ball screw motor 604 rotate continuously to the position 2046 in front, and the position of the positive and negative double-slider linear module 606 is reset, and the basketball 900 can rotate continuously, and the curve can be completely traced after the curve is completed, the position of the basketball 900 is recovered, and the position of the first ball screw motor 602 is reset, and the position of the first ball screw motor 604 is rotated continuously, and the position is rotated continuously, and the left, and the basketball 900 is rotated.
S6: transferring material 2: the hollow rotation platform 200 is rotated 90 counter-clockwise as viewed in fig. 1 to rotate the ring-shaped line to be traced basketball 900 directly beneath the ring-shaped line tracing mechanism 700.
S7: drawing a circular line: the piston rod of the sixth cylinder 704 extends to drive the second brush 706 into contact with the first annular groove 902 of the basketball 900, the servo motor 2046 on the lower first clamp-and-rotate mechanism 2040 drives the basketball 900 to rotate 360 ° clockwise as shown in fig. 1 and 2, the first annular groove 902 is completed, the piston rod of the fifth cylinder 702 extends to drive the third clamp-and-rotate mechanism 7070 to descend, the piston rod portions of the first and second cylinders 2042 and 2043 on the third clamp-and-rotate mechanism 7070 extend to clamp the basketball 900, the piston rod portions of the first and second cylinders 2042 and 2043 on the lower first clamp-and-rotate mechanism 2040 retract to unclamp the first and second clamp-and-rotate jaws 2048 and 2049 from the basketball 900, the servo motor 2046 on the third clamp-and-rotate mechanism 7070 drives the basketball 900 to rotate 360 ° clockwise as shown in fig. 16, the piston rod retraction of the sixth cylinder 704 drives the second clamp-and-rotate mechanism 7070 to descend, the piston rod portions of the lower first and second cylinder 2042 and 2043 on the first clamp-and second cylinder 2040 drive the first and second clamp-and-rotate jaws 2048 to retract to unclamp the first and second cylinder 2048 and the first cylinder 2049 on the lower first and lower first clamp-and lower cylinder 2040 to retract to unclamp-and the first cylinder 2048 and the first cylinder 2043.
S8: transferring material 3: the hollow rotation platform 202 is rotated 90 counter-clockwise as viewed in FIG. 1 to rotate the line drawing basketball 900 to the side of the receiving mechanism 800.
S9: and (3) material receiving: extension of the piston rod of the seventh cylinder 803 on the receiving mechanism 800 extends the movable frame 802 and inserts it into the first clamp rotary mechanism 2040 on the adjacent turntable 203, retraction of the piston rod portions of the first cylinder 2042 and the second cylinder 2043 on the adjacent first clamp rotary mechanism 2040 causes the first clamp jaw 2048 and the second clamp jaw 2049 to release the basketball 900, the basketball 900 falls onto the movable frame 802 and rolls along the movable frame 802 onto the fixed frame 801, and retraction of the piston rod of the seventh cylinder 803 causes the movable frame 802 to retract.
S10: idle reset: the hollow rotation platform 202 is rotated 90 counter-clockwise as viewed in fig. 1 to rotate the first clamp rotation device 900 of the basketball goal 900 to a side proximate to the transfer mechanism 500.
Thus, the line drawing, feeding and discharging actions of the basketball 900 shell are completed, and the continuous operation can be realized by reciprocating.
The advantages are that: manually aligning the air tap 901 of the basketball 900 with the positioning needle 34, after the positioning needle 34 is inserted into the air tap 901, clamping the positioning mechanism 30 and rotating the basketball 900 to a proper angle according to feedback of the visual positioning assembly 400, moving the positioned basketball 900 to a first clamping rotating mechanism 2040 on the rotating mechanism 200 by the transferring mechanism 500, rotating the clamped basketball 900 to the position below the curve groove tracing mechanism 600 by the rotating mechanism 200, tracing the basketball 900 by the curve groove tracing mechanism 600 matched with the first clamping rotating mechanism 2040 below, rotating the basketball 900 by the rotating mechanism 200 to the position below the annular groove tracing mechanism 700, tracing two annular lines of the basketball 900 by the annular groove tracing mechanism 700 matched with the first clamping rotating mechanism 2040 below, rotating the basketball 900 by the rotating mechanism 200 to the position near the receiving mechanism 800, and connecting the basketball 900 by the first clamping rotating mechanism 2040 nearby to the fixing frame 801 by the receiving mechanism 800, thereby realizing automatic tracing production of the outer shell line of the basketball 900, and further reducing the labor intensity of workers; in addition, when drawing a curve on the curve groove 904, two first brushes 613 are used for drawing simultaneously, so that the curve drawing speed is increased.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The automatic line drawing method for the basketball shell line is characterized by comprising the following steps of:
and (3) secondary positioning: a first cylinder (2042) and a second cylinder (2043) of a second clamping and rotating mechanism (310) on the positioning mechanism (300) respectively drive a first clamping jaw (2048) and a second clamping jaw (2049) to clamp basketball, and the system controls a servo motor (2046) to drive the first clamping jaw (2048) and the first cylinder (2042) to drive the basketball to rotate to a proper angle according to comparison analysis of the position state of the basketball shot by a camera (407);
drawing a curve: the first ball screw motor (602) on the curve groove line drawing mechanism (600) drives the ninth installation seat (603) to descend and drive the first painting brushes (613) to synchronously descend through the tenth installation seat (609) and the eleventh installation seat (610), so that the pen points of the two first painting brushes (613) touch on the basketball curve groove, at the moment, the servo motor (2046) of the first clamping rotating mechanism (2040) on the lower rotating mechanism (200) starts to cooperate to clamp and slowly rotate the basketball, the second ball screw motor (604) starts to drive the two connecting rods (608) to move downwards, the angles of the two first painting brushes (613) are changed, meanwhile, the positive and negative double-slider linear module (606) drives the two eleventh installation seats (610) to move outwards back to the same speed, in the whole action process, the two first painting brushes (613) approach vertical angles to the most distant point of the basketball curve groove, the positive and negative double-slider linear motor (606) starts to reversely move upwards through the first ball screw (608), the first painting screws (602) can be completely moved upwards through the first ball screw (613) and the first installation seat (602) is completely moved upwards simultaneously, a servo motor (2046) of the first clamping and rotating mechanism (2040) below drives the clamped basketball to continue rotating, so that the basketball finishes 360-degree rotation and returns to the position before tracing;
drawing a circular line: a sixth cylinder (704) piston rod on the annular groove profiling mechanism (700) extends to drive a second brush (706) to contact a basketball ball in a first annular groove of the basketball ball, a servo motor (2046) on a first clamping and rotating mechanism (2040) on a lower rotating mechanism (200) drives the basketball ball to rotate 360 degrees to complete the first annular groove profiling, a fifth cylinder (702) piston rod extends to drive a third clamping and rotating mechanism (7070) to descend, piston rod parts of the first cylinder (2042) and the second cylinder (2043) on the third clamping and rotating mechanism (7070) extend to clamp the basketball ball, piston rod parts of the first cylinder (2048) and the second cylinder (2049) on the lower first clamping and rotating mechanism (2040) retract to enable the first cylinder (2048) and the second cylinder (2049) to loosen, a servo motor (6) on the third clamping and rotating mechanism (7070) drives the basketball ball to rotate 360 degrees to complete the second profiling, piston rod parts of the first cylinder (2042) and the second cylinder (2043) on the upper clamping and rotating mechanism (2040) on the lower first clamping and rotating mechanism (2040) to retract to enable the first clamping and second cylinder (2048) and the first piston rod (2049) to clamp the basketball ball to clamp and extend to clamp the basketball ball, the piston rod parts of the first cylinder (2042) and the second cylinder (2043) on the third clamping and rotating mechanism (7070) are retracted to enable the first clamping jaw (2048) and the second clamping jaw (2049) to loosen basketball, and the piston rod of the fifth cylinder (702) is retracted to drive the third clamping and rotating mechanism (7070) to ascend and reset;
and (3) material receiving: a seventh cylinder (803) piston rod on the receiving mechanism (800) extends to enable the movable frame (802) to extend and be inserted into a first clamping and rotating mechanism (2040) on the nearby turntable (203), a piston rod portion of a first cylinder (2042) and a piston rod portion of a second cylinder (2043) on the nearby first clamping and rotating mechanism (2040) are retracted to enable a first clamping jaw (2048) and a second clamping jaw (2049) to loosen basketball, the basketball falls onto the movable frame (802) and rolls onto the fixed frame (801) along the movable frame (802), and the piston rod of the seventh cylinder (803) is retracted to enable the movable frame (802) to retract.
2. The method for automatically tracing a line on a basketball shell according to claim 1, further comprising positioning the basketball shell once before the basketball shell is rotated and positioned,
primary positioning: the air tap of the basketball to be traced is manually aligned with the position needle (34) and then the basketball is held by hand to rise so that the position needle (34) is inserted into the air tap.
3. The method for automatically tracing a line on a basketball shell according to claim 1, further comprising transferring material after the basketball is positioned twice,
transferring materials: a second linear module (5023) on the transferring mechanism (500) drives a fourth cylinder (503) to descend, a third clamping jaw (504) of a piston rod part of the fourth cylinder (503) clamps a basketball, the second linear module (5023) drives the clamped basketball to ascend, the first linear module (5021) drives the clamped basketball to translate backwards to the right position, the second linear module (5023) drives the clamped basketball to descend into a first clamping rotating mechanism (2040) fixed on the turntable (203) below, the first cylinder (2042) and the second cylinder (2043) respectively drive a first clamping jaw (2048) and a second clamping jaw (2049) to clamp the basketball, and the piston rod of the fourth cylinder (503) retracts to enable the third clamping jaw (504) to reset the transferring mechanism (500) after the basketball is loosened.
4. The automatic line drawing method for basketball shell according to claim 1, further comprising material transferring before the line drawing, the ring drawing and the material receiving,
material transferring: a hollow rotating platform (202) on the rotating mechanism (200) drives a turntable (203) and a first clamping rotating mechanism (2040) fixed on the turntable (203) to clamp the basketball to rotate anticlockwise by 90 degrees, so that the clamped basketball rotates from the last station to the current station.
5. The automatic line drawing method for basketball shell according to claim 1, further comprising idling reset after receiving material,
idle reset: a hollow rotation platform (202) on the rotation mechanism (200) rotates 90 degrees counterclockwise to rotate the basketball-free first clamping rotation mechanism (2040) to a side adjacent to the transfer mechanism (500).
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| CN202211148820.6A CN115502023B (en) | 2022-09-20 | 2022-09-20 | Automatic line drawing method for basketball shell lines |
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| CN202211148820.6A CN115502023B (en) | 2022-09-20 | 2022-09-20 | Automatic line drawing method for basketball shell lines |
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| CN115502023B true CN115502023B (en) | 2023-06-27 |
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| Publication number | Publication date |
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| CN115502023A (en) | 2022-12-23 |
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