WO2020042210A1 - 一种绣花机智能换底线机器人及自动换底线方法 - Google Patents

一种绣花机智能换底线机器人及自动换底线方法 Download PDF

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Publication number
WO2020042210A1
WO2020042210A1 PCT/CN2018/104456 CN2018104456W WO2020042210A1 WO 2020042210 A1 WO2020042210 A1 WO 2020042210A1 CN 2018104456 W CN2018104456 W CN 2018104456W WO 2020042210 A1 WO2020042210 A1 WO 2020042210A1
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WO
WIPO (PCT)
Prior art keywords
bobbin
bobbin case
machine
board
wrist
Prior art date
Application number
PCT/CN2018/104456
Other languages
English (en)
French (fr)
Inventor
徐海苗
Original Assignee
诸暨轻工时代机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 诸暨轻工时代机器人科技有限公司 filed Critical 诸暨轻工时代机器人科技有限公司
Publication of WO2020042210A1 publication Critical patent/WO2020042210A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05C—EMBROIDERING; TUFTING
    • D05C13/00—Auxiliary devices incorporated in embroidering machines, not otherwise provided for; Ancillary apparatus for use with embroidering machines

Definitions

  • the invention relates to the field of textile equipment, in particular to an intelligent bottom thread changing robot for an embroidery machine and an automatic bottom thread changing method.
  • the bottom line of the computer embroidery machine in use is composed of the bobbin case and the bobbin.
  • the bobbin case (bobbin) needs to be replaced. Now all of them are replaced manually.
  • the embroidery machine should be completed in the stopped state.
  • the single head of the embroidery machine needs to be stopped for 12 to 20 minutes every day to replace the bobbin case (bobbin).
  • changing the bobbin case (bobbin) of the multi-head machine will consume a lot of downtime and reduce production. Efficiency, reducing the production of embroidery machines.
  • the bobbin case Due to the special structure of the embroidery machine, the bobbin case (bobbin) has less space for replacement and requires manual squatting for replacement, high labor intensity and low production efficiency; 2.
  • the applicant The existing patent number is 201721182900.8, and the patent name is a mechanical device for automatically changing the bobbin case on a computerized embroidery machine, but the existing automatic bobbin case mechanical device still needs to manually extract the empty bobbin case and the bobbin case. When the bobbin case is full, it is impossible to further reduce personnel, reduce labor intensity, and improve production efficiency.
  • the present invention is to solve the problems of low automation degree of embroidery machine equipment, low production efficiency and high labor intensity in the existing embroidery production process.
  • an intelligent bottom thread changing robot for an embroidery machine which includes a mechanical device for automatically changing the bobbin case.
  • the mechanical device for automatically changing the bobbin case is provided with a lower frame, and the lower frame is provided with a shuttle.
  • Shell bobbin mounting base the robot further includes a walking trolley, a spare bobbin case storage device, a bobbin case conveying device, and a positioning control device;
  • the walking trolley includes a box body and a working table provided on the box body;
  • the bobbin case conveying device includes a rotary device connected to the worktable, a plurality of auxiliary mechanical arms connected in turn to the rotary device, and a bobbin case bobbin plate grasping mechanism provided at the rear end of the mechanical arm.
  • the number of the robotic arms is multiple, and the joints of the robotic arms connected to the slewing device are movable connections, the robotic arms can swing up and down about the central axis, and the joints of the interconnected robotic arms are movable and can move around the center.
  • the shaft swings up and down;
  • the bobbin case bobbin gripping mechanism includes a machine wrist, a palm rotation motor provided on the machine wrist, and a palm of the machine connected to the output shaft end of the palm rotation motor.
  • the walking cart further includes a walking driving mechanism, a walking guide system and an anti-collision self-stop system provided in the box.
  • the walking driving mechanism includes at least two sets of walking wheels and a walking driving motor provided below the walking cart. At least one group of the central axis of the traveling wheel is connected to the output shaft end of the traveling driving motor, and the anti-collision self-stop system includes an ultrasonic ranging sensor provided around the traveling cart.
  • the positioning control device includes a main control board, a grayscale sensing module, a visual recognition module, a laser emitting module, and a display screen on a workbench, the grayscale sensing module, The visual recognition module, laser emitting module, and display screen are all electrically connected to the main control board.
  • a gray sensor is provided at the bottom of the walking cart, and the gray sensor module is electrically connected to the gray sensor.
  • a vision probe is provided on the robot arm, the vision probe is electrically connected to the vision recognition module, the bobbin case bobbin board grasping mechanism is provided with a laser transmitter, and the laser transmitter and the laser transmission module are electrically connected. connection.
  • the spare bobbin case storage device is disposed on a workbench and includes a plurality of auxiliary bobbin case storage plates.
  • the bobbin case storage plate is provided with a bobbin plate mounting position, and the bobbin A bobbin case mounting through hole is provided in the board mounting position, and a laser positioning hole and a permanent magnet are provided beside the bobbin case mounting through hole in the bobbin plate mounting position on the bobbin case storage board.
  • the bobbin case storage plate is a plurality of pairs, and the plurality of bobbin case storage plates are sequentially arranged in a ring shape, and the plurality of bobbin case storage plates are rotatable about a central axis.
  • an upper fixed disk is provided at the upper end of the plurality of bobbin case storage plates
  • a lower fixed disk is provided at the lower end thereof
  • a disk drive mechanism is provided at the center of the upper fixed disk and the lower fixed disk.
  • the disk drive mechanism includes a disk drive motor connected to the central axis of the upper fixed disk and the lower fixed disk, the lower end of the bobbin case storage plate is movably connected to the lower fixed disc, and the bobbin case storage plate The upper end is detachably connected with the upper fixed disc.
  • a fixed disk base is provided below the lower fixed disk, the lower fixed disk and the fixed disk base are detachably connected, and the fixed disk base is provided on the workbench.
  • the disc drive motor is arranged below the worktable.
  • the upper fixing disc is provided with a resettable fixing hook device near the edge, the upper fixing disc is provided with a fixing hook positioning hole, and the fixing hook is provided in the fixing hook positioning hole.
  • the middle diameter dimension of the fixing hook is smaller than the inner diameter dimension of the fixing hook positioning hole.
  • the outer diameter dimension of the upper end of the fixing hook is larger than the inner diameter dimension of the fixing hook positioning hole.
  • a limiting sleeve is provided between the upper end of the fixing hook and the upper fixing disc.
  • the length dimension is larger than the thickness dimension of the upper fixed disc.
  • the lower end of the fixed hook is provided with a fixed head.
  • the outer diameter dimension of the upper end of the fixed head is greater than the middle diameter dimension of the fixed hook.
  • a spring is provided on the outer periphery of the fixed hook below the upper fixed disc.
  • the slewing device includes a slewing table and a slewing table driving motor, the slewing table driving motor is disposed below the table, and the slewing table is disposed above the table and can rotate around a plane. Rotating 360 °, a rotary shaft is arranged in the middle of the rotary table, and the rotary shaft driving motor is connected below the rotary shaft.
  • the robot arm includes a robot arm and a robot arm, and the robot arm is provided with a robot arm drive mechanism.
  • the robot arm drive mechanism includes a robot arm drive motor and is connected to an output shaft end of the robot arm drive motor.
  • the transmission mechanism includes a driving wheel, a passive wheel, and a transmission device connected to the driving wheel and the passive wheel.
  • the output arm end of the mechanical arm driving motor is connected to the driving wheel.
  • the driving mechanism of the mechanical arm includes a machine.
  • the rotary table is connected to the machine arm, and a machine arm drive mechanism is provided at the connection; the rear end of the machine arm is connected to the machine arm, and the connection is provided with A machine arm driving mechanism, wherein the rear end of the machine arm is connected with a machine wrist, and a machine wrist driving mechanism is provided at a connection point.
  • the machine boom drive mechanism includes a machine boom drive motor, a machine boom drive mechanism connected to an output shaft end of the machine boom drive motor, and the machine boom drive mechanism includes a machine boom drive wheel, Machine boom passive wheel, machine boom transmission device connected with machine boom drive wheel and machine boom drive wheel, said machine boom drive motor output shaft end is connected with machine boom drive wheel, said machine boom
  • the driving wheel is fixedly connected to the machine arm;
  • the machine arm drive mechanism includes a machine arm drive motor, a machine arm drive mechanism connected to the output end of the machine arm drive motor, and the machine arm drive mechanism includes a machine arm The driving arm of the machine arm, the driven wheel of the machine arm, and the driving mechanism of the machine arm connected to the driving wheel of the machine arm and the driven wheel of the machine arm.
  • the output shaft end of the driving motor of the machine arm is connected to the driving wheel of the machine arm.
  • the machine arm driving wheel is fixedly connected to the machine boom.
  • the forearm of the machine arm is provided with a forearm front section
  • the machine forearm is provided with a forearm front section rotary motor
  • the forearm front section and the forearm front section rotary motor output shaft end are mutually connected
  • a vision probe is provided on the forearm of the forearm
  • the machine wrist drive mechanism includes a machine wrist drive motor, a machine wrist transmission mechanism connected to an output shaft end of the machine wrist drive motor
  • the machine wrist transmission mechanism includes a machine wrist drive wheel
  • the machine wrist passive wheel, the machine wrist transmission device connected with the machine wrist active wheel and the machine wrist passive wheel, the machine wrist drive motor output shaft end is connected with the machine wrist active wheel, the machine wrist active wheel and the forearm front section Fixed connection.
  • an electromagnetic chuck is provided on the palm of the machine, a positioning pin is provided on the upper end of the electromagnetic chuck, and a laser transmitter is provided on the side of the electromagnetic chuck.
  • a wrist one-way door receiving hopper is provided outside the wrist of the machine, the wrist one-way door receiving hopper is provided with a one-way door that can be opened outward, and the one-way door is provided with an elastic return device.
  • the bobbin case bobbin plate mounting seat is provided with a machine palm access channel, and the bobbin case bobbin plate mounting seat is further provided with a positioning pin and a permanent magnet, and the bobbin case bobbin plate is installed
  • the lower end of the seat is provided with a downward extension edge, the extension edge is provided with a visual detection and positioning device, and the bobbin case bobbin plate mounting seat is provided with a laser positioning hole.
  • the device also includes an empty bobbin case recovery device, including an empty bobbin case recovery box, a wrist one-way door receiving hopper, and an empty bobbin case collecting tank.
  • the empty bobbin case recovery box is provided at the bobbin case bobbin plate mounting seat.
  • the lower end of the empty bobbin case recovery box is provided with a V-shaped movable cover that can be opened downward in one direction.
  • the V-shaped movable cover is a one-way door that opens downward.
  • the V-shaped movable cover is provided with an elastic return.
  • Position device the wrist one-way door hopper is set on one side of the wrist of the machine, and the empty bobbin case collecting trough is set on the workbench and beside the spare bobbin case storage device.
  • the walking carriage moves. Under the action of the walking guide system, it reaches the head of the first embroidery machine that needs to replace the bobbin plate accurately, and performs the action of emptying the bobbin plate.
  • the automatic bobbin case changing mechanism replaces the spare bobbin case that was originally installed on the bobbin case with the bobbin case with the spare bobbin on the bobbin case and the embroidery machine. Leaving an empty bobbin plate without a spare bobbin case, emptying the bobbin plate includes the following actions:
  • the turntable drive motor drives the turntable to rotate, and the robot arm moves the palm of the machine to the bobbin case bobbin plate mount.
  • the positioning and monitoring are performed through two devices, the visual probe and the laser transmitter.
  • the visual probe is aligned with the bobbin case shuttle.
  • the core board mount detects the positioning device on the extended edge, the robot arm and the palm of the machine adjust the position, the laser transmitter on the palm of the machine emits a laser for detection, and the laser on the lower frame and bobbin case bobbin board mount is detected.
  • Positioning holes two devices for accurate positioning;
  • the turntable drive motor drives the turntable to rotate, and the robot arm moves to the vacant bobbin board installation position reserved for the spare bobbin case storage device, and performs positioning monitoring through two devices, the visual probe and the laser transmitter.
  • the laser transmitter emits a laser for detection.
  • the robot arm and the palm of the machine perform position adjustment.
  • the laser positioning holes in the bobbin board installation position are detected.
  • the robotic arm is moved to the bobbin board installation position with a spare bobbin case, and the positioning and monitoring are performed by two devices, a visual probe and a laser transmitter.
  • the visual probe is aligned with the bobbin board installation position with a spare bobbin case, and the laser is emitted.
  • the device emits laser for detection, the position of the robot arm and the palm of the machine is adjusted, and the laser positioning hole on the bobbin board equipped with a spare bobbin case is detected, and the two devices perform accurate positioning;
  • the full set of positioning system on the robotic arm works full time.
  • the robotic arm moves forward to insert the positioning pin on the palm of the machine into the hole of the bobbin board with the spare bobbin case.
  • the bobbin plate of the shell is firmly adsorbed;
  • the turntable drive motor drives the turntable to rotate.
  • the robot arm moves the palm of the machine to the front of the bobbin case bobbin plate mount.
  • the positioning is detected by a visual probe.
  • the visual probe is aligned with the bobbin case bobbin plate mount. Visual detection and positioning device on the extended edge;
  • the manipulator moves forward, moves to the bobbin case bobbin board mounting base through the in-and-out channel of the machine palm, and performs positioning monitoring through two devices, the visual probe and the laser transmitter.
  • the visual probe is aligned with the bobbin case bobbin board mounting base.
  • the laser transmitter emits laser for detection
  • the position of the robot arm and the palm of the machine is adjusted, and the laser positioning holes on the lower frame and the bobbin case bobbin plate mount are detected to make the bobbin case bobbin plate
  • the positioning pin of the mounting base is aligned with the hole position on the bobbin board with the spare bobbin case; before this step, the empty bobbin case has been replaced from the embroidery machine in the empty bobbin case recovery box, and the robot arm is forward.
  • the one-way door of the wrist one-way door hopper is used to open the V-shaped movable cover of the empty bobbin case recovery box, so that the replaced empty bobbin case falls into the wrist one-way door hopper;
  • the turntable drive motor drives the turntable to rotate, the mechanical arm rotates to the spare bobbin case storage device, rotates the wrist of the machine, the wrist one-way door receiving hopper flips, and the empty bobbin case falls into the empty bobbin case collecting tank;
  • the walking carriage advances a certain distance to the head of the next embroidery machine, repeats the action AO, and works back and forth, so that the bobbin with a spare bobbin is automatically placed on the bobbin case bobbin plate mounting position of each head.
  • the bobbin case and the empty bobbin case are recovered, and the automatic bobbin case changing function is realized with the cooperation of the automatic bobbin case changing mechanism.
  • the disc drive motor drives the fixed disc base to rotate. After a certain angle of rotation, the spare bobbin case on the next bobbin case storage plate is removed.
  • the beneficial effects of the present invention are that the present invention can realize the automatic replacement of the bobbin case (bobbin) between several computerized embroidery machines, multiple heads and ultra-long computerized embroidery machines, the automatic placement of spare bobbin cases, and the automatic collection of empty bobbin cases , Solve the computer embroidery machine industry manual replacement bobbin (bobbin) time-consuming and laborious problem.
  • FIG. 1 is a front view of the present invention
  • FIG. 2 is a left side view of the present invention
  • FIG. 3 is a schematic diagram of the overall structure of the present invention
  • FIG. 4 is a schematic diagram of the structure of a walking cart of the present invention
  • Control device connection block diagram
  • Figure 6 is a schematic diagram of the overall structure of the spare bobbin case storage device of the present invention
  • Fig. 7 is a schematic diagram of the bobbin case storage plate of the present invention when it is lowered
  • Fig. 8 is a bobbin case storage material of the present invention
  • 9 is a schematic diagram of the internal structure of the spare bobbin case storage device of the present invention
  • FIG. 1 is a front view of the present invention
  • FIG. 2 is a left side view of the present invention
  • FIG. 3 is a schematic diagram of the overall structure of the present invention
  • FIG. 4 is a schematic diagram of the structure of a walking cart of the present invention
  • Control device connection block diagram
  • Figure 6 is
  • FIG. 10 is a schematic diagram of the bobbin case conveying device of the present invention
  • FIG. 11 is a bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 12 is the second structural diagram of the bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 13 is the third structural diagram of the bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 14 is the present invention. Schematic diagram of the structure when the visual detection and positioning device on the bobbin case bobbin plate mounting base of the invention is a laser transmitter;
  • FIG. 11 is a bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 12 is the second structural diagram of the bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 13 is the third structural diagram of the bobbin case bobbin board grasping mechanism of the present invention
  • FIG. 14 is the present invention. Schematic diagram of the structure when the visual detection and positioning device on the bobbin case bobbin plate mounting base
  • FIG. 17 is a schematic diagram of the action A of the present invention;
  • FIG. 18 is a schematic diagram of the action B of the present invention;
  • Fig. 20 is a schematic diagram of the D action of the present invention;
  • Fig. 21 is a schematic diagram of the E action of the present invention;
  • Fig. 22 is a schematic diagram of an enlarged P structure of the present invention; Fig.
  • FIG. 23 is a diagram of the F action structure of the present invention
  • Figure 24 is a schematic diagram of the G action of the present invention
  • Figure 25 is a schematic diagram of the H action of the present invention
  • Figure 26 is a schematic diagram of the I action of the present invention
  • Figure 27 is a schematic diagram of the J action of the present invention
  • FIG. 28 is a structural schematic diagram of the K action of the present invention
  • FIG. 29 is a structural schematic diagram of the L action of the present invention
  • FIG. 30 is a structural schematic diagram of the M action of the present invention
  • FIG. 31 is a structural schematic diagram of the N action of the present invention
  • It is a structural schematic diagram of the O action of the present invention
  • FIG. 33 is one of the empty bobbin case recovery actions of the present invention
  • FIG. 34 is the second of the empty bobbin case recovery actions of the present invention.
  • an intelligent bottom thread changing robot for an embroidery machine includes a mechanical device 4 for automatically changing the bobbin case.
  • the mechanical device 4 for the automatic bobbin case is provided with a lower frame 2, and the lower frame 2 is provided with There is a bobbin case bobbin plate mounting seat 68, and the robot further includes a walking cart 23, a spare bobbin case storage device 3, a bobbin case conveying device, and a positioning control device;
  • the walking cart 23 includes a box body 34 and a box body Worktable 28 on 34;
  • the bobbin case conveying device includes a rotary device connected to the worktable 28, a plurality of auxiliary robotic arms connected in turn to the rotary device, and a bobbin case bobbin plate grasping provided at the rear end of the robotic arm mechanism.
  • the number of the robot arms is multiple, and the joints of the robot arms connected to the slewing device are movable connections.
  • the robot arms can swing up and down about the central axis.
  • the joints of the interconnected robot arms are movable connections.
  • the bobbin case bobbin board grasping mechanism includes a machine wrist 14, a palm rotation motor 12 provided on the machine wrist 14, and a machine palm 11 connected to an output shaft end of the palm rotation motor 12.
  • the walking cart 23 further includes a walking driving mechanism, a walking guidance system, and an anti-collision self-stop system provided in the box 34.
  • the walking driving mechanism includes at least two groups located below the walking cart 23.
  • the anti-collision self-stop system includes an ultrasonic distance measurement provided around the walking cart 23.
  • Sensor 24 The ultrasonic ranging sensor 24 around the walking cart 23 can identify obstacles during the travel of the cart. When an obstacle within a certain distance is detected, the walking cart 23 will stop to avoid hitting the obstacle.
  • the positioning control device includes a main control board 35, a gray-scale sensing module, a visual recognition module, a laser emitting module, and a display screen 22 on a workbench 28, which are arranged in a box 34 of a walking cart 23.
  • the grayscale sensor module, visual recognition module, laser emitting module, and display screen 22 are all electrically connected to the main control board 35.
  • a grayscale sensor 25 is provided at the bottom of the walking cart 23, and the grayscale The sensing module is electrically connected to the grayscale sensor 25.
  • the robotic arm is provided with a visual probe 16, the visual probe 16 is electrically connected with the visual recognition module, and the bobbin case and bobbin board grasping mechanism is provided.
  • the laser transmitter 61 is electrically connected to the laser emitting module.
  • the gray sensor 25 is fixed on the chassis of the walking cart 23.
  • a gray sensor strip 36 is provided along the arrangement position of the machine head of the embroidery machine.
  • the gray sensor of the walking cart 23 25 can recognize the width and direction of the gray sensor belt 36, and realize the walking cart 23 to walk along a preset trajectory, thereby realizing work between fixed embroidery machines.
  • the display screen 22 can implement a human-computer interaction function for displaying the status of the robot and parameter setting work. Usually, the distance traveled by each trolley can be set, so that the robot can accurately travel to the next machine head position where the bobbin case bobbin board needs to be replaced after replacing the bobbin board 70 with a spare bobbin case.
  • the spare bobbin case storage device 3 is disposed on the worktable 28 and includes a plurality of auxiliary bobbin case storage plates 37.
  • the bobbin case storage plate 37 is provided with a bobbin plate mounting position. 41.
  • a bobbin case mounting through hole 42 is provided in the bobbin plate mounting position 41, and a laser positioning is provided beside the bobbin case mounting through hole 42 in the bobbin plate mounting position 41 on the bobbin case storage plate 37.
  • Hole 40 and permanent magnet 39 is used to install the spare bobbin case 1
  • the laser positioning hole 40 is used for positioning the bobbin plate 38 by the palm of the machine 11
  • the permanent magnet 39 is used to attract the bobbin plate 38.
  • the bobbin case storage plate 37 is a plurality of pairs, and the plurality of bobbin case storage plates 37 are sequentially arranged in a ring shape.
  • the plurality of bobbin case storage plates 37 can rotate around a central axis.
  • the upper end of the plurality of bobbin case storage plates 37 is provided with an upper fixed disk 43, and the lower end thereof is provided with a lower fixed disk 45, and the upper fixed disk 43 and the lower fixed disk 45 are centrally disposed.
  • a disc drive mechanism which includes a disc drive motor 30 connected to the central axis of the upper fixed disc 43 and the lower fixed disc 45, and the lower end of the bobbin case storage plate 37 and the lower fixed disc 45 The upper end of the bobbin case storage plate 37 is detachably connected to the upper fixed disc 43.
  • a fixed disk base 31 is provided below the lower fixed disk 45, the lower fixed disk 45 and the fixed disk base 31 are detachably connected, and the fixed disk base 31 is provided at On the worktable 28 described above, the disc drive motor 30 is disposed below the worktable 28.
  • the lower fixed disc 45 and the fixed disc base 31 are connected by a fixed pin, which facilitates the disassembly of the lower fixed disc 45 and the movement of the spare bobbin case storage device 3, which is convenient for disassembly.
  • the upper fixing disc 43 is provided with a resettable fixing hook device 44 near the edge, the upper fixing disc 43 is provided with a fixing hook positioning hole, and the fixing hook is provided in the fixing hook positioning hole.
  • the middle diameter dimension of the fixing hook is smaller than the inner diameter dimension of the fixing hook positioning hole, the outer diameter dimension of the upper end 47 of the fixing hook is larger than the inner diameter dimension of the fixing hook positioning position, and a limiting sleeve is provided between the upper end 47 of the fixing hook and the upper fixing disc 43. 48.
  • the length of the fixing hook is larger than the thickness of the upper fixing disc 43.
  • a fixing head 50 is provided at the lower end of the fixing hook. The outer diameter of the upper end of the fixing head 50 is larger than the middle diameter of the fixing hook.
  • a spring 49 is provided on the outer periphery of the fixed hook below the plate 43.
  • the lower end of the bobbin case storage plate 37 is movably connected to the lower fixed disk 45 through a hinge, and the bobbin case storage plate 37 can be placed by opening and pulling up the fixing hook. Instead, the installation of the spare bobbin case 1 is achieved.
  • the upper fixed disc 43 is also provided with a handle 46 to facilitate the movement of the spare bobbin case storage device 3.
  • the slewing device includes a slewing table 21 and a slewing table driving motor 33.
  • the slewing table driving motor 33 is provided below the table 28, and the slewing table 21 is provided on the table.
  • the upper part of the rotary table 28 is rotatable 360 ° around the plane.
  • the rotary table 21 is provided with a rotating shaft 32 in the middle, and the lower part of the rotary shaft 32 is connected to the rotary table driving motor 33.
  • the robot arm includes a robot arm 18 and a robot arm 17, the robot arm is provided with a robot arm drive mechanism, and the robot arm drive mechanism includes a robot arm drive motor and a robot arm drive motor
  • the mechanism includes a machine boom driving mechanism and a machine forearm driving mechanism; the rotary table 21 is connected to the machine boom 18, and a machine boom driving mechanism is arranged at the connection point, and the rear end of the machine boom 18 and the machine are small
  • the arm 17 is connected, and a machine arm drive mechanism is provided at the connection point.
  • the rear end of the machine arm 17 is connected to the machine wrist 14, and the machine arm drive mechanism is provided at the connection point.
  • the machine boom drive mechanism includes a machine boom drive motor 20 and a machine boom drive mechanism connected to an output shaft end of the machine boom drive motor 20, and the machine boom drive mechanism includes a machine boom active Wheel 52, machine boom passive wheel 51, machine boom transmission device connected to machine boom active wheel 52 and machine boom passive wheel 51, the output end of the machine arm drive motor 20 and machine boom active wheel 52 Connected, the machine boom driving wheel 52 is fixedly connected to the machine boom 18;
  • the machine forearm drive mechanism includes a machine forearm drive motor 19, and the machine forearm drive connected to the output shaft end of the machine forearm drive motor 19 Mechanism
  • the machine forearm transmission mechanism includes a machine forearm driving wheel 53, a machine forearm passive wheel 54, and a machine forearm transmission device connected to the machine forearm driving wheel 53 and the machine forearm passive wheel 54,
  • the output shaft end of the arm drive motor 19 is connected to the machine arm driving wheel 53, which is fixedly connected to the machine arm 18.
  • a forearm front section 27 is provided at the front end of the machine forearm 17, and a forearm front section rotary motor 56 is provided in the machine forearm 17, and the forearm front section 27 and the forearm front section rotary motor are provided therein.
  • 56 output shaft ends are connected to each other, and a visual probe 16 is provided on the forearm 27 of the forearm;
  • the wrist drive mechanism of the machine includes a wrist drive motor 15 and a wrist drive mechanism connected to the output shaft end of the wrist drive motor 15
  • the machine wrist transmission mechanism includes a machine wrist active wheel 58, a machine wrist passive wheel 57, a machine wrist transmission device connected to the machine wrist active wheel 58 and the machine wrist passive wheel 57.
  • the machine wrist drive motor 15 output shaft end and the machine wrist
  • the driving wheel 58 is connected, and the machine wrist driving wheel 58 is fixedly connected to the forearm section 27.
  • a belt connection may be provided between the machine boom driving wheel 52 and the machine boom passive wheel 51, between the machine forearm driving wheel 53 and the machine forearm passive wheel 54, and between the machine wrist active wheel 58 and the machine wrist passive wheel 57.
  • Chain connection or gear connection; between the forearm rotary motor 56 and the forearm 27, the palm rotation motor 12 and the machine palm 11 can be directly connected to the motor shaft, using a coupling method or a gear connection.
  • the turntable drive motor 33 controls the rotation of the turntable 21
  • the boom swing motor is used to control the swing of the boom 18 of the machine
  • the swing arm motor is used to control the swing of the machine arm 17
  • the swing arm front motor 56 is used to control the swing
  • the wrist drive motor is used to control the swing of the wrist 14 of the machine
  • the palm 11 rotation motor is used to control the rotation of the palm 11 of the machine
  • the above motor part realizes the movement of the robot arm in all directions to achieve accurate Movement track.
  • an electromagnetic chuck 10 is provided on the palm 11 of the machine, a positioning pin 60 is provided on an upper end of the electromagnetic chuck 10, and a laser emitter 61 is provided on a side of the electromagnetic chuck 10.
  • the laser transmitter 61 used is an existing finished device, and the model is RJG530IRF.
  • the electromagnetic chuck 10 on the palm 11 of the machine is used to suck the bobbin case bobbin plate 38, the positioning pin 60 is used to fix the bobbin case bobbin plate 38, and the laser emitter 61 is used to find the laser positioning hole 40 for positioning jobs.
  • a wrist one-way door receiving hopper 13 is provided outside the wrist 14 of the machine, and a wrist one-way door receiving hopper 13 is provided with a one-way door 62 that can be opened outward, and one-way door 62 is provided with an elastic return. ⁇ ⁇ Bit devices.
  • the bobbin case bobbin plate mounting seat 68 is provided with a machine palm access channel 66, and the bobbin case bobbin plate mounting seat 68 is further provided with a positioning pin 67 and a permanent magnet 39.
  • the lower end of the bobbin case bobbin plate mounting base 68 is provided with a downward extension edge 65.
  • the extension side 65 is provided with a visual detection and positioning device.
  • the bobbin case bobbin plate mounting base 68 is provided with a laser positioning hole 40.
  • the visual detection and positioning device on the bobbin case bobbin plate mounting base 68 is a mechanical thimble 69 or a laser transmitter 61 (as shown in FIGS. 15 and 14). During the positioning process, the visual probe 16 located on the forearm section 27 can identify the mechanical thimble 69 or the laser transmitter 61 to perform positioning.
  • an empty bobbin case recovery device including an empty bobbin case recovery box 9, a wrist one-way door receiving hopper 13, and an empty bobbin case collecting groove 29.
  • the empty bobbin case recovery box 9 is provided in the bobbin case.
  • the lower end of the empty bobbin case recovery box 9 is provided with a V-shaped movable cover 71 that can be opened downward in one direction, and the V-shaped movable cover 71 is a one-way door that opens downward.
  • the V-shaped movable cover plate 71 is provided with an elastic return device; the wrist one-way door receiving hopper 13 is provided on one side of the machine wrist, and the empty bobbin case collecting groove 29 is provided on the worktable 28. It is located beside the spare bobbin case storage device 3.
  • the empty bobbin case collecting groove 29 is used to collect the empty bobbin case 63 replaced on the embroidery machine.
  • the elastic return device includes a cylindrical pin, and the cylindrical pin is sleeved with a return spring.
  • the walking carriage 23 moves. Under the action of the walking guide system, it reaches the first embroidery machine head which needs to replace the bobbin plate 38 accurately, and performs the action of emptying the bobbin plate 64.
  • the automatic bobbin case changing mechanism 4 replaces the spare bobbin case 1 originally installed on the bobbin case 70 with the bobbin case 70 installed on the bobbin case bobbin plate mounting seat 68 to the embroidery machine.
  • An empty bobbin plate 64 without a spare bobbin case 1 is left on the board mounting seat 68. Taking the empty bobbin plate 64 includes the following actions:
  • the turntable drive motor 33 drives the turntable 21 to rotate, and the robot arm moves the palm 11 of the machine to the bobbin case bobbin plate mounting seat 68, and performs positioning monitoring through the two devices of the visual probe 16 and the laser transmitter 61.
  • the probe 16 is aligned with the bobbin case and bobbin plate mounting seat 68, and the positioning device on the extended edge 65 is detected.
  • the position of the robot arm and the palm of the machine 11 is adjusted, and the laser transmitter 61 on the palm of the machine 11 emits a laser to detect and detect the lower position.
  • the two positioning devices 40 and the laser positioning hole 40 on the bobbin case bobbin plate mounting seat 68 allow accurate positioning;
  • the turntable drive motor 33 drives the turntable 21 to rotate, and the robot arm moves to the vacant bobbin board installation position 41 reserved by the spare bobbin case storage device 3, and is performed by the two devices of the visual probe 16 and the laser transmitter 61.
  • Positioning monitoring the visual probe 16 is aligned with the spare bobbin case storage device 3, the vacant bobbin board installation position 41, the laser transmitter 61 emits a laser for detection, the robot arm and the palm 11 of the machine are adjusted for position, and the bobbin is detected Laser positioning holes 40 in the board mounting position 41, two devices for accurate positioning;
  • the robotic arm is moved to the installation position 41 of the bobbin board 70 with a spare bobbin case.
  • the positioning and monitoring are performed by two devices, the visual probe 16 and the laser transmitter 61.
  • the visual probe 16 is aligned with the bobbin board with the spare bobbin case.
  • the full positioning system on the robotic arm works full time.
  • the robotic arm moves forward to insert the positioning pin 60 on the palm 11 of the machine into the hole of the bobbin board 70 equipped with a spare bobbin case.
  • the electromagnetic chuck 10 is energized so that The bobbin plate 70 equipped with a spare bobbin case is firmly adsorbed;
  • the turntable drive motor 33 drives the turntable 21 to rotate, and the robot arm moves the machine palm 11 to the front of the bobbin case bobbin plate mounting seat 68, and performs positioning detection through the visual probe 16, which is aligned with the bobbin case bobbin.
  • the board mounting base 68 detects a visual detection and positioning device on the extended edge 65;
  • the manipulator moves forward, moves to the bobbin case bobbin board mounting base 68 through the in-and-out channel 66 of the palm of the machine, and performs positioning monitoring through two devices, the visual probe 16 and the laser transmitter 61.
  • the visual probe 16 is aligned with the bobbin case shuttle.
  • the visual detection and positioning device on the extended edge 65 of the core plate mounting seat 68.
  • the laser transmitter 61 emits a laser for detection, and the robot arm and the palm 11 of the machine perform position adjustment, and the lower frame 2 and the bobbin case bobbin plate mounting seat 68 are detected.
  • the laser positioning hole 40 aligns the positioning pin 67 of the bobbin case bobbin plate mounting seat 68 with the hole on the bobbin plate 70 with a spare bobbin case; before this step, the empty bobbin case recovery box 9 There is already an empty bobbin case 63 replaced from the embroidery machine.
  • the one-way door 62 of the wrist one-way door hopper 13 is used to push open the V-shaped movable cover 71 of the empty bobbin case recovery box 9, The replaced empty bobbin case 63 is dropped into the wrist one-way door receiving hopper 13;
  • the turntable drive motor 33 drives the turntable 21 to rotate, the mechanical arm turns to the spare bobbin case storage device 3, rotates the wrist of the machine, the wrist one-way door receiving hopper 13 flips, and the empty bobbin case 63 falls into the empty bobbin case aggregate.
  • the walking carriage 23 advances a certain distance to reach the head of the next embroidery machine, repeats the action AO, and works back and forth to realize that the bobbin case bobbin board mounting seat 68 of each head automatically places the spare bobbin case.
  • the bobbin plate 70 and the recycling of the empty bobbin case 63 and the empty bobbin plate 64 are completed, and the automatic bobbin thread changing function is realized with the cooperation of the automatic bobbin case mechanical device 4.

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Abstract

一种绣花机智能换底线机器人及自动换底线方法，该装置包括移动定位装置、备用梭壳储料桶（3）、梭壳收送装置和控制装置；所述的移动定位装置包括行走小车（23）和设于行走小车（23）上方的移动工作台（28）；所述的梭壳收送装置包括回转装置、机械臂、机器手掌和空梭壳回收装置；所述的回转装置和备用梭壳储料桶（3）设于所述的移动工作台（28）上，所述的机械臂连接回转装置和机器手掌；所述的空梭壳回收装置包括梭壳梭芯板安装座（68）、空梭壳回收盒（9）和手腕单向门收料斗（13）。能实现数台电脑绣花机之间、多头及超长电脑绣花机自动切更换梭壳（梭芯），更换过程自动完成，并将空梭壳梭芯自动收集，解决了电脑绣花机行业人工更换梭壳(梭芯)的难题。

Description

一种绣花机智能换底线机器人及自动换底线方法 技术领域
本发明涉及纺织设备领域，具体地说是一种绣花机智能换底线机器人及自动换底线方法。
 背景技术
目前，在使用的电脑绣花机底线是由梭壳和梭芯组成，绣花机在运行到底线用完时，都需要更换梭壳（梭芯），现在全部是采用人工更换，在做更换操作时，绣花机要在停机状态下完成。存在以下问题：1、绣花机每天单个机头需要停机12~20分钟来更换梭壳（梭芯），对于多台机器，多头机换梭壳（梭芯）将耗费大量的停机时间，降低生产效率，减少绣花机产量，由于绣花机的结构特殊，梭壳（梭芯）更换时空间较小，需要人工蹲下进行更换，劳动强度高，生产效率低；2、为了解决上述问题，申请人已有专利号为201721182900.8，专利名称为一种用于电脑绣花机上自动换梭壳的机械装置，但是现有的自动换梭壳的机械装置换好梭壳后仍需要人工进行提取空梭壳和摆放满梭壳，无法进一步减少人员，降低劳动强度，提高生产效率。
 技术问题
本发明要解决现有的绣花生产过程中，绣花机设备自动化程度低，生产效率低、工人劳动强度高等问题。
 技术解决方案
本发明的技术方案是:一种绣花机智能换底线机器人，包括自动换梭壳的机械装置，所述的自动换梭壳的机械装置上设有下位架，所述的下位架上设有梭壳梭芯板安装座，该机器人还包括行走小车、备用梭壳储料装置、梭壳输送装置和定位控制装置；所述的行走小车包括箱体和设于箱体上的工作台；所述的梭壳输送装置包括与工作台连接的回转装置、与回转装置依次连接的若干副机械臂、设于机械臂后端部的梭壳梭芯板抓取机构。
优选的，所述的机械臂的数量为多副，与回转装置连接的机械臂连接处为活动连接，机械臂可绕中心轴上下摆动，相互连接的机械臂连接处为活动连接，可绕中心轴上下摆动；所述的梭壳梭芯板抓取机构包括机器手腕、设于机器手腕上的手掌转动电机、与手掌转动电机输出轴端连接的机器手掌。
优选的，所述的行走小车还包括设于箱体内的行走驱动机构、行走导向系统和防撞自停系统，所述行走驱动机构包括设于行走小车下方的至少两组行走轮和行走驱动电机，所述的行走轮中心轴至少有一组与所述行走驱动电机输出轴端相连接，所述的防撞自停系统包括设于行走小车四周的超声波测距传感器。
优选的，所述的定位控制装置包括设于行走小车箱体内的主控板、灰度传感模块、视觉识别模块、激光发射模块和工作台上的显示屏，所述灰度传感模块、视觉识别模块、激光发射模块、显示屏均与所述的主控板电连接，所述的行走小车底部设有灰度传感器，所述的灰度传感模块与灰度传感器电连接，所述的机械臂上设有视觉探头，所述的视觉探头与视觉识别模块电连接，所述的梭壳梭芯板抓取机构上设有激光发射器，所述的激光发射器与激光发射模块电连接。
优选的，所述的备用梭壳储料装置设于工作台上，其包括若干副梭壳储料板，所述的梭壳储料板上设有梭芯板安装位，所述的梭芯板安装位内设有梭壳安装通孔，所述梭壳储料板上的梭芯板安装位内的梭壳安装通孔旁设有激光定位孔和永磁铁。
作为进一步优选的，所述的梭壳储料板为多副，所述多副梭壳储料板呈环形依次布置，多副梭壳储料板可绕中心轴转动。
作为进一步优选的，所述多副梭壳储料板上端设有上固定圆盘，其下端设有下固定圆盘，所述的上固定圆盘与下固定圆盘中心设有圆盘驱动机构，所述圆盘驱动机构包括与上固定圆盘和下固定圆盘中心轴连接的圆盘驱动电机，所述梭壳储料板下端与下固定圆盘活动连接，所述梭壳储料板上端与上固定圆盘可拆卸连接。
作为更进一步优选的，所述的下固定圆盘下方设有固定圆盘底座，所述下固定圆盘与固定圆盘底座为可拆卸连接，所述固定圆盘底座设于所述的工作台上，所述圆盘驱动电机设于所述的工作台下方。
作为更进一步优选的，所述上固定圆盘靠近边缘处设有可复位固定钩装置，所述上固定圆盘上设有固定钩定位孔， 固定钩设于该固定钩定位孔内，所述固定钩中间直径尺寸小于固定钩定位孔内径尺寸，所述固定钩上端部外径尺寸大于固定钩定位孔内径尺寸，且固定钩上端与上固定圆盘之间设有限位套，所述固定钩长度尺寸大于上固定圆盘厚度尺寸，所述固定钩的下端设有固定头，所述固定头上端外径尺寸大于固定钩中间直径尺寸，所述上固定圆盘下方固定钩外周设有弹簧。
优选的，所述回转装置包括回转台和回转台驱动电机，所述的回转台驱动电机设于所述工作台的下方，所述的回转台设于所述工作台的上方，且可绕平面360°转动，所述回转台中间设有转轴，所述转轴下方与回转台驱动电机相接。
优选的，所述的机械臂包括机器大臂、机器小臂，所述机械臂上设有机械臂驱动机构，所述机械臂驱动机构包括机械臂驱动电机、与机械臂驱动电机输出轴端连接的传动机构，所述传动机构包括主动轮、被动轮、与主动轮和被动轮连接的传动装置，所述机械臂驱动电机输出轴端与主动轮相连接；所述机械臂驱动机构包括机器大臂驱动机构、机器小臂驱动机构；所述的回转台与机器大臂连接，连接处设有机器大臂驱动机构，所述的机器大臂的后端与机器小臂连接，连接处设有机器小臂驱动机构，所述的机器小臂的后端与机器手腕的连接，连接处设有机器手腕驱动机构。
作为进一步优选的，所述机器大臂驱动机构包括机器大臂驱动电机、与机器大臂驱动电机输出轴端连接的机器大臂传动机构，所述机器大臂传动机构包括机器大臂主动轮、机器大臂被动轮、与机器大臂主动轮和机器大臂被动轮连接的机器大臂传动装置，所述机器大臂驱动电机输出轴端与机器大臂主动轮相连接，所述机器大臂主动轮与机器大臂固定连接；所述机器小臂驱动机构包括机器小臂驱动电机、与机器小臂驱动电机输出轴端连接的机器小臂传动机构，所述机器小臂传动机构包括机器小臂主动轮、机器小臂被动轮、与机器小臂主动轮和机器小臂被动轮连接的机器小臂传动装置，所述机器小臂驱动电机输出轴端与机器小臂主动轮相连接，所述机器小臂主动轮与机器大臂固定连接。
作为进一步优选的，所述机器小臂的前端设有小臂前段，所述的机器小臂内设有小臂前段旋转电机，所述的小臂前段与小臂前段旋转电机输出轴端相互连接，所述小臂前段上设有视觉探头；所述机器手腕驱动机构包括机器手腕驱动电机、与机器手腕驱动电机输出轴端连接的机器手腕传动机构，所述机器手腕传动机构包括机器手腕主动轮、机器手腕被动轮、与机器手腕主动轮和机器手腕被动轮连接的机器手腕传动装置，所述机器手腕驱动电机输出轴端与机器手腕主动轮相连接，所述机器手腕主动轮与小臂前段固定连接。
作为进一步优选的，所述的机器手掌上设有电磁吸盘，所述的电磁吸盘的上端设有定位销，所述的电磁吸盘的侧边设有激光发射器。
作为进一步优选的，所述机器手腕外设有手腕单向门收料斗，所述手腕单向门收料斗设有能向外打开的单向门，单向门设有弹性回位装置。
优选的，所述梭壳梭芯板安装座上设有机器手掌进出通道，所述的梭壳梭芯板安装座上还设有放料定位销和永磁铁，所述梭壳梭芯板安装座的下端设有向下的延伸边，所述的延伸边上设有视觉探测定位装置，梭壳梭芯板安装座上设有激光定位孔。
优选的，还包括空梭壳回收装置，包括空梭壳回收盒、手腕单向门收料斗和空梭壳集料槽，所述的空梭壳回收盒设于梭壳梭芯板安装座的上端的，所述空梭壳回收盒的下端设有可向下单向打开的V形活动盖板，V形活动盖板为向下打开的单向门，V形活动盖板设有弹性回位装置；所述的手腕单向门收料斗设于机器手腕的一侧，所述的空梭壳集料槽设于所述工作台上位于所述备用梭壳储料装置的旁边。
一种由一种绣花机智能换底线机器人实现的自动换底线方法，其特征在于包括以下步骤：
1）、打开可复位固定钩装置，放下梭壳储料板，从梭壳储料板的背面将备用梭壳通过梭壳安装通孔依次安装于梭芯板上，留出至少一个空缺的梭芯板安装位；
2）、在梭壳储料板上安装完备用梭壳后，翻起梭壳储料板，上端用可复位固定钩装置固定，将备用梭壳储料装置安装于固定圆盘底座上；
3）、行走小车移动，在行走导向系统的作用下，精准到达第一个需要更换梭芯板的绣花机机头处，进行取空梭芯板动作。此时自动换梭壳的机械装置把原先已经安装在梭壳梭芯板安装座上的装有备用梭壳的梭芯板上的备用梭壳更换到绣花机上，梭壳梭芯板安装座上留下一个没有备用梭壳的空梭芯板，取空梭芯板包括以下动作：
    A：回转台驱动电机驱动回转台转动，机械臂将机器手掌移送到梭壳梭芯板安装座的下方，通过通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准梭壳梭芯板安装座，检测到延伸边上的定位装置，机械臂和机器手掌进行位置调整，机器手掌上的激光发射器发出激光进行探测，探测到下位架和梭壳梭芯板安装座上的激光定位孔，两个装置进行准确定位；
B：定位完成后，机械臂向上移动，使机器手掌上的定位销插入梭芯板孔位，电磁吸盘通电，吸住空梭芯板；
C：机械臂上移，使空梭芯板脱离梭壳梭芯板安装座上的放料定位销；
D：机械臂后移，通过机器手掌进出通道使空梭芯板脱离固定位置，后移时，手腕单向门收料斗的单向门，在V形活动盖板的下板的作用下，打开，并顺利后移，移出后，在弹性回位装置的作用下单向门复位；
4）、将空梭芯板送回备用梭壳储料装置，包括以下动作：
E：回转台驱动电机驱动回转台转动，机械臂转至备用梭壳储料装置预留的空缺的梭芯板安装位处，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准备用梭壳储料装置，对准空缺的梭芯板安装位，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到梭芯板安装位内的激光定位孔，两个装置进行准确定位；
F：机械臂上的全套定位系统全时工作，机械臂向前运动，使空梭芯板准确放置到梭壳储料板上的空缺的梭芯板安装位上；
G：待安全放置后，机器手掌上的电磁吸盘断电，空梭芯板被镶嵌在梭芯板安装位内的永磁铁吸附；
5）、抓取装有备用梭壳的梭芯板，包括以下动作：
H：机械臂移至装有备用梭壳的梭芯板安装位，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准装有备用梭壳的梭芯板安装位，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到装有备用梭壳的梭芯板上的激光定位孔，两个装置进行准确定位；
I：机械臂上的全套定位系统全时工作，机械臂向前运动，使机器手掌上的定位销插入装有备用梭壳的梭芯板的孔位内，电磁吸盘通电，使装有备用梭壳的梭芯板吸附牢固；
J：利用电磁吸盘吸力大于梭芯板安装位内的永磁铁的吸力，拔出装有备用梭壳的梭芯板；
6）、将装有备用梭壳的梭芯板安装至梭壳梭芯板安装座上，并回收空梭壳，包括以下动作：
K：回转台驱动电机驱动回转台转动，机械臂将机器手掌移送到梭壳梭芯板安装座的前方，通过通过视觉探头进行定位检测，视觉探头对准梭壳梭芯板安装座，检测到延伸边上的视觉探测定位装置；
L：机械臂向前运动，通过机器手掌进出通道运动到梭壳梭芯板安装座上，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准梭壳梭芯板安装座的延伸边上的视觉探测定位装置，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到下位架和梭壳梭芯板安装座上的激光定位孔，使梭壳梭芯板安装座的放料定位销与装有备用梭壳的梭芯板上的孔位对齐；在这个步骤前，空梭壳回收盒内已经有从绣花机上换下来的空梭壳，机械臂向前运动过程中，利用手腕单向门收料斗的单向门推开空梭壳回收盒的V形活动盖板，使换下的空梭壳掉入手腕单向门收料斗内；
M：定位完成后，机械臂向下移动，并使梭壳梭芯板安装座上的放料定位销插入装有备用梭壳的梭芯板的孔位，并通过梭壳梭芯板安装座上的永磁铁吸住装有备用梭壳的梭芯板；
N：装有备用梭壳的梭芯板安全放置于放料定位销上之后，机器手掌上的电磁吸盘断电，并再向下移动，脱离梭壳梭芯板安装座；在向下移动的过程中，V形活动盖板在弹性回位装置的作用下，自然关闭；
O：回转台驱动电机驱动回转台转动，机械臂转至备用梭壳储料装置，转动机器手腕，手腕单向门收料斗翻转，使空梭壳掉入空梭壳集料槽；
7）、行走小车前进一段距离，到达下一个绣花机机头处，重复动作A-O，往复工作，实现每个机头的梭壳梭芯板安装座位置上自动放置装有备用梭壳的梭芯板以及完成空梭壳和空梭芯板的回收，在自动换梭壳的机械装置的配合下实现全自动换底线功能。
8）、当一个梭壳储料板上的备用梭壳安装完毕后，圆盘驱动电机驱动固定圆盘底座转动，转动一定角度后，取用下一块梭壳储料板上的备用梭壳。
 有益效果
本发明的有益效果为：本发明能实现数台电脑绣花机之间、多头及超长电脑绣花机自动更换梭壳（梭芯），自动放置备用梭壳，并将空梭壳梭芯自动收集，解决了电脑绣花机行业人工更换梭壳（梭芯）费时费力的难题。
 附图说明
[0006] 图1是本发明的主视图；图2是本发明的左视图；图3是本发明的整体结构示意图；图4是本发明的行走小车的结构示意图；图5是本发明的定位控制装置的连接框图；图6是本发明的备用梭壳储料装置的整体结构示意图；图7是本发明的梭壳储料板放下时的结构示意图；图8是本发明的梭壳储料板的结构示意图；图9是本发明的备用梭壳储料装置的内部结构示意图；图10是本发明的梭壳输送装置的结构示意图；图11是本发明的梭壳梭芯板抓取机构的结构示意图之一；图12是本发明的梭壳梭芯板抓取机构的结构示意图之二；图13是本发明的梭壳梭芯板抓取机构的结构示意图之三；图14是本发明的梭壳梭芯板安装座上的视觉探测定位装置为激光发射器时的结构示意图；图15是本发明的梭壳梭芯板安装座上的视觉探测定位装置为机械顶针时的结构示意图；图16是本发明的局部梭壳输送装置与备用梭壳储料装置的配合结构示意图；图17是本发明的A动作的结构示意图；图18是本发明的B动作的结构示意图；图19是本发明的C动作的结构示意图；图20是本发明的D动作的结构示意图；图21是本发明的E动作的结构示意图；图22是本发明的P放大结构示意图；图23是本发明的F动作的结构示意图；图24是本发明的G动作的结构示意图；图25是本发明的H动作的结构示意图；图26是本发明的I动作的结构示意图；图27是本发明的J动作的结构示意图；图28是本发明的K动作的结构示意图；图29是本发明的L动作的结构示意图；图30是本发明的M动作的结构示意图；图31是本发明的N动作的结构示意图；图32是本发明的O动作的结构示意图；图33是本发明的空梭壳回收动作之一；图34是本发明的空梭壳回收动作之二。
 本发明的最佳实施方式
在此处键入本发明的最佳实施方式描述段落。
 本发明的实施方式
具体实施方式
下面结合附图及实施例对本发明作进一步说明。
如图所示，一种绣花机智能换底线机器人，包括自动换梭壳的机械装置4，所述的自动换梭壳的机械装置4上设有下位架2，所述的下位架2上设有梭壳梭芯板安装座68，该机器人还包括行走小车23、备用梭壳储料装置3、梭壳输送装置和定位控制装置；所述的行走小车23包括箱体34和设于箱体34上的工作台28；所述的梭壳输送装置包括与工作台28连接的回转装置、与回转装置依次连接的若干副机械臂、设于机械臂后端部的梭壳梭芯板抓取机构。
本实施例中，所述的机械臂的数量为多副，与回转装置连接的机械臂连接处为活动连接，机械臂可绕中心轴上下摆动，相互连接的机械臂连接处为活动连接，可绕中心轴上下摆动；所述的梭壳梭芯板抓取机构包括机器手腕14、设于机器手腕14上的手掌转动电机12、与手掌转动电机12输出轴端连接的机器手掌11。
本实施例中，所述的行走小车23还包括设于箱体34内的行走驱动机构、行走导向系统和防撞自停系统，所述行走驱动机构包括设于行走小车23下方的至少两组行走轮和行走驱动电机26，所述的行走轮中心轴至少有一组与所述行走驱动电机26输出轴端相连接，所述的防撞自停系统包括设于行走小车23四周的超声波测距传感器24。行走小车23四周的超声波测距传感器24可以对小车行进过程中的障碍物进行识别，监测到一定距离内的障碍物时，行走小车23会停下，避免撞到障碍物体。
本实施例中，所述的定位控制装置包括设于行走小车23箱体34内的主控板35、灰度传感模块、视觉识别模块、激光发射模块和工作台28上的显示屏22，所述灰度传感模块、视觉识别模块、激光发射模块、显示屏22均与所述的主控板35电连接，所述的行走小车23底部设有灰度传感器25，所述的灰度传感模块与灰度传感器25电连接，所述的机械臂上设有视觉探头16，所述的视觉探头16与视觉识别模块电连接，所述的梭壳梭芯板抓取机构上设有激光发射器61，所述的激光发射器61与激光发射模块电连接。而灰度传感器25是固定在行走小车23的底盘上的，在绣花机加工车间内的地上，沿着绣花机的机头排布位置设有灰色传感带36，行走小车23的灰度传感器25可以识别灰色传感带36的宽度和走向，实现行走小车23沿着预先设定好的轨迹进行行走，从而实现在固定的绣花机之间进行工作。所述的显示屏22可以实现人机交互功能，用于显示机器人的状态以及参数设定工作。通常可设定每次小车行进的距离，从而使得机器人在更换完一个装有备用梭壳的梭芯板70后，准确行驶到下一个需要更换梭壳梭芯板的机头位置。
本实施例中，所述的备用梭壳储料装置3设于工作台28上，其包括若干副梭壳储料板37，所述的梭壳储料板37上设有梭芯板安装位41，所述的梭芯板安装位41内设有梭壳安装通孔42，所述梭壳储料板37上的梭芯板安装位41内的梭壳安装通孔42旁设有激光定位孔40和永磁铁39。梭壳安装通孔42用于安装备用梭壳1，激光定位孔40用于机器手掌11取放梭芯板38进行定位，永磁铁39用于吸附梭芯板38。
本实施例中，所述的梭壳储料板37为多副，所述多副梭壳储料板37呈环形依次布置，多副梭壳储料板37可绕中心轴转动。
本实施例中，所述多副梭壳储料板37上端设有上固定圆盘43，其下端设有下固定圆盘45，所述的上固定圆盘43与下固定圆盘45中心设有圆盘驱动机构，所述圆盘驱动机构包括与上固定圆盘43和下固定圆盘45中心轴连接的圆盘驱动电机30，所述梭壳储料板37下端与下固定圆盘45活动连接，所述梭壳储料板37上端与上固定圆盘43可拆卸连接。
本实施例中，所述的下固定圆盘45下方设有固定圆盘底座31，所述下固定圆盘45与固定圆盘底座31为可拆卸连接，所述固定圆盘底座31设于所述的工作台28上，所述圆盘驱动电机30设于所述的工作台28下方。所述下固定圆盘45和固定圆盘底座31之间是采用固定销的连接方式，便于下固定圆盘45的拆装和备用梭壳储料装置3的移动，拆装方便。
本实施例中，所述上固定圆盘43靠近边缘处设有可复位固定钩装置44，所述上固定圆盘43上设有固定钩定位孔， 固定钩设于该固定钩定位孔内，所述固定钩中间直径尺寸小于固定钩定位孔内径尺寸，所述固定钩上端47部外径尺寸大于固定钩定位孔内径尺寸，且固定钩上端47与上固定圆盘43之间设有限位套48，所述固定钩长度尺寸大于上固定圆盘43厚度尺寸，所述固定钩的下端设有固定头50，所述固定头50上端外径尺寸大于固定钩中间直径尺寸，所述上固定圆盘43下方固定钩外周设有弹簧49。梭壳储料板37的下端与下固定圆盘45活动连接是通过铰链可转动得固定于所述的下固定圆盘45上，打开向上拔起固定钩即可将梭壳储料板37放倒，实现备用梭壳1的安装工作。上固定圆盘43上还设有提把46，便于移动备用梭壳储料装置3。
本实施例中，所述回转装置包括回转台21和回转台驱动电机33，所述的回转台驱动电机33设于所述工作台28的下方，所述的回转台21设于所述工作台28的上方，且可绕平面360°转动，所述回转台21中间设有转轴32，所述转轴32下方与回转台驱动电机33相接。
本实施例中，所述的机械臂包括机器大臂18、机器小臂17，所述机械臂上设有机械臂驱动机构，所述机械臂驱动机构包括机械臂驱动电机、与机械臂驱动电机输出轴端连接的传动机构，所述传动机构包括主动轮、被动轮、与主动轮和被动轮连接的传动装置，所述机械臂驱动电机输出轴端与主动轮相连接；所述机械臂驱动机构包括机器大臂驱动机构、机器小臂驱动机构；所述的回转台21与机器大臂18连接，连接处设有机器大臂驱动机构，所述的机器大臂18的后端与机器小臂17连接，连接处设有机器小臂驱动机构，所述的机器小臂17的后端与机器手腕14的连接，连接处设有机器手腕驱动机构。
本实施例中，所述机器大臂驱动机构包括机器大臂驱动电机20、与机器大臂驱动电机20输出轴端连接的机器大臂传动机构，所述机器大臂传动机构包括机器大臂主动轮52、机器大臂被动轮51、与机器大臂主动轮52和机器大臂被动轮51连接的机器大臂传动装置，所述机器大臂驱动电机20输出轴端与机器大臂主动轮52相连接，所述机器大臂主动轮52与机器大臂18固定连接；所述机器小臂驱动机构包括机器小臂驱动电机19、与机器小臂驱动电机19输出轴端连接的机器小臂传动机构，所述机器小臂传动机构包括机器小臂主动轮53、机器小臂被动轮54、与机器小臂主动轮53和机器小臂被动轮54连接的机器小臂传动装置，所述机器小臂驱动电机19输出轴端与机器小臂主动轮53相连接，所述机器小臂主动轮53与机器大臂18固定连接。
本实施例中，所述机器小臂17的前端设有小臂前段27，所述的机器小臂17内设有小臂前段旋转电机56，所述的小臂前段27与小臂前段旋转电机56输出轴端相互连接，所述小臂前段27上设有视觉探头16；所述机器手腕驱动机构包括机器手腕驱动电机15、与机器手腕驱动电机15输出轴端连接的机器手腕传动机构，所述机器手腕传动机构包括机器手腕主动轮58、机器手腕被动轮57、与机器手腕主动轮58和机器手腕被动轮57连接的机器手腕传动装置，所述机器手腕驱动电机15输出轴端与机器手腕主动轮58相连接，所述机器手腕主动轮58与小臂前段27固定连接。
机器大臂主动轮52与机器大臂被动轮51之间、机器小臂主动轮53与机器小臂被动轮54之间、机器手腕主动轮58与机器手腕被动轮57之间可以为皮带连接、链条连接或齿轮连接；小臂前段旋转电机56与小臂前段27之间、手掌转动电机12与机器手掌11之间可以为直接电机轴相接、采用联轴器方式或者齿轮方式连接。回转台驱动电机33控制回转台21的转动，大臂摆动电机用于控制机器大臂18的摆动，小臂摆动电机用于控制机器小臂17的摆动，小臂前段旋转电机56用于控制小臂前段27的转动，手腕驱动电机用于控制机器手腕14的摆动，机器手掌11转动电机用于控制机器手掌11的而转动，以上电机部分实现了机械臂各个方向上的运动，从而实现精准的运动轨迹。
本实施例中，所述的机器手掌11上设有电磁吸盘10，所述的电磁吸盘10的上端设有定位销60，所述的电磁吸盘10的侧边设有激光发射器61。本实施例中，所采用的激光发射器61为现有成品设备，型号为RJG530IRF。机器手掌11上的电磁吸盘10用于吸取梭壳梭芯板38，所述的定位销60用于固定梭壳梭芯板38，所述的激光发射器61用于寻找激光定位孔40进行定位工作。
本实施例中，所述机器手腕14外设有手腕单向门收料斗13，所述手腕单向门收料斗13设有能向外打开的单向门62，单向门62设有弹性回位装置。
本实施例中，所述梭壳梭芯板安装座68上设有机器手掌进出通道66，所述的梭壳梭芯板安装座68上还设有放料定位销67和永磁铁39，所述梭壳梭芯板安装座68的下端设有向下的延伸边65，所述的延伸边65上设有视觉探测定位装置，梭壳梭芯板安装座68上设有激光定位孔40。所述梭壳梭芯板安装座68上的有视觉探测定位装置为机械顶针69或者激光发射器61（如图15和图14所示）。在定位的过程中，位于小臂前段27上的视觉探头16可以对机械顶针69或者激光发射器61进行识别，从而进行定位。
本实施例中，还包括空梭壳回收装置，包括空梭壳回收盒9、手腕单向门收料斗13和空梭壳集料槽29，所述的空梭壳回收盒9设于梭壳梭芯板安装座68的上端的，所述空梭壳回收盒9的下端设有可向下单向打开的V形活动盖板71，V形活动盖板71为向下打开的单向门，V形活动盖板71设有弹性回位装置；所述的手腕单向门收料斗13设于机器手腕的一侧，所述的空梭壳集料槽29设于所述工作台28上位于所述备用梭壳储料装置3的旁边。空梭壳集料槽29用于收集绣花机上换下的空梭壳63。弹性回位装置包括圆柱销，所述圆柱销上套有复位弹簧。V形活动盖板71和手腕单向门收料斗13上的单向门62相互之间的配合，实现了从绣花机上换下的空梭壳63掉入空梭壳回收盒9、单向门62收料斗，最后被收集至空梭壳集料槽29内。
一种由一种绣花机智能换底线机器人实现的自动换底线方法，其特征在于包括以下步骤：
1）、打开可复位固定钩装置44，放下梭壳储料板37，从梭壳储料板37的背面将备用梭壳1通过梭壳安装通孔42依次安装于梭芯板38上，留出至少一个空缺的梭芯板安装位41；
2）、在梭壳储料板37上安装完备用梭壳1后，翻起梭壳储料板37，上端用可复位固定钩装置44固定，将备用梭壳储料装置3安装于固定圆盘底座31上；
3）、行走小车23移动，在行走导向系统的作用下，精准到达第一个需要更换梭芯板38的绣花机机头处，进行取空梭芯板64动作。此时自动换梭壳的机械装置4把原先已经安装在梭壳梭芯板安装座68上的装有备用梭壳的梭芯板70上的备用梭壳1更换到绣花机上，梭壳梭芯板安装座68上留下一个没有备用梭壳1的空梭芯板64，取空梭芯板64包括以下动作：
    A：回转台驱动电机33驱动回转台21转动，机械臂将机器手掌11移送到梭壳梭芯板安装座68的下方，通过通过视觉探头16和激光发射器61两个装置进行定位监测，视觉探头16对准梭壳梭芯板安装座68，检测到延伸边65上的定位装置，机械臂和机器手掌11进行位置调整，机器手掌11上的激光发射器61发出激光进行探测，探测到下位架2和梭壳梭芯板安装座68上的激光定位孔40，两个装置进行准确定位；
B：定位完成后，机械臂向上移动，使机器手掌11上的定位销60插入梭芯板孔位，电磁吸盘10通电，吸住空梭芯板64；
C：机械臂上移，使空梭芯板64脱离梭壳梭芯板安装座68上的放料定位销67；
D：机械臂后移，通过机器手掌进出通道66使空梭芯板64脱离固定位置，后移时，手腕单向门收料斗13的单向门62，在V形活动盖板71的下板的作用下，打开，并顺利后移，移出后，在弹性回位装置的作用下单向门62复位；
4）、将空梭芯板64送回备用梭壳储料装置3，包括以下动作：
E：回转台驱动电机33驱动回转台21转动，机械臂转至备用梭壳储料装置3预留的空缺的梭芯板安装位41处，通过视觉探头16和激光发射器61两个装置进行定位监测，视觉探头16对准备用梭壳储料装置3，对准空缺的梭芯板安装位41，激光发射器61发出激光进行探测，机械臂和机器手掌11进行位置调整，探测到梭芯板安装位41内的激光定位孔40，两个装置进行准确定位；
F：机械臂上的全套定位系统全时工作，机械臂向前运动，使空梭芯板64准确放置到梭壳储料板37上的空缺的梭芯板安装位41上；
G：待安全放置后，机器手掌11上的电磁吸盘10断电，空梭芯板64被镶嵌在梭芯板安装位41内的永磁铁39吸附；
5）、抓取装有备用梭壳的梭芯板70，包括以下动作：
H：机械臂移至装有备用梭壳的梭芯板70安装位41，通过视觉探头16和激光发射器61两个装置进行定位监测，视觉探头16对准装有备用梭壳的梭芯板70安装位41，激光发射器61发出激光进行探测，机械臂和机器手掌11进行位置调整，探测到装有备用梭壳的梭芯板70上的激光定位孔40，两个装置进行准确定位；
I：机械臂上的全套定位系统全时工作，机械臂向前运动，使机器手掌11上的定位销60插入装有备用梭壳的梭芯板70的孔位内，电磁吸盘10通电，使装有备用梭壳的梭芯板70吸附牢固；
J：利用电磁吸盘10吸力大于梭芯板安装位41内的永磁铁39的吸力，拔出装有备用梭壳的梭芯板70；
6）、将装有备用梭壳的梭芯板70安装至梭壳梭芯板安装座68上，并回收空梭壳63，包括以下动作：
K：回转台驱动电机33驱动回转台21转动，机械臂将机器手掌11移送到梭壳梭芯板安装座68的前方，通过通过视觉探头16进行定位检测，视觉探头16对准梭壳梭芯板安装座68，检测到延伸边65上的视觉探测定位装置；
L：机械臂向前运动，通过机器手掌进出通道66运动到梭壳梭芯板安装座68上，通过视觉探头16和激光发射器61两个装置进行定位监测，视觉探头16对准梭壳梭芯板安装座68的延伸边65上的视觉探测定位装置，激光发射器61发出激光进行探测，机械臂和机器手掌11进行位置调整，探测到下位架2和梭壳梭芯板安装座68上的激光定位孔40，使梭壳梭芯板安装座68的放料定位销67与装有备用梭壳的梭芯板70上的孔位对齐；在这个步骤前，空梭壳回收盒9内已经有从绣花机上换下来的空梭壳63，机械臂向前运动过程中，利用手腕单向门收料斗13的单向门62推开空梭壳回收盒9的V形活动盖板71，使换下的空梭壳63掉入手腕单向门收料斗13内；
M：定位完成后，机械臂向下移动，并使梭壳梭芯板安装座68上的放料定位销67插入装有备用梭壳的梭芯板70的孔位，并通过梭壳梭芯板安装座68上的永磁铁39吸住装有备用梭壳的梭芯板70；
N：装有备用梭壳的梭芯板70安全放置于放料定位销67上之后，机器手掌11上的电磁吸盘10断电，并再向下移动，脱离梭壳梭芯板安装座68；在向下移动的过程中，V形活动盖板71在弹性回位装置的作用下，自然关闭；
O：回转台驱动电机33驱动回转台21转动，机械臂转至备用梭壳储料装置3，转动机器手腕，手腕单向门收料斗13翻转，使空梭壳63掉入空梭壳集料槽29；
7）、行走小车23前进一段距离，到达下一个绣花机机头处，重复动作A-O，往复工作，实现每个机头的梭壳梭芯板安装座68位置上自动放置装有备用梭壳的梭芯板70以及完成空梭壳63和空梭芯板64的回收，在自动换梭壳的机械装置4的配合下实现全自动换底线功能。
8）、当一个梭壳储料板37上的备用梭壳1安装完毕后，圆盘驱动电机30驱动固定圆盘底座31转动，转动一定角度后，取用下一块梭壳储料板37上的备用梭壳1。
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Claims (10)

  1. 一种绣花机智能换底线机器人，包括自动换梭壳的机械装置，所述的自动换梭壳的机械装置上设有下位架，所述的下位架上设有梭壳梭芯板安装座，其特征在于该机器人还包括行走小车、备用梭壳储料装置、梭壳输送装置和定位控制装置；所述的行走小车包括箱体和设于箱体上的工作台；所述的梭壳输送装置包括与工作台连接的回转装置、与回转装置依次连接的若干副机械臂、设于机械臂后端部的梭壳梭芯板抓取机构。
  2. 根据权利要求1所述的一种绣花机智能换底线机器人，其特征在于所述的机械臂的数量为多副，与回转装置连接的机械臂连接处为活动连接，机械臂可绕中心轴上下摆动，相互连接的机械臂连接处为活动连接，可绕中心轴上下摆动；所述的梭壳梭芯板抓取机构包括机器手腕、设于机器手腕上的手掌转动电机、与手掌转动电机输出轴端连接的机器手掌。
  3. 根据权利要求1所述的一种绣花机智能换底线机器人，其特征在于所述的行走小车还包括设于箱体内的行走驱动机构、行走导向系统和防撞自停系统，所述行走驱动机构包括设于行走小车下方的至少两组行走轮和行走驱动电机，所述的行走轮中心轴至少有一组与所述行走驱动电机输出轴端相连接，所述的防撞自停系统包括设于行走小车四周的超声波测距传感器。
  4. 根据权利要求1所述的一种绣花机智能换底线机器人，其特征在于所述的定位控制装置包括设于行走小车箱体内的主控板、灰度传感模块、视觉识别模块、激光发射模块和工作台上的显示屏，所述灰度传感模块、视觉识别模块、激光发射模块、显示屏均与所述的主控板电连接，所述的行走小车底部设有灰度传感器，所述的灰度传感模块与灰度传感器电连接，所述的机械臂上设有视觉探头，所述的视觉探头与视觉识别模块电连接，所述的梭壳梭芯板抓取机构上设有激光发射器，所述的激光发射器与激光发射模块电连接。
  5. 根据权利要求1所述的一种绣花机智能换底线机器人，其特征在于所述的备用梭壳储料装置设于工作台上，其包括若干副梭壳储料板，所述的梭壳储料板上设有梭芯板安装位，所述的梭芯板安装位内设有梭壳安装通孔，所述梭壳储料板上的梭芯板安装位内的梭壳安装通孔旁设有激光定位孔和永磁铁。
  6. 根据权利要求5所述的一种绣花机智能换底线机器人，其特征在于所述的梭壳储料板为多副，所述多副梭壳储料板呈环形依次布置，多副梭壳储料板可绕中心轴转动。
  7. 根据权利要求6所述的一种绣花机智能换底线机器人，其特征在于所述多副梭壳储料板上端设有上固定圆盘，其下端设有下固定圆盘，所述的上固定圆盘与下固定圆盘中心设有圆盘驱动机构，所述圆盘驱动机构包括与上固定圆盘和下固定圆盘中心轴连接的圆盘驱动电机，所述梭壳储料板下端与下固定圆盘活动连接，所述梭壳储料板上端与上固定圆盘可拆卸连接。
  8. 根据权利要求7所述的一种绣花机智能换底线机器人，其特征在于所述的下固定圆盘下方设有固定圆盘底座，所述下固定圆盘与固定圆盘底座为可拆卸连接，所述固定圆盘底座设于所述的工作台上，所述圆盘驱动电机设于所述的工作台下方。
  9. 根据权利要求7所述的一种绣花机智能换底线机器人，其特征在于所述上固定圆盘靠近边缘处设有可复位固定钩装置，所述上固定圆盘上设有固定钩定位孔， 固定钩设于该固定钩定位孔内，所述固定钩中间直径尺寸小于固定钩定位孔内径尺寸，所述固定钩上端部外径尺寸大于固定钩定位孔内径尺寸，且固定钩上端与上固定圆盘之间设有限位套，所述固定钩长度尺寸大于上固定圆盘厚度尺寸，所述固定钩的下端设有固定头，所述固定头上端外径尺寸大于固定钩中间直径尺寸，所述上固定圆盘下方固定钩外周设有弹簧。
  10. 根据权利要求1或2所述的一种绣花机智能换底线机器人，其特征在于所述回转装置包括回转台和回转台驱动电机，所述的回转台驱动电机设于所述工作台的下方，所述的回转台设于所述工作台的上方，且可绕平面360°转动，所述回转台中间设有转轴，所述转轴下方与回转台驱动电机相接。
    11、根据权利要求1或2所述的一种绣花机智能换底线机器人，其特征在于所述的机械臂包括机器大臂、机器小臂，所述机械臂上设有机械臂驱动机构，所述机械臂驱动机构包括机械臂驱动电机、与机械臂驱动电机输出轴端连接的传动机构，所述传动机构包括主动轮、被动轮、与主动轮和被动轮连接的传动装置，所述机械臂驱动电机输出轴端与主动轮相连接；所述机械臂驱动机构包括机器大臂驱动机构、机器小臂驱动机构；所述的回转台与机器大臂连接，连接处设有机器大臂驱动机构，所述的机器大臂的后端与机器小臂连接，连接处设有机器小臂驱动机构，所述的机器小臂的后端与机器手腕的连接，连接处设有机器手腕驱动机构。
    12、根据权利要求11所述的一种绣花机智能换底线机器人，其特征在于所述机器大臂驱动机构包括机器大臂驱动电机、与机器大臂驱动电机输出轴端连接的机器大臂传动机构，所述机器大臂传动机构包括机器大臂主动轮、机器大臂被动轮、与机器大臂主动轮和机器大臂被动轮连接的机器大臂传动装置，所述机器大臂驱动电机输出轴端与机器大臂主动轮相连接，所述机器大臂主动轮与机器大臂固定连接；所述机器小臂驱动机构包括机器小臂驱动电机、与机器小臂驱动电机输出轴端连接的机器小臂传动机构，所述机器小臂传动机构包括机器小臂主动轮、机器小臂被动轮、与机器小臂主动轮和机器小臂被动轮连接的机器小臂传动装置，所述机器小臂驱动电机输出轴端与机器小臂主动轮相连接，所述机器小臂主动轮与机器大臂固定连接。
    13、根据权利要求11所述的一种绣花机智能换底线机器人，其特征在于所述机器小臂的前端设有小臂前段，所述的机器小臂内设有小臂前段旋转电机，所述的小臂前段与小臂前段旋转电机输出轴端相互连接，所述小臂前段上设有视觉探头；所述机器手腕驱动机构包括机器手腕驱动电机、与机器手腕驱动电机输出轴端连接的机器手腕传动机构，所述机器手腕传动机构包括机器手腕主动轮、机器手腕被动轮、与机器手腕主动轮和机器手腕被动轮连接的机器手腕传动装置，所述机器手腕驱动电机输出轴端与机器手腕主动轮相连接，所述机器手腕主动轮与小臂前段固定连接。
    14、根据权利要求2所述的一种绣花机智能换底线机器人，其特征在于所述的机器手掌上设有电磁吸盘，所述的电磁吸盘的上端设有定位销，所述的电磁吸盘的侧边设有激光发射器。
    15、根据权利要求2所述的一种绣花机智能换底线机器人，其特征在于所述机器手腕外设有手腕单向门收料斗，所述手腕单向门收料斗设有能向外打开的单向门，单向门设有弹性回位装置。
    16、根据权利要求1或2所述的一种绣花机智能换底线机器人，其特征在于所述梭壳梭芯板安装座上设有机器手掌进出通道，所述的梭壳梭芯板安装座上还设有放料定位销和永磁铁，所述梭壳梭芯板安装座的下端设有向下的延伸边，所述的延伸边上设有视觉探测定位装置，梭壳梭芯板安装座上设有激光定位孔。
    17、根据权利要求1所述的绣花机智能换底座机器人，其特征在于还包括空梭壳回收装置，包括空梭壳回收盒、手腕单向门收料斗和空梭壳集料槽，所述的空梭壳回收盒设于梭壳梭芯板安装座的上端的，所述空梭壳回收盒的下端设有可向下单向打开的V形活动盖板，V形活动盖板为向下打开的单向门，V形活动盖板设有弹性回位装置；所述的手腕单向门收料斗设于机器手腕的一侧，所述的空梭壳集料槽设于所述工作台上位于所述备用梭壳储料装置的旁边。
    18、一种由权利要求1所述的一种绣花机智能换底线机器人实现的自动换底线方法，其特征在于包括以下步骤：
    1）、打开可复位固定钩装置，放下梭壳储料板，从梭壳储料板的背面将备用梭壳通过梭壳安装通孔依次安装于梭芯板上，留出至少一个空缺的梭芯板安装位；
    2）、在梭壳储料板上安装完备用梭壳后，翻起梭壳储料板，上端用可复位固定钩装置固定，将备用梭壳储料装置安装于固定圆盘底座上；
    3）、行走小车移动，在行走导向系统的作用下，精准到达第一个需要更换梭芯板的绣花机机头处，进行取空梭芯板动作。此时自动换梭壳的机械装置把原先已经安装在梭壳梭芯板安装座上的装有备用梭壳的梭芯板上的备用梭壳更换到绣花机上，梭壳梭芯板安装座上留下一个没有备用梭壳的空梭芯板，取空梭芯板包括以下动作：
        A：回转台驱动电机驱动回转台转动，机械臂将机器手掌移送到梭壳梭芯板安装座的下方，通过通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准梭壳梭芯板安装座，检测到延伸边上的定位装置，机械臂和机器手掌进行位置调整，机器手掌上的激光发射器发出激光进行探测，探测到下位架和梭壳梭芯板安装座上的激光定位孔，两个装置进行准确定位；
    B：定位完成后，机械臂向上移动，使机器手掌上的定位销插入梭芯板孔位，电磁吸盘通电，吸住空梭芯板；
    C：机械臂上移，使空梭芯板脱离梭壳梭芯板安装座上的放料定位销；
    D：机械臂后移，通过机器手掌进出通道使空梭芯板脱离固定位置，后移时，手腕单向门收料斗的单向门，在V形活动盖板的下板的作用下，打开，并顺利后移，移出后，在弹性回位装置的作用下单向门复位；
    4）、将空梭芯板送回备用梭壳储料装置，包括以下动作：
    E：回转台驱动电机驱动回转台转动，机械臂转至备用梭壳储料装置预留的空缺的梭芯板安装位处，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准备用梭壳储料装置，对准空缺的梭芯板安装位，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到梭芯板安装位内的激光定位孔，两个装置进行准确定位；
    F：机械臂上的全套定位系统全时工作，机械臂向前运动，使空梭芯板准确放置到梭壳储料板上的空缺的梭芯板安装位上；
    G：待安全放置后，机器手掌上的电磁吸盘断电，空梭芯板被镶嵌在梭芯板安装位内的永磁铁吸附；
    5）、抓取装有备用梭壳的梭芯板，包括以下动作：
    H：机械臂移至装有备用梭壳的梭芯板安装位，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准装有备用梭壳的梭芯板安装位，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到装有备用梭壳的梭芯板上的激光定位孔，两个装置进行准确定位；
    I：机械臂上的全套定位系统全时工作，机械臂向前运动，使机器手掌上的定位销插入装有备用梭壳的梭芯板的孔位内，电磁吸盘通电，使装有备用梭壳的梭芯板吸附牢固；
    J：利用电磁吸盘吸力大于梭芯板安装位内的永磁铁的吸力，拔出装有备用梭壳的梭芯板；
    6）、将装有备用梭壳的梭芯板安装至梭壳梭芯板安装座上，并回收空梭壳，包括以下动作：
    K：回转台驱动电机驱动回转台转动，机械臂将机器手掌移送到梭壳梭芯板安装座的前方，通过视觉探头进行定位检测，视觉探头对准梭壳梭芯板安装座，检测到延伸边上的视觉探测定位装置；
    L：机械臂向前运动，通过机器手掌进出通道运动到梭壳梭芯板安装座上，通过视觉探头和激光发射器两个装置进行定位监测，视觉探头对准梭壳梭芯板安装座的延伸边上的视觉探测定位装置，激光发射器发出激光进行探测，机械臂和机器手掌进行位置调整，探测到下位架和梭壳梭芯板安装座上的激光定位孔，使梭壳梭芯板安装座的放料定位销与装有备用梭壳的梭芯板上的孔位对齐；在这个步骤前，空梭壳回收盒内已经有从绣花机上换下来的空梭壳，机械臂向前运动过程中，利用手腕单向门收料斗的单向门推开空梭壳回收盒的V形活动盖板，使换下的空梭壳掉入手腕单向门收料斗内；
    M：定位完成后，机械臂向下移动，并使梭壳梭芯板安装座上的放料定位销插入装有备用梭壳的梭芯板的孔位，并通过梭壳梭芯板安装座上的永磁铁吸住装有备用梭壳的梭芯板；
    N：装有备用梭壳的梭芯板安全放置于放料定位销上之后，机器手掌上的电磁吸盘断电，并再向下移动，脱离梭壳梭芯板安装座；在向下移动的过程中，V形活动盖板在弹性回位装置的作用下，自然关闭；
    O：回转台驱动电机驱动回转台转动，机械臂转至备用梭壳储料装置，转动机器手腕，手腕单向门收料斗翻转，使空梭壳掉入空梭壳集料槽；
    7）、行走小车前进一段距离，到达下一个绣花机机头处，重复动作A-O，往复工作，实现每个机头的梭壳梭芯板安装座位置上自动放置装有备用梭壳的梭芯板以及完成空梭壳和空梭芯板的回收，在自动换梭壳的机械装置的配合下实现全自动换底线功能；
    8）、当一个梭壳储料板上的备用梭壳安装完毕后，圆盘驱动电机驱动固定圆盘底座转动，转动一定角度后，取用下一块梭壳储料板上的备用梭壳。
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CN107541868A (zh) * 2017-09-20 2018-01-05 杰克缝纫机股份有限公司 一种简易自动换梭芯装置及缝纫设备
CN108914423A (zh) * 2018-09-01 2018-11-30 诸暨市尚牌自动化科技有限公司 一种用于绣花机智能换底线机器人的备用梭壳储料装置
CN108950920A (zh) * 2018-09-01 2018-12-07 诸暨市尚牌自动化科技有限公司 一种用于绣花机智能换底线的梭壳输送装置
CN109048838A (zh) * 2018-09-01 2018-12-21 诸暨市尚牌自动化科技有限公司 一种绣花机智能换底线机器人及自动换底线方法
CN109183298A (zh) * 2018-09-01 2019-01-11 诸暨市尚牌自动化科技有限公司 一种用于绣花机智能换底线的梭壳梭芯板抓取机构

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