Winding robot for nail line painting and application method thereof
阅读说明：本技术 钉线画绕线机器人及其应用方法 (Winding robot for nail line painting and application method thereof ) 是由 牟牧云 朱银龙 张宇豪 于 2019-11-18 设计创作，主要内容包括：本发明公开了钉线画绕线机器人及应用方法,包括设置有绕线区域的基座、X轴运动系统、Y轴运动系统、Z轴运动系统、滑块和针头。所述的基座上,设置X轴运动系统、Y轴运动系统和Z轴运动系统,X轴运动系统和Y轴运动系统,可以控制绕线模块在X、Y轴方向移动,Z轴运动系统可以控制绕线模块在Z轴方向移动,再由控制算法控制绕线模块在X、Y、Z轴三个方向移动,由此实现全部绕线动作,机器代替人工完成绕线操作,整个绕线过程高效准确。(The invention discloses a nail line drawing winding robot and an application method thereof. The base on, set up X axle motion system, Y axle motion system and Z axle motion system, X axle motion system and Y axle motion system can control the module of coiling and move in X, Y axle directions, Z axle motion system can control the module of coiling and move in Z axle direction, again by control algorithm control module of coiling and move in X, Y, Z three directions, realize whole wire winding actions from this, the machine replaces the manual work to accomplish the wire winding operation, whole wire winding process is high-efficient accurate.)
1. Nail line drawing wire winding robot, its characterized in that: the wire winding device comprises a base (1) provided with a wire winding area, a bottom plate (1-1), a left baffle (1-2) and a right baffle (1-3), wherein the wire winding area (1-4) is positioned between the left baffle (1-2) and the right baffle (1-3), and the left baffle (1-2) and the right baffle (1-3) are respectively positioned at the edges of two sides of the base; an X-axis motion system (2) is additionally arranged on a base (1), the X-axis motion system (2) consists of a sliding rod (2-1) and a sliding rod (2-2), a first sliding block (2-3) and a second sliding block (2-4) which move along an X axis are arranged on the sliding rod (2-2), a transverse sliding rod (4) is arranged on the first sliding block (2-3) and the second sliding block (2-4), a Y-axis motion system (3) is arranged on the transverse sliding rod, a cylindrical sliding block (5-1) is additionally arranged on the Y-axis motion system (3), a Z-axis motion system (6) is arranged on the transverse sliding rod, and a winding module (7) is arranged on the Y-axis motion system (3); the cylindrical sliding block (5-1) is dragged by the X-axis motion system (2) and the Y-axis motion system (3) to move on the X-axis motion system (2) and the Y-axis motion system (3), the winding module (7) fixes the needle head (7-9) through the connector (7-1) and moves on the Z-axis motion system (6) to adjust the position of the control line.
2. The nailing and line drawing winding robot according to claim 1, characterized in that the winding module (7) fixes the needle (7-9) by means of a connector (7-1) and a screw.
3. The staple line drawing and winding robot according to claim 1, characterized in that the needles (7-9) in the winding module (7) are hollow conduits, including but not limited to cylindrical, spherical, conical conduits.
4. The method of claim 1, wherein each nail corresponds to an entry point and an exit point; for the number 2 nail (j) to be wound currently, the winding die (7) leaves the previous number 1 nail (i) from the first exit point (A) of the previous number 1 nail (i), the number 2 nail (j) is ready to be wound through the first track (S1) to the person mouth point (B) of the number 2 nail (j), the winding operation of the number 2 nail (j) is completed from the first entry point (B) of the number 2 nail (j) through the second track (S2) to the second exit point (C) of the number 2 nail (j), and the needle head moves to the second person mouth point (D) of the next number 3 nail (k) through the third track (S3) after the number 2 nail (j) is wound; and so on.
5. The method for applying a nailing/threading robot as claimed in claim 4, wherein the first trajectory (S1), the second trajectory (S2) and the third trajectory (S3) are arbitrary curves or broken lines without touching nails.
6. The application method of the nailing and line drawing winding robot as claimed in claim 4, wherein: the sequence algorithm for the circumference winding control algorithm comprises the following steps:
the first step is as follows: setting the radius R of a circular plate, wherein the circle center is the origin and the number of nails is N;
the second step is that: the nails are distributed at equal intervals, so that the position of each nail is calculated;
the third step: calculating the center point positions of two adjacent nails on the circular arc, wherein the coordinates of one nail are (x1, y1), the coordinates of the other nail are (x2, y2), the coordinates of the center point are (x0, y0), the coordinates of the center point are calculated in a mode of x0 ═ x1+ x2)/2, y0 ═ y1+ y2)/2, and the center point is used as an entry point and an exit point of a wire winding module needle (7-9) for winding a wire of the nail;
the fourth step: outputting a nail sequence needing winding, wherein the nail sequence has the length of m and is numbered as s (0), s (1) and s (2).. s (m-1);
the fifth step: starting with the second nail in the input sequence, the population point and exit point for each nail are obtained in a clockwise order, yielding a set of coordinate sequences of length 2 (m-1).
7. The method of claim 6, wherein the calculation of the entry point and the exit point is a point between any two adjacent nails except for the center point of two adjacent nails.
Technical Field
The invention relates to a winding robot and a winding method, in particular to a high-precision nail line drawing winding robot and a winding method.
Background
The nail line drawing (string art) is an artwork consisting of nails and lines; the method is to nail nails at specific positions of the wood board, and the common arrangement is to arrange the nails into a ring and then wind the nails with sewing thread to form an image. The traditional nail line painting is manually wound, has low efficiency, long time consumption, boring work and easily influenced product quality by manpower. If the winding robot is used for replacing manual winding, the winding efficiency and the winding quality are greatly improved. For example, in chinese patent publication No. CN106166741A with publication number of 2016, 11, 30 and 2016, a high-precision intelligent writing robot is disclosed, which is used to replace manual writing. The winding robot designed by the invention can be used for the manufacturing process of the nail line picture, and the winding robot is not available in China.
Disclosure of Invention
The invention aims to improve the winding efficiency and the finished product quality and replace the manual work with a machine. The winding process of the nail line picture is realized by the following technical scheme:
a wire-stitching winding robot comprises a base provided with a winding area, an X-axis motion system, a Y-axis motion system, a Z-axis motion system, a sliding block and a needle head. A bottom plate, a left baffle and a right baffle are added on a base provided with a winding area, the winding area is positioned between the left baffle and the right baffle, and the left baffle and the right baffle are respectively positioned at the edges of two sides of the base; in addition, an X-axis motion system is additionally arranged on the base, the X-axis motion system consists of 2 sliding rods, 2 sliding blocks, a first sliding block and a second sliding block which can move along the X axis are arranged on the sliding rods, 1 transverse sliding rod is arranged on the first sliding block and the second sliding block, the Y-axis motion system is arranged on the Y-axis motion system, 1 cylindrical sliding block is additionally arranged on the Y-axis motion system, the Z-axis motion system is arranged on the Z-axis motion system, and a winding module is arranged on the Z-axis motion system and comprises a connector and a needle head; the cylindrical sliding block is dragged by an X, Y-axis motion system and moves in a X, Y-axis motion system, and the winding module fixes the needle through the connector; the connector is a metal plate and is provided with a plurality of small holes for fixing the needle head; the needle head is a hollow conduit, and the wire passes through the wire guide conduit to be connected with the needle head at the bottom and moves in the Z-axis motion system to adjust the position of the control wire.
The application method of the winding robot comprises the following steps:
aiming at the winding process of the nails arranged at the edge of the circular plate, a control algorithm controls the machine to move for winding according to a given nail sequence (s (0), s (1), s (2).. s (m-1)), the whole winding process can be formed by winding and connecting a plurality of single nails in series, and for convenience in operation, the nails are not required to be wound clockwise from a left inlet point to a right outlet point of each nail when each nail is wound (the center of the circular plate points to the direction of the corresponding nail and is specified to be the front). Fig. 4 is a schematic diagram showing wire winding for a nail (j nail) on a ring in the wire winding process, in the diagram, 12 nails are distributed at the edge of the ring at equal intervals, a needle head leaves the previous i nail from a point a, reaches a point B through a track S1 to prepare for winding the j nail, is sent from the point B, reaches a point C through a track S2 to complete the wire winding operation for the j nail, and moves to the next k nail entry point D through a track S3 after the winding of the j nail is completed.
Note that there is one entry point and one exit point for each nail. The calculation of the entry and exit points may be replaced by a point between any adjacent nails, in addition to the calculation of the center points of two adjacent nails. It should be noted that in the above method, S2 may be replaced by any curved line or broken line without touching the corresponding nail (j in the figure); s1 and S3 may be replaced by any curved or broken line without touching the nails on the rings.
The winding process for the non-circumferential arrangement of nails is similar to the circumferential arrangement, and the sequence of nails can also be broken down into individual nail windings similar to that described above.
The winding robot generates a corresponding control command (numerical control programming language G code) according to the coordinate sequence generated by the control algorithm, and the robot is controlled to complete the winding operation.
The sequence algorithm of the winding robot comprises the following steps:
the first step is as follows: setting the radius R (the circle center is the origin) of the circular plate and the number N of nails;
the second step is that: the position of each nail can be calculated due to the equidistant distribution of the nails;
the third step: calculating the central point positions of two adjacent nails on the arc as an entry point and an exit point of the needle head for winding the nails; in FIG. 4, point B is the inlet point of the winding wire of the j nail, and point C is the outlet point of the winding wire of the j nail;
the fourth step: outputting a nail sequence needing winding, wherein the nail sequence has the length of m and is numbered as s (0), s (1) and s (2).. s (m-1);
the fifth step: the entry and exit points for each nail are obtained in a clockwise order starting with the second nail in the input sequence, resulting in a set of coordinate sequences of length 2 (m-1).
Advantageous effects
According to the invention, the winding is completed by a machine instead of manpower, the control is carried out through the control chip, the winding module moving on the Z axis and the sliding block moving on the X, Y axis are utilized to rotate and reciprocate for winding, the winding operation among a plurality of nails is converted into the cyclic reciprocation among two nails, the whole winding process is efficient and accurate, and the finished product can be taken down after the winding operation is finished.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention: comprises a
fig. 2 is a schematic structural view of the base: comprises a bottom plate 1-1, a left baffle 1-2, a right baffle 1-3 and a winding area 1-4;
fig. 3 is a schematic structural diagram of the winding module: the connector is 7-1, the first hole is 7-4, the second hole is 7-3, the wire guide pipe is 7-2, the gasket is 7-5, the first screw is 7-6, the second screw is 7-7, the third screw is 7-8, and the bottom needle head is 7-9;
FIG. 4 is a schematic diagram of a winding method: in the figure, 12 nails are distributed on the edge of the circular plate at equal intervals, and i, j and k are 3 nails on the circumference, namely No. 1, No. 2 and No. 3 nails in sequence. Where A, B are the two endpoints of the first trajectory S1, B, C are the two endpoints of the second trajectory S2, and C, D are the two endpoints of the third trajectory S3.
Detailed Description
The technical scheme of the invention is concretely explained in the following by combining the attached drawings.
As shown in figure 1, the wire winding device comprises a base provided with a wire winding area, a bottom adding plate 1-1, a left baffle 1-2 and a right baffle 1-3, wherein the wire winding area 1-4 is positioned between the left baffle 1-2 and the right baffle 1-3, and the left baffle 1-2 and the right baffle 1-3 are respectively positioned at the edges of two sides of the base; in addition, an
As shown in FIG. 2, the
As shown in figure 3, a first hole 7-4 and a second hole 7-3 are formed below the connector 7-1, and the wire guide pipe 7-2 is fixed through a gasket 7-5, a screw 7-6, a screw 7-7, a screw 7-8 and a bottom needle 7-9.
The winding method is as follows:
aiming at the winding process of the nails arranged at the edge of the circular plate, a control algorithm controls a machine to move for winding according to a given nail sequence (s (0), s (1), s (2.) s (m-1)), the whole winding process can be formed by winding a plurality of single nails in series, and for convenience in operation, the nails are wound from a left inlet point of the nail to a right outlet point clockwise when each nail is wound (the direction of the center of the circular plate pointing to the corresponding nail is specified to be the front). As shown in fig. 4, which is a schematic diagram of winding a wire for a nail j on a ring in the winding process, 12 nails are distributed at equal intervals on the edge of the ring in the drawing, a needle head leaves the previous nail i from a point a, passes through a track S1 to reach a point B to be wound with the nail j, and is sent from the point B to pass through a track S2 to reach a point C to complete the winding operation for the nail j, and the needle head moves to the next k nail entry point D through a track S3 after the nail j is wound.
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