CN110271873B

CN110271873B - Film roll unstacking device and method

Info

Publication number: CN110271873B
Application number: CN201910640907.7A
Authority: CN
Inventors: 徐佳; 薛国庆; 张志强
Original assignee: Shanghai Triowin Intelligent Machinery Co ltd
Current assignee: Shanghai Triowin Intelligent Machinery Co ltd
Priority date: 2019-07-16
Filing date: 2019-07-16
Publication date: 2021-03-30
Anticipated expiration: 2039-07-16
Also published as: CN110271873A

Abstract

The invention relates to a film roll unstacking device and an unstacking method, wherein the device comprises a tray input line, a mechanical arm, a film roll output line and a tray output line, the tray input line is used for conveying and positioning a tray on which film rolls are placed, the mechanical arm is used for unstacking the film rolls on the tray, the film roll output line is used for conveying the film rolls to a material designated position, the tray output line is used for conveying empty trays to the tray designated position, the conveying direction of the film roll output line is consistent with the conveying direction of the tray input line, and the conveying direction of the tray output line is perpendicular to the conveying direction of the tray input line. Compared with the prior art, the device disclosed by the invention is simple in structure, the method is easy to operate, the automatic unstacking of the film rolls with various specifications can be realized, the tray is accurately positioned, the spatial three-dimensional information of the film rolls is obtained, the effective grabbing of the film rolls is ensured, and the unstacking efficiency of the film rolls is improved.

Description

Film roll unstacking device and method

Technical Field

The invention relates to the technical field of goods unstacking, in particular to a film roll unstacking device and a unstacking method.

Background

In production fields such as chemical industry, material, paper industry, roll material is a common material, forms roll material with coiling on the paper pipe of film, thin paper etc. and some roll material need erect and put on the tray, transport the cooling chamber cooling, need unstack again after the completion in order to carry out subsequent packing, and there is short stand at tray upper surface welding usually, and the membrane is rolled up and is overlapped on short stand, can prevent that the in-process from taking place to empty.

At present, to this kind of long again heavy, and erect the membrane book of putting on the tray, do not have corresponding automatic device of breaking a jam in the market yet, most all rely on the manual work to break a jam, intensity of labour is high, the inefficiency of breaking a jam, in addition, at the in-process of breaking a jam of membrane book, because be difficult to confirm the spatial position information of membrane book, the tray location is inaccurate, the membrane book takes place reasons such as slope, lead to breaking a jam operation effectively to go on, increased the degree of difficulty of the automatic unstacking of membrane book.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a film roll unstacking device and a film roll unstacking method.

The purpose of the invention can be realized by the following technical scheme: the utility model provides a device of breaking a jam is rolled up to membrane, includes tray input line, arm, membrane book output line and tray output line, the tray input line is used for carrying and fixing a position the tray of placing the membrane book, the arm is used for carrying out the operation of breaking a jam of membrane book on the tray, the membrane book output line is used for carrying the membrane book to material assigned position, the tray output line is used for carrying empty tray to tray assigned position, the direction of delivery of membrane book output line is unanimous with the direction of delivery of tray input line, the direction of delivery of tray output line is the vertical relation with the direction of delivery of tray input line.

Furthermore, the tray input line comprises a feeding roller line, a first positioning roller line and a second positioning roller line which are sequentially connected, a limiting plate is installed on one side of the first positioning roller line, a first positioning mechanism opposite to the limiting plate is installed on the other side of the first positioning roller line, and the first positioning mechanism is used for positioning the tray with the film roll to the position of the limiting plate;

a laser range finder is arranged above the first positioning roller line and used for acquiring height information of the film roll;

the mechanical arm and the tray output line are respectively oppositely arranged on two sides of the second positioning roller line.

Further, the end of arm has the physiosis axle through flange joint, install two-dimensional vision equipment on the flange, the physiosis axle is used for putting the membrane book of slope to and realize snatching of membrane book, two-dimensional vision equipment is arranged in acquireing the central point position information at paper tube top in the membrane book.

Further, first positioning mechanism includes cylinder and push pedal, the cylinder promotes the push pedal, and the tray that will place the membrane book is pushed to the limiting plate.

Furthermore, a second positioning mechanism is installed below the second positioning roller line, the second positioning mechanism comprises a first frame, and a cam lifting plate and a first driving motor which are installed on the first frame, two positioning pins are installed on the cam lifting plate, the two positioning pins are respectively located at two ends of a diagonal line of the first frame, and the first driving motor is used for driving the cam lifting plate to move up and down.

Furthermore, positioning holes are respectively formed in two ends of a diagonal line of the tray and used for being matched with positioning pins so as to fix the position of the tray on the second positioning roller line;

the tray is welded with a short stand column which is of a hollow structure, and the circumferential surface of the short stand column is provided with a plurality of through holes for heat dissipation of the film roll.

Further, tray output line is including installing chain transplanter and the chain transfer chain in first frame top, chain transplanter includes second frame, cylinder climbing mechanism, chain and second driving motor, cylinder climbing mechanism is located second frame below for promote second frame upward movement, the chain is equidistant and install in the second frame parallelly, is provided power by second driving motor, makes the chain take place the transmission, drives the tray and shifts to the chain transfer chain on the line.

Further, film roll output line includes the belt line, the belt line is connected to the packaging platform, be equipped with the baffle that prevents that the film roll from dropping among the transportation process on the belt line.

A film roll unstacking method applied to the film roll unstacking device comprises the following steps:

s1, first positioning of the tray: carrying out first positioning on the tray with the film roll by a tray input line, and acquiring height information of the film roll on the tray;

s2, positioning the tray for the second time: carrying out secondary positioning on the tray with the film roll by the tray input line;

s3, unstacking the film rolls and outputting the film rolls: the mechanical arm sequentially unstacks the film rolls on the tray according to a preset motion track, places the film rolls on a film roll output line, and conveys the film rolls to a material designated position through a film roll output line;

s4, tray output: and after the film rolls on the tray are completely unstacked, conveying the empty tray to a designated position of the tray by the tray output line.

Preferably, the specific process of the unstacking operation in the step S3 is as follows:

s31, the mechanical arm acquires the center position information of the top of the paper tube in the film roll, and the inclined film roll is subjected to straightening operation by combining the height information of the film roll;

s32, the mechanical arm carries out grabbing operation on the straightened film roll, and then the grabbed film roll is placed on a film roll output line;

and S33, repeating the steps S31 to S32 until the mechanical arm finishes the operations of aligning, grabbing and placing all the film rolls on the tray according to a preset motion track.

The invention provides a film roll unstacking device and an unstacking method, which make up the blank of automatic unstacking of film rolls, have simple and clear structure and are easy to operate, and compared with manual unstacking, the film roll unstacking efficiency can be effectively improved.

Compared with the prior art, the invention has the following advantages:

firstly, aiming at the defects that the three-dimensional vision technology in the current market is difficult to be applied to unstacking of large and heavy film rolls, and the application has low precision and high cost, the invention adopts the laser range finder to obtain the height information of the film rolls, and obtains the plane position information of the film rolls through the two-dimensional vision equipment, thereby not only ensuring the effective obtaining of the three-dimensional information of the space of the film rolls, but also greatly reducing the construction cost of the device.

The first positioning mechanism and the second positioning mechanism are arranged, so that the tray can be accurately positioned, and the mechanical arm can be used for unstacking the film rolls on the tray.

When the film roll unstacking operation is carried out, the vertically placed film roll is firstly placed by the air inflation shaft and then grabbed based on the information of the center position of the top of the paper tube in the film roll, so that the grabbing accuracy and effectiveness are guaranteed.

Drawings

FIG. 1 is a schematic structural view of a film roll unstacking apparatus according to an embodiment;

FIG. 2 is a schematic view of the end of the robot arm in one embodiment;

FIG. 3 is a schematic diagram of the working effect of the two-dimensional visual equipment in the embodiment;

FIG. 4 is a schematic structural diagram of a second positioning mechanism and a chain transplanter in the embodiment;

FIG. 5 is a schematic structural view of a tray according to an embodiment;

FIG. 6 is a flow chart of a method of unstacking rolls of film of the present invention;

the notation in the figure is: 1. a tray; 101. positioning holes; 102. a short upright post; 2. a feeding roller line; 3. a first positioning roller line; 4. a limiting plate; 5. a first positioning mechanism; 6. a laser range finder; 7. a mechanical arm; 8. a two-dimensional vision device; 801. a two-dimensional visual range; 9. an inflatable shaft; 10. a second positioning roller line; 11. a belt line; 12. a packaging platform; 13. a second positioning mechanism; 131. a first frame; 132. positioning pins; 133. a cam lifting mechanism; 134. a first drive motor; 14. a chain transplanter; 141. a chain; 142. a cylinder jacking mechanism; 143. a second drive motor; 144. a second frame; 15. a chain conveying line; 16. rolling the film; 161. a paper tube.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

As shown in fig. 1, a film roll unstacking device, including the tray input line, arm 7, film roll output line and tray output line, wherein, the tray input line is used for carrying and the location to the tray 1 of placing film roll 16, arm 7 is used for carrying out the operation of unstacking of film roll 16 on tray 1, film roll output line is used for carrying film roll 16 to material assigned position, tray output line is used for carrying empty tray 1 to tray assigned position, the direction of delivery of film roll output line is unanimous with the direction of delivery of tray input line, the direction of delivery of tray output line is the vertical relation with the direction of delivery of tray input line.

Specifically, the tray input line comprises a feeding roller line 2, a first positioning roller line 3 and a second positioning roller line 10 which are sequentially connected, the film roll output line comprises a belt line 11, the belt line 11 is connected to a packaging platform 12, a baffle for preventing a film roll from falling off in the conveying process is arranged on the belt line 11, and the tray output line comprises a chain transplanter 14 and a chain conveying line 15;

a limiting plate 4 is installed on one side of a first positioning roller line 3, a first positioning mechanism 5 opposite to the limiting plate 4 is installed on the other side of the first positioning roller line 3, the first positioning mechanism 5 is used for positioning a tray 1 placed with a film roll to the position of the limiting plate 4, the first positioning mechanism 5 comprises an air cylinder and a push plate, the push plate is pushed by the air cylinder, the tray 1 placed with the film roll is pushed to the limiting plate 4, and finally one side of the tray 1 is abutted to the limiting plate 4, so that the first positioning of the tray 1 is completed, in the embodiment, the length of the push plate is not more than that of the tray 1, so that the purpose that the push plate can only push one tray 1 is ensured, and when a plurality of trays 1 exist on the first positioning roller line 3, misoperation is caused, and the plurality of trays 1 are pushed to the limiting plate 4;

the laser range finder 6 is arranged above the first positioning roller line 3, the laser range finder 6 is used for acquiring height information of film rolls and transmitting the height information of the film rolls to the mechanical arm 7, so that the subsequent mechanical arm 7 can be positioned to a height required by identification and grabbing to adapt to unstacking of the film rolls of various specifications, in the embodiment, the laser range finder 6 is arranged on a cross rod of a support, the cross rod of the support is positioned above the first positioning roller line 3, and rods on two sides of the support are positioned on two sides of the first positioning roller line 3;

the mechanical arm 7 and the tray output line are respectively and oppositely arranged on two sides of the second positioning roller line 10, as shown in fig. 2, the tail end of the mechanical arm 7 is connected with an air inflation shaft 9 through a flange, a two-dimensional visual device 8 is mounted on the flange, the two-dimensional visual range of the two-dimensional visual device 8 is 801, the air inflation shaft 9 is used for straightening the inclined film roll 16 and realizing the grabbing of the film roll 16, the two-dimensional visual device 8 is used for acquiring the central position information of the top of the paper tube 161 in the film roll 16, as shown in fig. 3, the identification area of the two-dimensional visual range 801 is larger than the maximum range of the inclination of the top round mouth of the paper tube 161 in the film roll 16, the two-dimensional visual device 8 is specifically used for acquiring the position coordinate of the central position of the top round mouth of the paper tube 161 in the film roll 16 on the horizontal plane;

a second positioning mechanism 13 is installed below the second positioning roller line 10, as shown in fig. 4, the second positioning mechanism 13 includes a first frame 131, a cam lifting plate 133 and a first driving motor 134, the cam lifting plate 133 is installed on the first frame 131, two positioning pins 132 are installed on the cam lifting plate 133, the two positioning pins 132 are respectively located at two ends of a diagonal line of the first frame 131, the first driving motor 134 is used for driving the cam lifting plate 133 to move up and down, in this embodiment, the positioning pins 132 are tapered positioning pins, the installation height of the lifting device can be adjusted, the lifting device drives the lifting plate 133 to move up and down through the first driving motor 134, the synchronous lifting of the two positioning pins 132 can be realized, and in the lifting process of the positioning pins 132, the conical surfaces of the positioning pins 132 are used for carrying out fine positioning and guiding on the tray 1, and when the two positioning pins 132 are lifted to the right position, the second positioning of the tray 1 is completed;

the chain transplanter 14 is arranged above the first rack 131, the chain transplanter 14 comprises a second rack 144, an air cylinder jacking mechanism 142, a chain 141 and a second driving motor 143, the air cylinder jacking mechanism 142 is located below the second rack 144 and used for pushing the second rack 144 to move upwards, the chain 141 is arranged on the second rack 144 in parallel at equal intervals, power is provided by the second driving motor 143 to drive the chain 141 to drive the tray 1 to be shifted to the chain conveying line 15, when the stack removal of all materials on the tray 1 is completed, the first positioning mechanism 13 is lowered to an initial position, the chain transplanter 14 is jacked up, the tray 1 is jacked away from the second roller line 10 after the chain 1 is in place, the chain 141 conveys the empty tray 1 to the chain conveying line 15, at the moment, the chain 141 stops transmission, and the chain transplanter 14 is lowered to the initial position;

as shown in fig. 5, the two ends of the diagonal line of the tray 1 are respectively provided with a positioning hole 101, the positioning holes 101 are used for matching with positioning pins 132, so as to fix the position of the tray 1 on the second positioning roller line 10, the tray 1 is welded with short columns 102 arranged in a matrix manner, the short columns 102 are of a hollow structure, the circumferential surface of the short columns 102 is provided with a plurality of through holes for cooling and radiating the film roll 16, in this embodiment, the diameter of the outer circle of the short columns 102 is smaller than the inner diameter of the paper tube 161 wrapped by the film roll 16, so that the film roll 16 can be conveniently vertically placed on the short columns 102 on the tray 1, and the short columns 102 are correspondingly welded in the mounting holes on the upper surface of the tray 1, so as to ensure the position accuracy.

In this embodiment, arm 7 is six arms, and two-dimensional vision equipment 8 is the camera, and after tray 1 accomplished location for the first time and location for the second time, arm 7 discerned and snatched the membrane book 16 on tray 1 according to the movement track of setting for in proper order, and wherein, the movement track is that the position that corresponds to short stand 102 on tray 1 is set for, and the process of specifically snatching is: the mechanical arm 7 moves the two-dimensional vision device 8 to the upper side of the film roll 16, the two-dimensional vision device 8 takes a picture to obtain the position information of the central point of the top of the paper tube 161 in the film roll 16 on the horizontal plane, the position information is transmitted to the mechanical arm 7, the mechanical arm 7 aligns the central axis of the air expanding shaft 9 with the position of the central point of the top round opening of the paper tube 161 in the film roll 16, the air expanding shaft 9 enters the paper tube 161 for a distance of 30mm to 50mm by vertical insertion, then the air expanding shaft 9 is horizontally moved to the central axis of the short upright post 102, the inclined film roll 16 is aligned, then the mechanical arm 7 vertically and completely inserts the air expanding shaft 9 into the paper tube 161 of the film roll 16 again, and finally the air expanding shaft 9 works to grab and lift the film roll 16, transversely place the film roll on the belt line 11 and convey the film roll to the packaging platform 12 for subsequent;

it should be noted that, since the tray 1 is a finishing assembly and the short upright posts 102 are welded in the installation holes whose positions are already determined, the central axis position of the short upright posts 102 on the tray 1 is determined, so that the film roll 16 can be grabbed after being aligned by combining with the two-dimensional vision device 8.

The invention also provides an unstacking method applied to the film roll unstacking device, which comprises the following steps as shown in figure 6:

The specific process for implementing the unstacking method in the embodiment is as follows:

1. a manual forklift puts the tray 1 with the full film roll 16 on the feeding roller line 2;

2. after the tray 1 is conveyed to the first positioning roller line 3, the conveying is stopped, the tray 1 is pushed to be close to the limiting plate 4 by the first positioning mechanism 5, the first positioning of the tray 1 is completed, meanwhile, the laser range finder 6 detects the height of the film roll 16 on the tray 1 and transmits the height information to the mechanical arm 7, so that the film rolls of various specifications can be grabbed;

3. after the tray 1 is continuously conveyed to the second positioning roller line 10, the conveying is stopped, the first driving motor 134 drives the cam lifting plate 133 to ascend, so that the positioning pin 132 is lifted to be matched and positioned with the positioning hole 101 of the tray 1, and after the positioning pin is lifted to the right position, the first driving motor 134 stops working to finish the second positioning of the tray 1;

4. the mechanical arm 7 moves the two-dimensional vision equipment 8 to the position above the film roll 16 according to a preset motion track, the two-dimensional vision equipment 8 takes a picture, and the position coordinate of the central point of the top round mouth of the paper tube 161 in the film roll 16 on the horizontal plane is obtained;

5. the central axis of the air expanding shaft 9 is aligned to the central point position of the top round mouth of the paper tube 161 in the film roll 16 by the mechanical arm 7, the air expanding shaft 9 is vertically inserted into the paper tube 161 for 30-50 mm, and then the air expanding shaft 9 is horizontally moved to move the air expanding shaft 9 to the central axis of the short upright post 102, so that the inclined film roll 16 is straightened;

6. the mechanical arm 7 vertically and completely inserts the air inflation shaft 9 into the paper tube 161 of the film roll 16, the air inflation shaft 9 works after the air inflation shaft is in place, the film roll 16 is grabbed and lifted, the film roll is transversely placed on the belt line 11, and the film roll is conveyed to the packaging platform 12 for packaging;

7. repeating the steps 4 to 6, and unstacking all the film rolls 16 on the tray 1;

8. after the film roll 16 on the tray 1 is completely unstacked, the second positioning mechanism 13 descends to the initial position, at the moment, the chain transplanter 14 jacks up to jack up the empty tray 1 and conveys the empty tray to the chain conveying line 15, then the chain transplanter 14 descends to the initial position, and the tray 1 is conveyed to the designated position of the tray and then is forked by the manual forklift.

Claims

1. The utility model provides a film roll unstacking device, includes tray input line, arm (7), film roll output line and tray output line, its characterized in that, the tray input line is used for carrying and the location tray (1) of placing film roll (16), the welding has short stand column (102) that are the matrix arrangement on tray (1), short stand column (102) are used for placing film roll (16), arm (7) are used for carrying out the operation of unstacking of film roll (16) on tray (1), film roll output line is used for carrying film roll (16) to the material assigned position, tray output line is used for carrying empty tray (1) to the tray assigned position, the tray input line is including material loading roller line (2) that connects gradually, be used for carrying out first location's first positioning roller line (3) and be used for carrying out second positioning roller line (10) to tray (1), a laser range finder (6) is arranged above the first positioning roller line (3), the laser range finder (6) is used for obtaining height information of a film roll (16), the tail end of the mechanical arm (7) is connected with an inflatable shaft (9) through a flange, two-dimensional visual equipment (8) is mounted on the flange, the inflatable shaft (9) is used for aligning the inclined film roll (16) and realizing grabbing of the film roll (16), and the two-dimensional visual equipment (8) is used for obtaining central position information of the top of a paper tube (161) in the film roll (16);

the specific process that the film roll unstacking device carries out film roll grabbing is as follows: after the tray (1) is positioned for the first time and positioned for the second time, the mechanical arm (7) sequentially identifies and grabs the film roll (16) on the tray (1) according to a set motion track, wherein the motion track is set corresponding to the position of the short upright post (102) on the tray (1), the mechanical arm (7) firstly moves the two-dimensional vision equipment (8) above the film roll (16), the two-dimensional vision equipment (8) takes a picture to obtain the position information of the central point of the top of the paper tube (161) in the film roll (16) on the horizontal plane, the position information of the central point is transmitted to the mechanical arm (7), the mechanical arm (7) aligns the central axis of the air expanding shaft (9) to the central point of the top round mouth of the paper tube (161) in the film roll (16), the air expanding shaft (9) enters the paper tube (161) by a distance of 30mm to 50mm after being vertically inserted, then horizontally moving the air inflation shaft (9) to the central axis of the short upright post (102), aligning the inclined film roll (16), vertically inserting the air inflation shaft (9) into the paper tube (161) of the film roll (16) again by the mechanical arm (7), and finally grabbing and lifting the film roll (16) by the operation of the air inflation shaft (9).

2. The film roll unstacking device according to claim 1, wherein a limiting plate (4) is mounted on one side of the first positioning roller line (3), a first positioning mechanism (5) opposite to the limiting plate (4) is mounted on the other side of the first positioning roller line (3), and the first positioning mechanism (5) is used for positioning the tray (1) with the film roll (16) to the position of the limiting plate (4);

the mechanical arm (7) and the tray output line are oppositely arranged on two sides of the second positioning roller line (10) respectively.

3. A film roll unstacking apparatus according to claim 2 wherein the first positioning mechanism (5) comprises a cylinder and a push plate, the cylinder pushing the push plate to push the tray (1) with the film rolls placed against the limiting plate (4).

4. The film roll unstacking device according to claim 2, wherein a second positioning mechanism (13) is mounted below the second positioning roller line (10), the second positioning mechanism (13) comprises a first frame (131), a cam lifting plate (133) and a first driving motor (134), the cam lifting plate (133) is mounted on the first frame (131), two positioning pins (132) are mounted on the cam lifting plate (133), the two positioning pins (132) are respectively located at two ends of a diagonal line of the first frame (131), and the first driving motor (134) is used for driving the cam lifting plate (133) to move up and down.

5. A film roll unstacking device according to claim 4, characterized in that positioning holes (101) are respectively formed at two diagonal ends of the tray (1), and the positioning holes (101) are used for being matched with positioning pins (132) to realize the position fixation of the tray (1) on the second positioning roller line (10);

the tray is characterized in that a short upright post (102) is welded on the tray (1), the short upright post (102) is of a hollow structure, and a plurality of through holes for heat dissipation of the film roll (16) are formed in the circumferential surface of the short upright post (102).

6. The film roll unstacking device according to claim 4, wherein the tray output line comprises a chain transplanter (14) and a chain conveying line (15) which are installed above the first rack (131), the chain transplanter (14) comprises a second rack (144), a cylinder jacking mechanism (142), a chain (141) and a second driving motor (143), the cylinder jacking mechanism (142) is located below the second rack (144) and used for pushing the second rack (144) to move upwards, the chains (141) are installed on the second rack (144) at equal intervals in parallel, and the second driving motor (143) provides power to drive the chain (141) to drive the tray (1) to be displaced onto the chain conveying line (15).

7. A film roll destacking apparatus according to claim 1, wherein the film roll output line comprises a belt line (11), the belt line (11) being connected to a packaging platform (12), the belt line (11) being provided with a stop preventing the film roll (16) from falling off during transport.

8. A method of unstacking rolls of film using the apparatus of any one of claims 1 to 7, comprising the steps of:

s1, first positioning of the tray: carrying out first positioning on a tray (1) provided with a film roll (16) through a tray input line, and acquiring height information of the film roll (16) on the tray (1);

s2, positioning the tray for the second time: carrying out secondary positioning on the tray (1) provided with the film roll (16) by a tray input line;

s3, unstacking the film rolls and outputting the film rolls: the mechanical arm (7) sequentially unstacks the film rolls (16) on the tray (1) according to a preset motion track, places the film rolls (16) on a film roll output line, and conveys the film rolls (16) to a material designated position through the film roll output line;

s4, tray output: after all the film rolls (16) on the tray (1) are unstacked, the empty tray (1) is conveyed to the designated position of the tray by the tray output line.

9. The film roll unstacking method according to claim 8, wherein the unstacking operation in the step S3 is performed by the following specific steps:

s31, the mechanical arm (7) acquires the center position information of the top of the paper tube (161) in the film roll (16), and the inclined film roll (16) is subjected to straightening operation by combining the height information of the film roll (16);

s32, the mechanical arm (7) carries out grabbing operation on the straightened film roll (16), and then the grabbed film roll (16) is placed on a film roll output line;

and S33, repeating the steps S31 to S32 until the mechanical arm (7) finishes the operations of aligning, grabbing and placing all the film rolls (16) on the tray (1) according to a preset motion track.