CN110406960A - It is a kind of to take cloth machine and its working method automatically - Google Patents
It is a kind of to take cloth machine and its working method automatically Download PDFInfo
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- CN110406960A CN110406960A CN201910738115.3A CN201910738115A CN110406960A CN 110406960 A CN110406960 A CN 110406960A CN 201910738115 A CN201910738115 A CN 201910738115A CN 110406960 A CN110406960 A CN 110406960A
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- China
- Prior art keywords
- yardage roll
- cloth
- hoistable platform
- lifting
- cantilever beam
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- 238000000034 method Methods 0.000 title claims abstract description 11
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- 238000001514 detection method Methods 0.000 claims description 26
- 230000005693 optoelectronics Effects 0.000 claims description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000035807 sensation Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000002459 sustained effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000003014 reinforcing effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005622 photoelectricity Effects 0.000 description 3
- 239000004753 textile Substances 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0232—Coils, bobbins, rolls
Abstract
Cloth machine is taken automatically the invention discloses a kind of, it include: automatic lifting shifting apparatus, it is removed for position positioning and empty pallet, it includes the position detecting device of hoistable platform, the roller conveying apparatus one for empty pallet transfer and lifting positioning, and roller conveying apparatus one is fixed on the top of hoistable platform；Automatic positioning gripping device, for being accurately positioned, being grabbed and being moved to yardage roll comprising frame and the transmission positioning mechanism being installed on frame and movable suspending arm beam grasping mechanism；Automatically cloth distributor is connect, for receiving the yardage roll of automatic positioning gripping device crawl and distributing yardage roll to target machine comprising lifting connects cloth apparatus and yardage roll distributor；It the automatic lifting shifting apparatus and connects cloth distributor automatically and is set in the frame.This takes cloth machine high degree of automation, reduces process, greatly improves the efficiency, and pallet upper cloth reel is easy the problem of tumbling when reducing labor intensity, and avoiding manual operation, improves safety.
Description
Technical field
The present invention relates to textile technology fields, and in particular to a kind of to take cloth machine automatically.
Background technique
It is well known that textile industry is a traditional labour intensive profession, the degree of automation is not generally high, and there are also many works
Sequence relies on manual hand manipulation.It is exactly wherein an example that quality control, which dries volume on preceding road fabric,.Since yardage roll size specification is different, axle center
Diameter is small, and every yardage roll is put on pallet to be difficult in same plane, and taking cloth automatically is always a problem.Traditional takes cloth side
Formula is that two operators respectively take a drill rod, is inserted into from axle center both ends, yardage roll is lifted on pallet from pallet.So behaviour
Make, large labor intensity, low efficiency, and pallet upper cloth reel is easily caused to be rolled down, causes safety accident.
Summary of the invention
To overcome the above deficiencies, the invention provides one kind to take cloth machine automatically, this takes cloth machine not only to automate
Degree is high, reduces process, greatly improves the efficiency, cloth on pallet when reducing labor intensity, and avoiding manual operation
Volume is easy the problem of tumbling, and improves safety.
The present invention overcomes the technical solution used by its technical problem to be:
It is a kind of to take cloth machine automatically, comprising:
Automatic lifting shifting apparatus removes comprising hoistable platform, for empty pallet transfer for position positioning and empty pallet
The position detecting device of roller conveying apparatus one and lifting positioning, the roller conveying apparatus one are fixed on the upper of hoistable platform
Side, wherein the hoistable platform is hydraulically operated lifting.
Automatic positioning gripping device, for being accurately positioned, being grabbed and being moved to yardage roll comprising frame and installation
In transmission positioning mechanism and movable suspending arm beam grasping mechanism on frame；And
Automatically cloth distributor is connect, for receiving the yardage roll of automatic positioning gripping device crawl and distributing yardage roll to target machine
Platform comprising lifting connects cloth apparatus and yardage roll distributor；
Wherein, it the automatic lifting shifting apparatus and connects cloth distributor automatically and is set in the frame.
Further, described to take cloth machine further include automatic feeder automatically, and the automatic feeder is set to the frame
In frame and the hoistable platform is fixed on the centre of automatic feeder, and the automatic feeder is placed with yardage roll for driving
Pallet toward automatic lifting shifting apparatus direction move；Automatic feeder includes conveying device, feed end pallet detection biography
Sensor and terminal tray detection sensor, the feed end pallet detection sensor and terminal tray detection sensor are fixed respectively
In the feed end and terminal of conveying device.
Further, the position detecting device is fixed on frame comprising reaches the upper limit for detecting hoistable platform
Position reaches going up and down close to switch two, for detecting for empty pallet detection position close to switch one, for detecting hoistable platform
Platform reaches a pair of of laser-correlation optoelectronic switch one of operating position, swashs for detecting a pair of hoistable platform arrival holding fix
Light to penetrate optoelectronic switch two, for detect hoistable platform reach empty pallet outflow location close to switch three and for detect rise
Drop platform reach lower position close to switch four.
Further, upper limit position close to switch one by detecting, and when detecting that hoistable platform reaches the position, lifting is flat
Platform is forbidden rising.
Further, empty pallet detection position close to switch two by detecting, sharp when hoistable platform is in automatic uphill process
If cloth spool is not detected to optoelectronic switch one is penetrated in light, and after detecting the hoistable platform in place close to switch two, then recognize
For when front tray it is vacant, hoistable platform begins to decline empty pallet outflow location, removes vacant pallet.
Further, operating position is detected by a pair of of laser-correlation optoelectronic switch one, when detecting the cloth in uphill process
When the spool heart, hoistable platform stops rising, a condition as handgrip clamping movement.
Further, holding fix is detected by a pair of of laser-correlation optoelectronic switch two, the laser-correlation optoelectronic switch two
For a pair of and it is installed on the corner post of frame, in taking the cloth course of work, hoistable platform stops when dropping to the position
Only, waiting has taken yardage roll to leave.
Further, empty pallet outflow location close to switch three by detecting, when detecting that hoistable platform reaches the position,
As a condition, empty pallet is allowed to remove.
Further, lower position close to switch four by detecting, when detecting that hoistable platform reaches the position, as one
A condition allows to feed.
Further, the frame includes at least the symmetrical six roots of sensation column in two sides and is connected to six roots of sensation column top
Four crossbeams, wherein three root posts are distributed in every side, four crossbeams include two for being separately connected three root post of the same side
Side crossbeam and the end floor beam for being separately connected front end two root posts or rear end two root posts.
Further, the frame further includes connection the same side wherein adjacent two root posts and two symmetrical cross bars
One, positioned at the other adjacent two root posts and right in two cross bars, one lower section and two symmetrical cross bars two and connection the same side
Claim two cross bars three of distribution.
Further, the transmission positioning mechanism includes laser range sensor, speed reducer, servo motor, two straight lines
Guide rail and the driving unit being made of two belt pulleys and two synchronous belts, the laser range sensor are fixed on frame
And be located at sustained height with laser-correlation optoelectronic switch one, the speed reducer be fixedly connected on the output end of servo motor and with watch
It takes motor to be fixed on together on a wherein butt crossbeam, two linear guides are individually fixed on two side crossbeams, two belts
Wheel be individually fixed on two end floor beams, one of synchronous belt simultaneously around be engaged in two belt pulleys side, another
Synchronous belt is simultaneously around the other side for being engaged in two belt pulleys, the output end connection of one of belt pulley and speed reducer；Institute
The both ends for stating cantilever beam grasping mechanism are slidably connected to respectively in two linear guides, the servo motor and driving unit driving
Cantilever beam grasping mechanism running fix in linear guide.
Further, the cantilever beam grasping mechanism includes that cantilever beam, Symmetrical vertical are suspended to two of cantilever beam both ends
Moveable handgrip and two handgrip cylinders that two handgrips clamp and release are fixed below cantilever beam and respectively drive,
In, two handgrips, which pass through two handgrip cylinders respectively it is driven to move left and right along cantilever beam, does clamping and release movement.
Further, every handgrip includes the gripper for being fixed on handgrip lower end, and the gripper is hollow taper, every gripper
Bellmouth in be fixed with alignment detection optoelectronic switch, the alignment detects optoelectronic switch, and to be that a pair is installed on handgrip gripper hollow
In correlation laser photoelectricity sensor, detection yardage roll both ends whether offset in a longitudinal direction.
Further, the lifting connects cloth apparatus and includes two support hands, is set to travel switch and the difference held in the palm on hand
Subordinate side is ask to be used to drive two support luck cylinders of support hand lifting positioned at two；The yardage roll distributor includes roller conveying dress
It sets two and is set to two optoelectronic switches at two both ends of roller conveying apparatus；The lifting connects cloth apparatus and receives cantilever beam crawl
Yardage roll is simultaneously transferred on roller conveying apparatus two by the yardage roll of mechanism release, then yardage roll is delivered to mesh by roller conveying apparatus two
Mark board.
The present invention also provides a kind of working methods for taking cloth machine automatically as described above, include the following steps:
S1, from automatic feeder toward hoistable platform upper feeding；
Pallet equipped with yardage roll is risen to operating position by S2, hoistable platform；
S3, system acquisition lifting connect the central axes of cloth apparatus at a distance from yardage roll axle center；
S4, cantilever beam grasping mechanism are moved to the position of face yardage roll, clamp yardage roll；
S5, hoistable platform drop to holding fix；
S6, cantilever beam grasping mechanism are moved to the position directly above that lifting connects cloth apparatus central axes；
S7, lifting connect cloth apparatus rising, and cantilever beam grasping mechanism discharges yardage roll；
S8, lifting connect cloth apparatus decline, and yardage roll is transferred to yardage roll distributor, so far complete that cloth is taken to share out the work, then return
Return step S2；
S9, hoistable platform drop to empty pallet outflow location, and empty pallet removes；
S10, hoistable platform drop to lower position, return again to step S1, carry out next circulation.
The beneficial effects of the present invention are:
Of the invention takes cloth machine to grab dedicated for the yardage roll of textile industry automatically, compared with traditional work mode, not only automates
Degree is high, reduces process, greatly improves the efficiency, cloth on pallet when reducing labor intensity, and avoiding manual operation
Volume is easy the problem of tumbling, and improves safety.
Detailed description of the invention
Fig. 1 is the positive structure diagram for taking cloth machine described in the embodiment of the present invention automatically.
Fig. 2 is the enlarged structure schematic diagram of part A in Fig. 1.
Fig. 3 is the side structure schematic view for taking cloth machine described in the embodiment of the present invention automatically.
Fig. 4 is the enlarged structure schematic diagram of part B in Fig. 3.
Fig. 5 is the enlarged structure schematic diagram of C portion in Fig. 3.
Fig. 6 is the workflow schematic diagram for taking cloth machine described in the embodiment of the present invention automatically.
In figure, 1, automatic feeder, 11, conveying device, 12, feed end pallet detection sensor, 13, terminal tray inspection
Survey sensor, 2, automatic lifting shifting apparatus, 21, hoistable platform, 22, roller conveying apparatus one, 23, position detecting device,
231, close switch one, 232, close switch two, 233, laser-correlation optoelectronic switch one, 234, laser-correlation optoelectronic switch two,
235, close switch three, 236, close switch four, 3, automatic positioning gripping device, 31, frame, 311, column, 312, crossbeam,
3121, side crossbeam, 3122, end floor beam, 313, cross bar one, 314, cross bar two, 315, cross bar three, 316, reinforcing rib one, 317, plus
Strengthening tendons two, 318 pillars, 32, transmission positioning mechanism, 321, laser range sensor, 322, speed reducer, 323, servo motor,
324, linear guide, 325, belt pulley, 326, synchronous belt, 33, cantilever beam grasping mechanism, 331, handgrip, 332, gripper, 333, right
Quasi- detection optoelectronic switch, 334, handgrip cylinder, 335, cantilever beam, 4, connect cloth distributor automatically, 41, lifting connect cloth apparatus,
411, hand, 412, travel switch, 413, support luck cylinder, 42, yardage roll distributor, 421, roller conveying apparatus two, 422, light are held in the palm
Electric switch, 5, yardage roll.
Specific embodiment
For a better understanding of the skilled in the art, being done in the following with reference to the drawings and specific embodiments to the present invention
It is further described, it is following to be merely exemplary that the scope of protection of the present invention is not limited.
In the description of the present invention, it is to be understood that, the orientation or position of the expressions such as term " on ", "lower", " centre "
Relationship is based on orientation or positional relationship shown in attached drawing 1 and 3；In addition, Fig. 1 shows take the facing structure of cloth machine to illustrate automatically
Figure, Fig. 3 indicates the side structure schematic view for taking cloth machine automatically, then heretofore described " preceding " the left side orientation referred in Fig. 3,
" rear " refers to the right lateral aspect in Fig. 3, and " left side " refers to that the left side orientation in Fig. 1, " right side " refer to the right lateral aspect in Fig. 1.It is above-mentioned
The "upper", "lower", " centre ", "front", "rear", "left", "right" etc., are merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
As shown in Figs. 1-5, one kind described in the present embodiment takes cloth machine, including automatic feeder 1, automatic lifting to move automatically
It carries and sets 2, automatic positioning gripping device 3 and connect cloth distributor 4 automatically.Wherein:
In the present embodiment, the automatic feeder 1 is used to drive the pallet for being placed with yardage roll toward automatic lifting shifting apparatus 2
Direction movement.Specifically comprising conveying device 11, feed end pallet detection sensor 12 and terminal tray detection sensor
13, the feed end pallet detection sensor 12 and terminal tray detection sensor 13 are individually fixed in the charging of conveying device 11
End and terminal.Further, pallet is not detected in feed end pallet detection sensor 12 and terminal tray detection sensor 13
When, allow to feed, when the feed end photoelectric sensor 12 detects pallet, 1 automatic operating of automatic feeder starts
Charging；When the terminal tray detection sensor 13 detects pallet, the automatic feeder 1 shuts down, pause charging.
Wherein, the conveying device 11 is common chain conveyor (not identifying its specific structure composition in figure),
The brake of sprocket wheel, the chain to match with sprocket wheel and drive sprocket rotation is at least installed including fixed frame, on the fixed frame
The lower end of decelerating motor, support frame as described above is fixed in melt pit, and the rotation of brake deceleration motor-driven drive sprockets is to drive chain to turn
It moves so that being placed on the pallet forward on the chain.
In the present embodiment, the automatic lifting shifting apparatus 2 is removed for position positioning and empty pallet.Specifically, it wraps
The position detecting device 23 of hoistable platform 21, the roller conveying apparatus 1 for empty pallet transfer and lifting positioning is included, it is described
Roller conveying apparatus 1 is fixed on the top of hoistable platform 21；Further, the hoistable platform 21, which is hydraulically operated, does
Liter or descending motion, which is fixed on the lower section hollow position in melt pit and being located at automatic feeder 1, lower solid
Fixed end face and the lower fixed end face of the automatic feeder 1 are in the same plane.Wherein, the roller conveying apparatus 1
For conveying empty pallet to be removed, the preferably described roller conveying apparatus 1 of the present embodiment uses common roller conveyor
(not identifying its specific structure composition in figure), is not innovative point of the invention, so repeating no more.
Further, there are several important positions when the hoistable platform 21 rises or falls, specifically: upper limit position,
Empty pallet detects position, operating position, holding fix, empty pallet outflow location and lower position, correspondingly, above-mentioned six positions
It is measured by position detecting device 23.The position detecting device 23 includes reaching connecing for upper limit position for detecting hoistable platform 21
Nearly switch 1 reaches going up and down close to switch 2 232, for detecting for empty pallet detection position for detecting hoistable platform 21
Platform 21 reaches a pair of of laser-correlation optoelectronic switch 1 of operating position, reaches holding fix for detecting hoistable platform 21
A pair of of laser-correlation optoelectronic switch 2 234, for detect hoistable platform 21 reach empty pallet outflow location close to switch three
235 and for detect hoistable platform 21 reach lower position close to switch 4 236.
In the present embodiment, the automatic positioning gripping device 3 is for being accurately positioned, being grabbed and being moved to yardage roll 5.Tool
Body comprising frame 31 and the transmission positioning mechanism 32 being installed on frame and movable suspending arm beam grasping mechanism 33.
Wherein, the frame 31 be metallic channel steel made of frame, be fixed on ground, the automatic feeder 1, from
Dynamic lifting shifting apparatus 2 and the automatic cloth distributor 4 that connects are set in the frame 31, and the frame 31 includes at least two sides pair
Claiming the six roots of sensation column 311 of distribution and is connected to four crossbeams 312 of six roots of sensation column top, the frame 31 is cuboid framework,
Every side is distributed with three in six roots of sensation column 311, and four crossbeams 312 include two sides for being separately connected three root post of the same side
Crossbeam 3121 and the end floor beam 3122 for being separately connected front end two root posts or rear end two root posts；Further, the frame
31 further include connection the same side wherein adjacent two root posts and two symmetrical cross bars 1, be located at two cross bars once
Square and symmetrical two cross bars 2 314 and connection the same side in addition adjacent two root posts and two symmetrical cross bars
3 315, it is fixedly connected between the cross bar 1, cross bar 2 314 and cross bar 3 315 and column 311 to improve frame 31
Stability avoids frame during moving forward and backward of automatic positioning gripping device 3 from shaking, and the mode of being fixedly connected can choose fastening
Part connection type or welding manner；Further, fixed between the four columns 311 of rear and front end and two side crossbeams 3121
There is reinforcing rib 1, is fixed with reinforcing rib 2 317 between the four columns 311 of rear and front end and two butt crossbeams 3122, i.e., always
It altogether include four reinforcing ribs 1 and four reinforcing ribs 2 317, the reinforcing rib 1 and reinforcing rib 2 317 increase frame 31
Stability.
Further, the frame 31 further includes two pillars 318 for being fixed on 31 rear and front end of frame；The position inspection
Device 23 is surveyed to be fixed on frame 31, it is specifically, described to be both secured to centre close to switch 1 and close to switch 2 232
On one root post 311, the laser-correlation optoelectronic switch 1 is a pair, is individually fixed in two pillars of rear and front end
On 318, the laser-correlation optoelectronic switch 2 234 is a pair, is individually fixed on two cross bars 314 of the left and right sides and is
To penetrating, the close switch 3 235 and close switch 4 236 are both secured on an intermediate root post 311 diagonally opposing corner.
Wherein, the transmission positioning mechanism 32 includes laser range sensor 321, speed reducer 322, servo motor 323, two
A linear guide 324 and the driving unit being made of two belt pulleys 325 and two synchronous belts 326, the laser ranging pass
Sensor 321 is fixed on the pillar 318 of 31 rear end of frame and is located at sustained height with laser-correlation optoelectronic switch 1, described
Speed reducer 322 is fixedly connected on the output end of servo motor 323 and is fixed on a wherein butt crossbeam together with servo motor 323
On 3122, the present embodiment is preferred, and the speed reducer 322 is fixed on together with servo motor 323 connects cloth distributor 4 far from automatic
End floor beam 3122 on, two linear guides 324 are individually fixed on two side crossbeams 3121, and two belt pulleys 325 are solid respectively
Due on two end floor beams 3122, one of synchronous belt 326 is simultaneously around the side, another for being engaged in two belt pulleys 325
A synchronous belt 326 is simultaneously around the other side for being engaged in two belt pulleys 325, one of belt pulley 325 and speed reducer 322
Output end connection；The both ends of the cantilever beam grasping mechanism 33 are slidably connected to respectively in two linear guides 324, the servo
Motor 323 and driving unit drive the running fix in linear guide 324 of cantilever beam grasping mechanism 33.
The cantilever beam grasping mechanism 33 include cantilever beam 335, Symmetrical vertical be suspended to two of cantilever beam both ends it is removable
Dynamic handgrip 331 and two handgrip cylinders 334 that two handgrips clamp and release are fixed below cantilever beam and respectively drive,
The both ends of the cantilever beam 335 are erected on respectively in two linear guides 324, and further, every handgrip 331 includes being fixed on
The gripper 332 of handgrip lower end, the gripper 332 are hollow taper, and alignment detection photoelectricity is fixed in the bellmouth of every gripper
Switch 333, the alignment detection optoelectronic switch 333 is a pair of of correlation laser photoelectricity sensor, is existed for detecting 5 both ends of yardage roll
Whether offset on longitudinal direction；Two handgrips 331 drive it along cantilever beam 335 or so by two handgrip cylinders 334 respectively
Clamping and release movement are done in movement, and further, a sliding rail 336, each handgrip gas are fixed in the lower section both ends of cantilever beam 335 respectively
The cylinder barrel of cylinder 334 is fixed on the lower section of cantilever beam 335, piston rod is fixedly connected with handgrip 331, and every handgrip 331 passes through cunning
Block 337 is slidably connected with sliding rail 336, and when handgrip cylinder 334 drives handgrip 331, handgrip 331 is by sliding block 337 in sliding rail 336
Upper movement is to do clamping and release movement.
In the present embodiment, the cloth distributor 4 that connects automatically is for receiving the yardage roll 5 of the crawl of automatic positioning gripping device 3
And yardage roll 5 is distributed to target machine.Specifically comprising lifting connects cloth apparatus 41 and yardage roll distributor 42.
Wherein, the lifting connect cloth apparatus 41 include two support hands 411, be set to support travel switch 412 on hand and
It is located at two support luck cylinders 413 that two support subordinate sides are used to drive support hand lifting；Further, the support hand 411 is in
Arc-shaped, it is consistent with the radian of yardage roll 5；The travel switch 412 is installed on support hand lateral position, for whether to detect support hand
Yardage roll 5 is arrived through support；The support luck cylinder 413 has magnetic reed switch, for detecting support hand position.
The yardage roll distributor 42 includes roller conveying apparatus 2 421 and is set to 2 421 liang of roller conveying apparatus
Two optoelectronic switches 422 at end, the roller conveying apparatus 2 421 is driven by decelerating motor, according to board needs, two-way fortune
Dynamic, the present embodiment is preferred, and the roller conveying apparatus 2 421 (does not identify its specific knot using common roller conveyor in figure
Structure composition), it is not innovative point of the invention, so repeating no more.
The lifting connects cloth apparatus 41 and drives two support 411 elevating movements of hand by two support luck cylinders 413, receives cantilever
Yardage roll 5 is simultaneously transferred on roller conveying apparatus 2 421 by the yardage roll 5 of the release of beam grasping mechanism 33, then by roller conveying apparatus two
Yardage roll 5 is delivered to target machine by 421.
The present embodiment additionally provides a kind of working method for taking cloth machine automatically as described above, as shown in fig. 6, main packet
Include following steps:
S1, from automatic feeder 1 toward 21 upper feeding of hoistable platform:
Specifically, the pallet for being placed with yardage roll is conveyed by conveying device 11 toward the direction of hoistable platform 21 and yardage roll will be housed
Pallet be transferred to hoistable platform 21；
Pallet equipped with yardage roll is risen to operating position by S2, hoistable platform 21:
Specifically, after laser-correlation optoelectronic switch 1 detects that hoistable platform 21 reaches operating position, stop rising；
S3, system acquisition lifting connect the central axes of cloth apparatus 41 at a distance from yardage roll axle center:
Specifically, the central axes of cloth apparatus 41 are connect at a distance from 5 axle center of yardage roll by the measurement lifting of laser range sensor 321；
S4, cantilever beam grasping mechanism 33 are moved to the position of face yardage roll, clamp yardage roll:
Specifically, the central axes for connecing cloth apparatus 41 according to the lifting measured in step S3 are driven positioning at a distance from 5 axle center of yardage roll
Mechanism 32 drives cantilever beam grasping mechanism 33 to be moved forward and backward the position for arriving face yardage roll 5, and then handgrip cylinder 334 drives handgrip
331 clamping yardage rolls；
S5, hoistable platform 21 drop to holding fix:
Specifically, hoistable platform 21 is detected by laser-correlation optoelectronic switch 2 234 and drops to holding fix；
S6, cantilever beam grasping mechanism 33 are moved to the position directly above that lifting connects 41 central axes of cloth apparatus:
Specifically, transmission positioning mechanism 32 drives cantilever beam grasping mechanism 33 to move backward to lifting and connects 41 central axes of cloth apparatus
Position directly above；
S7, lifting connect the rising of cloth apparatus 41, and cantilever beam grasping mechanism 33 discharges yardage roll:
Specifically, the underface of cantilever beam grasping mechanism 33 is risen to by the support driving support hand 411 of luck cylinder 413, then handgrip
Cylinder 334 drives handgrip 331 to discharge yardage roll 5；
S8, lifting connect cloth apparatus 41 and drive yardage roll decline, and yardage roll is transferred to yardage roll distributor 42, so far complete to take cloth point
With work, step S2 is returned again to；
S9, hoistable platform 21 drop to empty pallet outflow location, and empty pallet removes:
Specifically, empty pallet outflow location is dropped to by detecting hoistable platform 21 close to switch 3 235, passes through roller conveying apparatus
One 22 remove empty pallet；
S10, hoistable platform 21 drop to lower position, return again to step S1, carry out next circulation:
Specifically, when dropping to lower position by detecting hoistable platform 21 close to switch 4 236, step S1 is returned again to, is carried out down
One circulation.
Above only describes basic principle of the invention and preferred embodiment, those skilled in the art can be according to foregoing description
Many changes and improvements are made, these changes and improvements should be within the scope of protection of the invention.
Claims (10)
1. a kind of take cloth machine automatically characterized by comprising
Automatic lifting shifting apparatus (2) is removed for position positioning and empty pallet comprising hoistable platform (21) is used for empty support
The roller conveying apparatus one (22) of disk transfer and the position detecting device (23) of lifting positioning, the roller conveying apparatus one (22)
It is fixed on the top of hoistable platform (21)；
Automatic positioning gripping device (3), for being accurately positioned, being grabbed and being moved to yardage roll comprising frame (31) and
The transmission positioning mechanism (32) and movable suspending arm beam grasping mechanism (33) being installed on frame；And
Automatically cloth distributor (4) are connect, for receiving the yardage roll of automatic positioning gripping device (3) crawl and distributing yardage roll to mesh
Mark board comprising lifting connects cloth apparatus (41) and yardage roll distributor (42)；
Wherein, the automatic lifting shifting apparatus (2) and the automatic cloth distributor (4) that connects are set in the frame (31).
2. according to claim 1 take cloth machine automatically, which is characterized in that it further include automatic feeder (1), it is described automatic
Feeding device (1) is set in the frame (31) and the hoistable platform (21) is fixed on the centre of automatic feeder (1), institute
Automatic feeder (1) is stated for driving the pallet for being placed with yardage roll to move toward the direction of automatic lifting shifting apparatus (2)；Automatically
Feeding device (1) includes conveying device (11), feed end pallet detection sensor (12) and terminal tray detection sensor (13),
The feed end pallet detection sensor (12) and terminal tray detection sensor (13) are individually fixed in conveying device (11)
Feed end and terminal.
3. according to claim 1 take cloth machine automatically, which is characterized in that the position detecting device (23) is fixed on frame
(31) on comprising reach putting down close to switch one (231), for detecting lifting for upper limit position for detecting hoistable platform (21)
Platform (21) arrival empty pallet detection position reaches operating position close to switch two (232), for detecting hoistable platform (21)
A pair of of laser-correlation optoelectronic switch one (233), a pair of of laser-correlation light that holding fix is reached for detecting hoistable platform (21)
Electric switch two (234), for detect hoistable platform (21) reach empty pallet outflow location close to switch three (235) and be used for
Detect hoistable platform (21) reach lower position close to switch four (236).
4. according to claim 3 take cloth machine automatically, which is characterized in that the frame (31) includes at least two sides and symmetrically divides
The six roots of sensation column (311) of cloth and four crossbeams (312) for being connected to six roots of sensation column top, wherein three root posts are distributed in every side
(311), four crossbeams 312 include being separately connected two side crossbeams (3121) of three root post of the same side and being separately connected
The end floor beam (3122) of front end two root posts or rear end two root posts.
5. according to claim 4 take cloth machine automatically, which is characterized in that the frame (31) further include connection the same side its
In adjacent two root posts and two symmetrical cross bars one (313), positioned at two one lower sections of cross bars and symmetrical two
Cross bar two (314) and connection the same side in addition adjacent two root posts and two symmetrical cross bars three (315).
6. according to claim 5 take cloth machine automatically, which is characterized in that the transmission positioning mechanism (32) includes Laser Measuring
Away from sensor (321), speed reducer (322), servo motor (323), two linear guides (324) and by two belt pulleys
(325) it is fixed on frame (31) with the driving unit of two synchronous belts (326) composition, the laser range sensor (321)
And it is located at sustained height with laser-correlation optoelectronic switch one (233), the speed reducer (322) is fixedly connected on servo motor
(323) it output end and is fixed on a wherein butt crossbeam (3122) together with servo motor (323), two linear guides
(324) it is individually fixed on two side crossbeams (3121), two belt pulleys (325) are individually fixed in two end floor beams (3122)
On, one of synchronous belt (326) surround the side for being engaged in two belt pulleys (325), another synchronous belt (326) together simultaneously
When around being engaged in the other sides of two belt pulleys (325), the output end of one of belt pulley (325) and speed reducer (322)
Connection；The both ends of the cantilever beam grasping mechanism (33) are slidably connected to respectively on two linear guides (324), the servo electricity
Machine (323) and driving unit drive cantilever beam grasping mechanism (33) running fix on linear guide (324).
7. according to claim 6 take cloth machine automatically, which is characterized in that the cantilever beam grasping mechanism (33) includes cantilever
Beam (335), Symmetrical vertical be suspended to two moveable handgrips (331) at cantilever beam both ends and be fixed below cantilever beam and
Respectively drive two handgrip cylinders (334) that two handgrips clamp and release, wherein two handgrips (331) pass through two respectively
Handgrip cylinder (334) drives it to move left and right along cantilever beam and does clamping and release movement.
8. according to claim 7 take cloth machine automatically, which is characterized in that every handgrip (331) includes being fixed under handgrip
The gripper (332) at end, the gripper (332) are hollow taper, and alignment detection light is fixed in the bellmouth of every gripper and is established by cable
It closes (333).
9. according to claim 1-8 take cloth machine automatically, which is characterized in that the lifting connects cloth apparatus (41) packet
Two supports hand (411) are included, support travel switch (412) on hand is set to and are located at two support subordinate sides and are used to drive support
Two support luck cylinders (413) of hand lifting；The yardage roll distributor (42) includes roller conveying apparatus two (421) and setting
Two optoelectronic switches (422) in roller conveying apparatus two (421) both ends；The lifting connects cloth apparatus (41) reception cantilever beam and grabs
It takes the yardage roll of mechanism (33) release and yardage roll is transferred on roller conveying apparatus two (421), then by roller conveying apparatus two
(421) yardage roll is delivered to target machine.
10. a kind of such as the described in any item working methods for taking cloth machine automatically of claim 2-9, which is characterized in that including as follows
Step:
S1, from automatic feeder (1) toward hoistable platform (21) upper feeding；
Pallet equipped with yardage roll is risen to operating position by S2, hoistable platform (21)；
S3, system acquisition lifting connect the central axes of cloth apparatus (41) at a distance from yardage roll axle center；
S4, cantilever beam grasping mechanism (33) are moved to the position of face yardage roll, clamp yardage roll；
S5, hoistable platform (21) drop to holding fix；
S6, cantilever beam grasping mechanism (33) are moved to the position directly above that lifting connects cloth apparatus (41) central axes；
S7, lifting connect cloth apparatus (41) rising, and cantilever beam grasping mechanism (33) discharges yardage roll；
S8, lifting connect cloth apparatus (41) decline, and yardage roll is transferred to yardage roll distributor (42), so far complete that cloth is taken to distribute work
Make, returns again to step S2；
S9, hoistable platform (21) drop to empty pallet outflow location, and empty pallet removes；
S10, hoistable platform (21) drop to lower position, return again to step S1, carry out next circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910738115.3A CN110406960A (en) | 2019-08-12 | 2019-08-12 | It is a kind of to take cloth machine and its working method automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910738115.3A CN110406960A (en) | 2019-08-12 | 2019-08-12 | It is a kind of to take cloth machine and its working method automatically |
Publications (1)
| Publication Number | Publication Date |
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| CN110406960A true CN110406960A (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910738115.3A Pending CN110406960A (en) | 2019-08-12 | 2019-08-12 | It is a kind of to take cloth machine and its working method automatically |
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| CN (1) | CN110406960A (en) |
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| CN111196498A (en) * | 2020-01-10 | 2020-05-26 | 江苏森蓝智能系统有限公司 | Automatic buffer memory mode for excess material rack of copper bar excess material |
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