CN111039059A - Pull-type big cloth roll cropping robot trolley - Google Patents
Pull-type big cloth roll cropping robot trolley Download PDFInfo
- Publication number
- CN111039059A CN111039059A CN201911187736.3A CN201911187736A CN111039059A CN 111039059 A CN111039059 A CN 111039059A CN 201911187736 A CN201911187736 A CN 201911187736A CN 111039059 A CN111039059 A CN 111039059A
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- cloth
- doffing
- automatic
- dragging
- robot trolley
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- 239000004744 fabric Substances 0.000 title claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims abstract description 177
- 238000005096 rolling process Methods 0.000 claims abstract 11
- 238000013519 translation Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000009941 weaving Methods 0.000 abstract description 2
- 208000028804 PERCHING syndrome Diseases 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/22—Changing the web roll in winding mechanisms or in connection with winding operations
- B65H19/30—Lifting, transporting, or removing the web roll; Inserting core
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- Looms (AREA)
Abstract
本发明涉及一种拖曳式大布卷落布机器人小车，包括AGV小车和自动落布机构，自动落布机构设置在AGV小车上，自动落布机构包括机架、拖曳机构、幅宽调节机构、顶升机构和定位机构，拖曳机构设置在幅宽调节机构上，拖曳机构用于将布卷从织布机上拖曳到自动落布机构上，幅宽调节机构用于使两组拖曳机构之间的距离与布卷的长度对应，顶升机构设置在机架中部且用于顶升布卷进行卸布。定位机构用于将该落布机器人小车固定在织布机架上。本发明可实现大布卷的自动落布、自动搬运和自动卸布，大卷装布卷的卷装直径远远大于小卷装的布卷直径，重量也远大于小卷装布卷的重量，人工搬运存在很大的安全隐患，本发明可确保落布和卸布过程的安全性和稳定性。
The invention relates to a towed large cloth rolling and doffing robot car, which includes an AGV car and an automatic cloth doffing mechanism. The automatic cloth doffing mechanism is arranged on the AGV car. Lifting mechanism and positioning mechanism, the dragging mechanism is arranged on the width adjustment mechanism, the dragging mechanism is used to drag the cloth roll from the loom to the automatic cloth doffing mechanism, and the width adjustment mechanism is used to make the two groups of dragging mechanisms. The distance corresponds to the length of the cloth roll, and the jacking mechanism is arranged in the middle of the frame and is used to lift the cloth roll for unloading. The positioning mechanism is used to fix the doffing robot trolley on the weaving frame. The invention can realize the automatic doffing, automatic conveying and automatic unloading of large cloth rolls, the roll diameter of large rolls is much larger than that of small rolls, and the weight is also much larger than the weight of small rolls , there is a great safety hazard in manual handling, and the present invention can ensure the safety and stability of the process of unloading and unloading.
Description
Technical Field
The invention relates to the field of doffing devices, in particular to a pull-type big cloth roll doffing robot trolley.
Background
After the yardage roll is accomplished in production, on needing to transport the yardage roll to test cloth buffer memory frame, the package diameter of big package yardage roll is greater than the yardage roll diameter of little package far away, and its weight is also greater than the weight of little package yardage roll far away, needs many people to cooperate just can carry, wastes time and energy, and there is very big potential safety hazard in the manual handling, directly promotes earlier the yardage roll on the ground earlier when former manual operation, then the fork of reuse fork truck is walked, easily the mistake is hindered the people.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a dragging type big cloth roll doffing robot trolley, which realizes automatic doffing and transportation of big cloth rolls and is convenient to use.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a big yardage roll cropping robot dolly of pull-type, includes AGV dolly and automatic cropping mechanism, automatic cropping mechanism sets up on the AGV dolly, automatic cropping mechanism includes frame, towing mechanism, width adjustment mechanism and climbing mechanism all set up in the frame, towing mechanism sets up in the width adjustment mechanism, towing mechanism's quantity sets up the frame left and right sides for two sets of and symmetry, towing mechanism is used for dragging the yardage roll to automatic cropping mechanism from the loom on, width adjustment mechanism is used for driving two sets of towing mechanism and is close to each other or keeps away from, makes the distance between two sets of towing mechanism correspond with the length of yardage roll, climbing mechanism sets up in the middle part of the frame and is used for the jacking cloth to unload the cloth.
Furthermore, the dragging mechanism comprises a horizontal rotating mechanism, an L-shaped rod and a front and back translation mechanism, the horizontal rotating mechanism is arranged on the front and back translation mechanism, the front and back translation mechanism is used for driving the horizontal rotating mechanism to move back and forth, the vertical end of the L-shaped rod is fixed on the horizontal rotating mechanism, the horizontal end of the L-shaped rod is provided with a hook, and the horizontal rotating mechanism is used for driving the L-shaped rod to rotate on the horizontal plane.
Furthermore, horizontal rotating mechanism includes driving gear, driven gear and motor, the motor is used for driving the driving gear and rotates, the driving gear meshes with driven gear, be fixed with L shape pole on the driven gear.
Furthermore, the width adjusting mechanism comprises screw rod moving mechanisms symmetrically arranged on the left side and the right side of the rack, and the screw rod moving mechanisms are used for driving the front and rear translation mechanisms to horizontally move.
The automatic cloth dropping mechanism comprises an L-shaped hasp and a hasp rotating mechanism, the L-shaped hasp is fixed on the outer side of the automatic cloth dropping mechanism through the hasp rotating mechanism, and the horizontal rotating mechanism is used for driving the L-shaped hasp to rotate in a vertical plane so as to enable the L-shaped hasp to be buckled on a loom.
Furthermore, the dragging mechanisms are arranged on the left side and the right side of the jacking mechanism.
Further, the jacking mechanism comprises a lifting mechanism and a supporting table, the supporting table is fixed on the lifting mechanism, and the lifting mechanism is used for driving the supporting table to move up and down.
Furthermore, a V-shaped cropping groove is formed in the supporting platform, and a raised strip is arranged on one side of the inner side of the cropping groove.
Further, the hook is connected with a compression spring return mechanism, the hook can only rotate towards the direction of the automatic cropping mechanism, and the compression spring return mechanism is used for keeping and restoring the hook to the vertical state.
Furthermore, the jacking mechanisms are arranged in two groups and are arranged in the middle of the towing mechanism side by side.
The invention has the beneficial effects that: the automatic doffing robot trolley can realize automatic doffing, automatic carrying and automatic cloth discharging of large yardage rolls, can realize automatic doffing, automatic carrying and automatic cloth discharging of the large yardage rolls, has great potential safety hazards due to the fact that the diameter of the large yardage rolls is far larger than that of the small yardage rolls, and the weight of the large yardage rolls is also far larger than that of the small yardage rolls, and can reduce the gravity center of the large yardage rolls in the process of doffing, so that the mode of the automatic doffing robot trolley can improve the working efficiency and ensure the safety, can save manpower and material resources, and is convenient to use. The dragging mechanism of the invention can rotate 180 degrees on the horizontal plane, can doff the looms on the left and right sides of the automatic doffing mechanism, has strong adaptability, the L-shaped hasp for positioning can fix the cropping robot trolley on the weaving frame, ensure the stability of the cropping robot trolley during cropping, the cloth roll has an initial speed when the cloth roll is hooked to the doffing robot trolley by the doffing robot trolley, the weight of the cloth roll in a large roll is large, certain impact force can be generated on the doffing robot trolley, the cloth roll is rolled into a cloth dropping groove of the doffing robot trolley through the L-shaped hasp, the L-shaped hasp can reduce the impact effect of the cloth roll on the doffing robot trolley, the V-shaped cloth dropping groove in the doffing robot trolley can prevent the cloth roll from being too fast to drop out of the cloth dropping groove, and the raised line on the inner side of the cloth dropping groove can further play a role in blocking, so that the reliability of cloth dropping is ensured. The two groups of jacking mechanisms can simultaneously store two large yardage rolls taken down by the looms on two sides, and can be respectively conveyed to the cloth inspection cache frame for cloth inspection.
Drawings
FIG. 1 is a schematic perspective view of the doffing operation of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
fig. 3 is a schematic perspective view of the cloth unloading operation of the present invention.
Fig. 4 is a schematic view of the hook structure of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. an AGV trolley; 2. an automatic doffing mechanism; 21. a frame; 22. a towing mechanism; 23. a width adjusting mechanism; 24. a jacking mechanism; 221. a horizontal rotation mechanism; 222. an L-shaped rod; 223. a front-rear translation mechanism; 224. a hook;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-3, a dragging type big cloth roll doffing robot car 2 comprises an AGV car 1 and an automatic doffing mechanism 2, the automatic doffing mechanism 2 is arranged on the AGV trolley 1, the automatic doffing mechanism 2 comprises a frame 21, a dragging mechanism 22, a width adjusting mechanism 23 and a jacking mechanism 24, the dragging mechanism 22, the width adjusting mechanism 23 and the jacking mechanism 24 are all arranged on the frame 21, the dragging mechanisms 22 are arranged on the width adjusting mechanism 23, the number of the dragging mechanisms 22 is two, the dragging mechanisms 22 are symmetrically arranged at the left side and the right side of the frame 21, the dragging mechanism 22 is used for dragging the yardage roll from the loom to the automatic cropping mechanism 2, the width adjusting mechanism 23 is used for driving the two groups of dragging mechanisms 22 to approach or separate from each other, so that the distance between the two groups of dragging mechanisms 22 corresponds to the length of the yardage roll, and the jacking mechanism 24 is arranged in the middle of the rack 21 and used for jacking the yardage roll to unload the cloth.
In one embodiment, the dragging mechanism 22 includes a horizontal rotation mechanism 221, an L-shaped rod 222, and a front-back translation mechanism 223, the horizontal rotation mechanism 221 is disposed on the front-back translation mechanism 223, the front-back translation mechanism 223 is used for driving the horizontal rotation mechanism 221 to move back and forth, the vertical end of the L-shaped rod 222 is fixed on the horizontal rotation mechanism 221, the horizontal end of the L-shaped rod 222 is provided with a hook 224, and the horizontal rotation mechanism 221 is used for driving the L-shaped rod 222 to rotate on the horizontal plane.
As an embodiment, the horizontal rotation mechanism 221 includes a driving gear, a driven gear, and a motor, the motor is used for driving the driving gear to rotate, the driving gear is engaged with the driven gear, and the L-shaped rod 222 is fixed on the driven gear.
In one embodiment, the width adjusting mechanism 23 includes screw rod moving mechanisms symmetrically disposed on the left and right sides of the frame 21, and the screw rod moving mechanisms are configured to drive the front and rear translation mechanisms 223 to move horizontally.
As an embodiment, the automatic doffing device further comprises a positioning mechanism 25, the positioning mechanism 25 comprises an L-shaped buckle and a buckle rotating mechanism, the L-shaped buckle is fixed outside the automatic doffing mechanism 2 through the buckle rotating mechanism, and the horizontal rotating mechanism 221 is used for driving the L-shaped buckle to rotate in a vertical plane, so that the L-shaped buckle is buckled on the loom.
In one embodiment, the towing mechanism 22 is disposed on the left and right sides of the jacking mechanism 24.
As an embodiment, the jacking mechanism 24 includes a lifting mechanism and a supporting platform, the supporting platform is fixed on the lifting mechanism, and the lifting mechanism is used for driving the supporting platform to move up and down.
In one embodiment, the support table is provided with a V-shaped doffing groove, and a convex strip is arranged on one side of the inner side of the doffing groove.
As an embodiment, as shown in fig. 4, the hook 224 is connected to a compression spring return mechanism, and the hook 224 can only rotate in the direction of the automatic doffing mechanism 2, and the compression spring return mechanism is used for keeping and returning the hook 224 to the vertical state.
In one embodiment, the jacking mechanisms 24 are arranged in two groups and arranged side by side in the middle of the towing mechanism 22.
The using process of the invention comprises the following steps:
one, one fall
The AGV trolley drives the automatic doffing mechanism to move to the right front of the loom, the L-shaped hasp of the positioning mechanism rotates and buckles on the loom, so that the position of the automatic doffing mechanism relative to the loom is fixed, the (anchoring) width adjusting mechanism adjusts the width according to the length of a cloth roll on the loom, the horizontal rotating mechanism 221 drives the L-shaped rod 222 to horizontally rotate, so that the L-shaped rod 222 faces the loom, the front and back translation mechanism 223 is close to the loom, so that the hook 224 on the L-shaped rod 222 moves towards the outer end direction of the cloth roll, the hook 224 can rotate forwards under the extrusion of the outer end of the cloth roll when extending into the back of the cloth roll, avoids the cloth roll, then after moving to the back of the outer end of the cloth roll, the compression spring resetting mechanism pushes the hook to restore the vertical state, and because the other side of the hook 224 is blocked by the L-shaped rod, the hook can only rotate towards the direction of the automatic doff, then the front and back translation mechanism 223 drives the L-shaped rod and the yardage roll to move forward, so that the yardage roll is dragged into a V-shaped cloth falling groove on a supporting table on the automatic cloth falling mechanism by the L-shaped rod through the L-shaped hasp, and the cloth falling is finished; in this embodiment, the two sets of jacking mechanisms 24 are used for respectively storing the large yardage rolls taken down from the looms on two sides.
Second, fortune cloth
The big cloth roll doffing robot trolley drives the two cloth rolls to move to the front of a cloth inspecting cache frame of the cloth inspecting cache area to prepare for cloth unloading;
third, unload cloth
Jacking mechanism promotes the yardage roll and rises, makes the height of yardage roll be greater than the height of perching buffer memory frame, then big yardage roll cropping robot dolly moves perching buffer memory frame below, drive the yardage roll simultaneously and move perching buffer memory frame top, later jacking mechanism drives the yardage roll decline, the yardage roll both ends are put on perching buffer memory frame, unload the cloth promptly successfully, then repeat above-mentioned step, can unload cloth to another yardage roll on the dolly once more, after two big yardage rolls all were unloaded, can carry out the cropping and transport to big yardage roll on other looms according to above-mentioned step again.
The foregoing is illustrative of the best mode of the invention and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The scope of the present invention is defined by the appended claims, and any equivalent modifications based on the technical teaching of the present invention are also within the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911187736.3A CN111039059B (en) | 2019-11-28 | 2019-11-28 | A towed large cloth rolling and unloading robot trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911187736.3A CN111039059B (en) | 2019-11-28 | 2019-11-28 | A towed large cloth rolling and unloading robot trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111039059A true CN111039059A (en) | 2020-04-21 |
| CN111039059B CN111039059B (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911187736.3A Active CN111039059B (en) | 2019-11-28 | 2019-11-28 | A towed large cloth rolling and unloading robot trolley |
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| CN (1) | CN111039059B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050555A (en) * | 2021-03-02 | 2021-06-29 | 东丽酒伊织染（南通）有限公司 | Highly-automatic information-intelligentized air bag cloth ink-jet edge trimmer and working method thereof |
| CN114538047A (en) * | 2022-03-02 | 2022-05-27 | 乐美包装（昆山）有限公司 | Full-automatic material transfer system and method |
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| CN109607278A (en) * | 2019-02-18 | 2019-04-12 | 初丽萍 | A kind of automatic replacement core equipment of plastic film production |
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2019
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|---|---|---|---|---|
| US3502320A (en) * | 1967-09-29 | 1970-03-24 | Cutting Room Appliances Corp | Roll lifting device for cloth laying machines |
| JP2012232825A (en) * | 2011-04-28 | 2012-11-29 | Sumitomo Heavy Ind Ltd | Roll body carrying device |
| CN203845530U (en) * | 2014-01-13 | 2014-09-24 | 上海凯逊液压控制设备有限公司 | Automatic winding platform special for films |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113050555A (en) * | 2021-03-02 | 2021-06-29 | 东丽酒伊织染（南通）有限公司 | Highly-automatic information-intelligentized air bag cloth ink-jet edge trimmer and working method thereof |
| CN114538047A (en) * | 2022-03-02 | 2022-05-27 | 乐美包装（昆山）有限公司 | Full-automatic material transfer system and method |
| CN114538047B (en) * | 2022-03-02 | 2024-01-23 | 乐美包装（昆山）有限公司 | Full-automatic material transfer system and method |
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| CN111039059B (en) | 2020-12-18 |
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