Cold-rolled stack coil wrapping film mechanical arm moving group

Abstract

The utility model discloses a kind of cold-rolled stack cloth roll film mechanical arm dynamic groups. By dynamic capture probe capture the seam head between different cloth sections of cold-rolled stack cloth roll, estimate the interval of the seam head position corresponding to cloth in advance, the unloading timing of plastic isolation cloth is judged in a more accurate way by the combination of the two, the end of plastic isolation cloth is contacted with cloth roll and driven to pull out appropriate length after the mechanical arm dynamic group is quickly pressed according to the unloading timing, it is rapidly segmented by fast cutting module, and the mechanical arm dynamic group is quickly lifted. The utility model completely replaces the front and back of a section of plastic cloth at seam head by artificial, more efficient, and reduce labor pressure, the failure rate is basically zero, ensure the quality of cold-rolled stack dyeing product.

Description

Technical Field

[0001] This utility model relates to the field of fabric processing technology, and more specifically, it relates to a robotic arm assembly for cold-rolled fabric roll lamination. Background Technology

[0002] Cold pad-batch fabric dyeing process is a dyeing method that involves padding the fabric with dye liquor and alkali solution at low temperature, using rollers to press the dye liquor onto the surface of the fabric fibers, then rolling and stacking the fabric, stacking it at room temperature for a certain period of time and slowly rotating it to complete the adsorption, diffusion and color fixation of the dye, and finally washing it with water to complete the dyeing process. It goes through three stages: padding, stacking and color fixation, and washing.

[0003] Due to the characteristics of the process, cold-rolled fabric rolls are generally composed of continuous roll structures made up of fabric with front and rear seams of different lengths. During the roll-up process, horizontal marks are easily formed on the fabric at the seam ends, which will affect the quality of the cold-rolled fabric. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robotic arm assembly for cold-rolled fabric roll lamination to solve one or more of the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A cold-rolled fabric roll-up and film-applying robotic arm assembly includes a cold-rolled fabric dyeing machine sequentially comprising a fabric feeding mechanism, a traction mechanism, a fabric dyeing mechanism, a compression roller, a tensioning mechanism, and a fabric rolling mechanism. The fabric rolling mechanism is equipped with a robotic arm assembly, which is equipped with a dedicated controller. A fabric unloading mechanism is mounted on the robotic arm assembly. The controller is electrically connected to both the robotic arm assembly and the fabric unloading mechanism. The controller periodically drives the robotic arm to press down and then lift up, and the controller drives the fabric feeding mechanism to release and cut individual plastic isolation fabrics; the released and cut plastic isolation fabrics are rolled up to the seam between different fabric segments on the cold-rolled fabric roll by the pressing action of the robotic arm.

[0006] Furthermore, the robotic arm assembly consists of two fully synchronized six-axis industrial robots, with the claws of the robotic arm assembly suspended above the fabric rolling mechanism and connected to the fabric unloading mechanism. The bottom of the fabric feeding mechanism is open, and the fabric roll end of the fabric feeding mechanism is provided with an unwinding module. A plastic isolation fabric roll is provided on the unwinding module. The unwinding module pulls the plastic isolation fabric roll to lay it flat and transport it. The unwinding module is electrically connected to the controller.

[0007] Furthermore, the fabric feeding mechanism is equipped with a continuous, motor-driven transmission roller. The plastic isolation fabric that is pulled and laid flat is wound around the transmission roller and transported to the conveying end of the fabric feeding mechanism. The transmission roller is electrically connected to the controller. The transmission roller is a long roller, and the length of the transmission roller is greater than the width of the plastic insulating cloth roll.

[0008] Furthermore, the conveying end of the fabric feeding mechanism is equipped with a quick-cutting module, which is located in front of all the conveying rollers. The quick-cutting module cuts the flat-laid plastic isolation fabric roll into individual plastic isolation fabrics.

[0009] Furthermore, the quick-cutting module includes a horizontally arranged transverse cutting slide rail and an electric slider that moves horizontally left and right on the transverse cutting slide rail. The bottom of the electric slider is provided with an electric cutting head, and both the electric cutting head and the electric slider are electrically connected to the controller.

[0010] Furthermore, the conveying end of the fabric feeding mechanism is equipped with a touch module, which consists of several horizontally arrayed telescopic electrical contacts. The telescopic electrical contacts simultaneously extend and press down the plastic isolation cloth cut by the electric cutting head to contact the fabric segment on the fabric rolling mechanism. The telescopic electrical contacts are electrically connected to the controller.

[0011] Furthermore, the tensioning mechanism is equipped with a motion capture probe, which faces the fabric winding mechanism and is electrically connected to the controller.

[0012] Furthermore, the motion capture probe is provided on the crossbeam and longitudinal beam of the tensioning mechanism, and the size of the motion capture probe is not unique.

[0013] In summary, this invention offers the following advantages: By capturing the seams between different sections of the cold-batch dyed fabric roll using a motion capture probe and pre-estimating the intervals at the corresponding seam positions, the timing of the plastic separator cloth's feeding is determined more accurately. The robotic arm then quickly presses down according to the feeding timing, bringing the extended end of the plastic separator cloth into contact with the fabric roll and pulling it out to a suitable length. The quick-cutting module then rapidly segments the roll, and the robotic arm quickly lifts up, completely replacing manual placement of a piece of plastic cloth on both sides of the seam. This significantly improves efficiency, reduces the error rate to virtually zero, and ensures the quality of cold-batch dyed products. It also effectively prevents deep horizontal stripe defects from forming on both sides of the seam of the cold-batch dyed fabric during prolonged stacking. Attached Figure Description

[0014] Figure 1 A schematic diagram of one embodiment of this utility model; Figure 2 A partial cross-sectional view of the lower fabrication mechanism in one embodiment of this utility model.

[0015] In the diagram: 1. Cold rolling dyeing machine; 2. Tensioning mechanism; 3. Fabric winding mechanism; 4. Robotic arm moving unit; 5. Fabric unloading mechanism; 6. Motion capture probe; 7. Transmission roller; 8. Cross-cutting slide rail; 9. Electric slider; 10. Electric cutting head; 11. Telescopic electric contact; 12. Fabric loading mechanism; 13. Traction mechanism; 14. Fabric dyeing mechanism; 15. Extrusion roller. Detailed Implementation

[0016] Example 1: To address the horizontal marks that appear when cold-rolled fabric rolls are rolled up, a piece of plastic isolation cloth can be added to both the front and back sides of the fabric seam.

[0017] Divide the continuous fabric into multiple individual sections, using the beginning and end seams as boundaries. For each section, add a plastic isolation sheet to both the front and back of the seam to prevent horizontal marks. A total of four plastic isolation sheets are needed. When the beginning seam appears, add the first plastic isolation sheet along the rolling direction at the incoming material. After rotating a certain amount, when the back of the beginning seam appears at the fabric roll, add the second plastic isolation sheet along the rolling direction, completing the isolation of the front and back of the beginning seam. When the end seam of the current section appears at the incoming material, add the third plastic isolation sheet along the rolling direction, completing the isolation of the front of the end seam. Similarly, after rotating a certain amount, when the end seam appears a second time, add the fourth plastic isolation sheet along the rolling direction on the back of the end seam.

[0018] Workers are instructed to promptly add insulating plastic sheeting to prevent and separate seams as they appear. While this method can solve the problem of horizontal seam marks, it is inefficient, wastes manpower, and has a high error rate.

[0019] Example 2 The following is in conjunction with the appendix Figure 1-2 This utility model will be described in further detail.

[0020] The robotic arm assembly for cold-rolled fabric roll lamination and film application, such as... Figure 1 As shown, improvements are made to the existing cold pad dyeing machine 1. The improvements mainly involve the tensioning mechanism 2 and the fabric winding mechanism 3 of the cold pad dyeing machine 1. The fabric is guided and transported to the fabric winding mechanism 3 through multiple undulations for winding. There are seams between different fabric segments, and during the winding process, there are two seams corresponding to the front and back of the same fabric segment. The controller of the cold pad dyeing machine 1 itself needs to add multiple command segments and logic programs, mainly for the automated control of added industrial robots and other components.

[0021] The front end of the cold-rolled fabric dyeing machine 1 is a fabric loading mechanism 12, constructed from a machine tool-style fabric roll frame. It uses a traditional fabric roll frame driven by rollers, with the wheels grounded during movement; upon reaching the workstation, the support feet are grounded and the wheels are suspended off the ground. This part primarily handles the loading of the raw fabric roll. The fabric roll, initially unrolled, passes downwards through guide rollers to lengthen the actual transport path before dyeing, ensuring sufficient time for subsequent dyeing. The fabric, drawn upwards from the bottom, is guided by the traction mechanism 13, pulled horizontally straight from the top, and then downwards around the rollers inside the dyeing tank of the fabric dyeing mechanism 14. Finally, it is drawn upwards from the other end of the dyeing tank and passes through the pressure rollers 15 to remove excess dye. The dyed fabric is then transported downwards by the tensioning mechanism 2 at the top, guided by necessary rollers, and finally fed to the fabric winding mechanism 3 for winding. This completes the fabric transport process. The fabric transport path deviates from the conventional design at the final stage, being wound up from below by the fabric winding mechanism 3, leaving the space above the fabric winding mechanism 3 for the subsequent movement of the robotic arm assembly 4.

[0022] like Figure 1 As shown, the fabric winding mechanism 3 is equipped with a robotic arm assembly 4 at the rear. The robotic arm assembly 4 consists of two fully synchronized six-axis industrial robots. The robotic arm assembly 4 is electrically connected to a controller, which uniformly controls the lifting and lowering movements of the robotic arm assembly 4, repeating the cycle according to a pre-calculated period. The claw end of the robotic arm assembly 4, which is the actual contact end involved in production, is suspended above the fabric winding mechanism 3. A dedicated fabric lowering mechanism 5 is horizontally installed on the claw end of the robotic arm assembly 4. During the fabric winding process, the fabric lowering mechanism 5 promptly pulls out a plastic isolation cloth of appropriate size to isolate the seam end and prevent horizontal marks.

[0023] like Figure 1 and Figure 2 As shown, the fabric unloading mechanism 5 has a box-shaped structure, divided into a fabric roll end and a conveyor end. The fabric roll end contains the plastic isolation fabric roll, while the conveyor end promptly transfers the cut plastic isolation fabric to the rewinding fabric, separating it at the seam. The fabric unloading mechanism 5 should be arranged in the direction of fabric transport, that is, the fabric roll end should be in front and the conveyor end should be behind. Alternatively, the fabric unloading mechanism 5 can be completely flipped over, with the conveyor end in front and the fabric roll end behind. With the help of the flipping angle provided by the downward pressure of the robotic arm moving group 4, it makes point contact at a more forward position to transfer the plastic isolation fabric.

[0024] Taking the first configuration as an example, the bottom of the fabric lowering mechanism 5 is open. An unwinding module is located at the fabric roll end within the fabric lowering mechanism 5. A plastic isolation fabric roll is mounted on the unwinding module. The unwinding module is equipped with a dedicated motor, and the unwinding module and its associated motor are electrically connected to the controller. The fabric lowering mechanism 5 also has five continuous transmission rollers 7, located in front of the unwinding module. The transmission rollers 7 are arranged horizontally or in a staggered vertical arrangement, and are synchronously driven by chains. Each transmission roller 7 is also equipped with a dedicated motor, and the transmission rollers 7 and their associated motors are electrically connected to the controller. The transmission rollers 7 are long rollers, and their length must be greater than the width of the plastic isolation fabric roll to ensure transportation stability and the completion of subsequent quick-cutting operations. A quick-cutting module is located at the conveying end of the fabric lowering mechanism 5, in front of all the transmission rollers 7. The quick-cutting module includes a transverse cutting slide rail 8 horizontally positioned within the conveying end area of ​​the lowering mechanism 5, an electric slider 9 mounted on the transverse cutting slide rail 8 with its own drive motor capable of sliding left and right, and an electric cutting head 10 positioned at the bottom of the electric slider 9. The electric cutting head 10, the electric slider 9, and related electrical equipment are all electrically connected to the controller. A point-contact module is located at the leading edge of the conveying end of the lowering mechanism 5. The point-contact module consists of five horizontally arranged telescopic electric contacts 11 at equal intervals. The five telescopic electric contacts 11 correspond to the width range of the plastic isolation fabric roll, and the five telescopic electric contacts 11 extend and retract synchronously. The telescopic electric contacts 11 are also electrically connected to the controller. The controller controls the motor to drive the unwinding module to rotate the plastic isolation fabric roll in the opposite direction, causing the entire plastic isolation fabric roll to be pulled and laid flat for transport. The plastic isolation fabric roll sequentially winds around all the conveying rollers 7 and is driven to be transported to the conveying end of the lowering mechanism 5. The entire plastic isolation fabric roll is pulled and laid flat. The controller manipulates the electric slider 9 to move rapidly laterally, simultaneously activating the electric cutting head 10 to laterally cut the plastic isolation fabric roll in the designated area, obtaining individual plastic isolation fabrics. The controller then manipulates the telescopic electric contact 11 to extend and press down, causing the plastic isolation fabric cut by the electric cutting head 10 to contact the fabric segment being rolled on the fabric winding mechanism 3. This allows the plastic isolation fabric to be automatically drawn into the cold-rolled fabric roll. The cut plastic isolation fabric is then wound up to the seam between different fabric segments on the cold-rolled fabric roll by the pressing action of the robotic arm moving assembly 4. Finally, the support legs of the mobile winding frame are lifted off the ground, the wheels remain on the ground, and the mobile winding frame and the processed fabric roll are removed.

[0025] In addition, such as Figure 1 As shown, a motion capture probe 6 is installed on the tensioning mechanism 2. The motion capture probe 6 is preferably distributed on the crossbeam and longitudinal beam closest to the fabric winding mechanism 3. The two motion capture probes 6 have different sizes to meet the actual monitoring requirements. The motion capture probe 6 faces the fabric winding mechanism 3 and is electrically connected to the controller. The motion capture probe 6 is used to capture the seam head image. Once captured, it sends a signal to the controller to activate the relevant control operation.

[0026] Working Principle: Generally, the length of each segment on the same batch of cold-rolled fabric rolls is uniform. This allows for the estimation of the interval between adding plastic isolation fabric to both ends of the same segment based on key data such as the fabric conveying speed, the diameter of the rolled cold-rolled fabric roll, and the actual spacing of the seams. This corresponds to the single cycle time of the robotic arm's moving group 4 pressing and lifting. Simultaneously, the motion capture probe 6 monitors the seams of the fabric segments. Only when the motion capture probe 6 captures an image of the seam within the cycle of the robotic arm's moving group 4 pressing and lifting, and both conditions are met, will the robotic arm's moving group 4 perform the pressing and lifting actions under the controller's allocation. Because the plastic isolation fabric itself has a certain length, this action allows for a certain reaction time and error margin. The robotic arm's moving group 4 is essentially a trigger unit. The unwinding mechanism 5 is the true execution unit. The plastic isolation fabric roll is pulled and laid flat towards the conveyor end by the unwinding module of the unwinding mechanism 5 in conjunction with the transmission rollers 7. After the robotic arm's moving unit 4 presses down, the plastic isolation cloth roll at the forefront of the conveying end is extended and pressed down by the telescopic electric contact 11, contacting the adjacent area of ​​the corresponding seam of the cold-rolled fabric roll and being driven into the cold-rolled fabric roll by the winding mechanism of the fabric winding mechanism 3. According to the set length of the plastic isolation cloth and combined with the winding speed of the fabric winding mechanism 3, the time interval for the electric cutting head 10 to quickly cut transversely is calculated. After activation, the specified length of plastic isolation cloth covers the seam of the fabric segment and is wound into the cold-rolled fabric roll, which is the so-called time interval for adding the second and third plastic isolation cloth segments. Based on the process of the cold-rolled fabric roll continuously accumulating and increasing in diameter as it is wound, combined with the change pattern and the winding speed, the time interval for adding the plastic isolation cloth on both sides of the same seam is calculated, which is the timing for adding the first and second, third and fourth plastic isolation cloth segments. The cutting operation does not have a lead time; the error in reaction time is calculated into the length of the plastic isolation cloth. This ensures that the head of the next section of plastic isolation cloth remains within the contact range of the telescopic electric contact 11 under the action of inertia and the transmission roller 7, meeting the requirements of automated cyclic operation. If necessary, a separate guide bar can be installed between the telescopic electric contact 11 and the electric slider 9 to prevent the head of the plastic isolation cloth roll from drooping and accidentally touching the cold-rolled fabric roll being wound. This usually only occurs when the distance between the telescopic electric contact 11 and the electric slider 9 is too large. However, considering the practical application of the fabric feeding mechanism 5, the two are rarely set to be far apart. Throughout the dynamic process, the gap length does not meet the conditions for the natural drooping of the isolation plastic cloth. The electric cutting operation occurs in the area in front of the entire transmission roller 7, so the plastic isolation cloth itself is always within the transmission range of the transmission roller 7. It is best to install stops at both ends of the cross-cutting slide rail 8. The position of the stops should not affect the effective working stroke of the electric slider 9, preventing unexpected situations.The downward pressing of the robotic arm's moving group 4 can be understood as a coarse adjustment process, and the operation of the fabric feeding mechanism 5 can be understood as a fine adjustment process. By combining the pre-calculated cycle time and the actual timing of capturing the seam head, the cutting and rolling of the plastic isolation cloth and the covering of the seam head of the cold-rolled fabric roll can be completed, replacing manual processing of the cold-rolled fabric roll.

[0027] It should be noted that this specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A cold-rolled fabric roll-up robotic arm assembly, comprising a cold-rolled fabric dyeing machine (1) sequentially equipped with a fabric feeding mechanism (12), a traction mechanism (13), a fabric dyeing mechanism (14), a compression roller (15), a tensioning mechanism (2), and a fabric rolling mechanism (3), characterized in that: The fabric rolling mechanism (3) is equipped with a robotic arm moving assembly (4), the robotic arm moving assembly (4) is equipped with a dedicated controller, and a fabric lowering mechanism (5) is mounted on the robotic arm moving assembly (4); the controller is electrically connected to the robotic arm moving assembly (4) and the fabric lowering mechanism (5) respectively. The controller periodically drives the robotic arm moving group (4) to press down and then lift up. The controller drives the fabric feeding mechanism (5) to release and cut individual plastic isolation fabrics. The released and cut plastic isolation fabrics are rolled up to the seam between different fabric segments on the cold-rolled fabric roll by the pressing action of the robotic arm moving group (4).

2. The cold roll stack wrapping film application robot assembly of claim 1, wherein: The robotic arm assembly (4) consists of two fully synchronized six-axis industrial robots. The claws of the robotic arm assembly (4) are suspended above the fabric rolling mechanism (3), and the claws of the robotic arm assembly (4) are connected to the fabric unloading mechanism (5). The bottom of the fabric lowering mechanism (5) is open, and the fabric roll end of the fabric lowering mechanism (5) is provided with an unwinding module. A plastic isolation fabric roll is provided on the unwinding module. The unwinding module pulls the plastic isolation fabric roll to lay it flat for transmission. The unwinding module is electrically connected to the controller.

3. The cold roll stack wrapping film application robot assembly of claim 2, wherein: The fabric feeding mechanism (5) is equipped with a continuous, motor-driven transmission roller (7). The plastic isolation fabric that is pulled and laid flat is wound around the transmission roller (7) and transported to the conveying end of the fabric feeding mechanism (5). The transmission roller is electrically connected to the controller. The transmission roller (7) is a long roller, and the length of the transmission roller (7) is greater than the width of the plastic isolation cloth roll.

4. The cold roll stack wrapping film application robot assembly of claim 3, wherein: The conveying end of the fabric feeding mechanism (5) is equipped with a quick-cutting module, which is located in front of all the conveying rollers (7). The quick-cutting module cuts the flat conveyed plastic isolation cloth roll into individual plastic isolation cloths.

5. The cold roll stack wrapping film application robot assembly of claim 4, wherein: The quick-cut module includes a horizontally arranged transverse cutting slide rail (8) and an electric slider (9) that moves horizontally left and right on the transverse cutting slide rail (8). The bottom of the electric slider (9) is provided with an electric cutting head (10). Both the electric cutting head (10) and the electric slider (9) are electrically connected to the controller.

6. The cold roll stack wrapping film application robot assembly of claim 5, wherein: The fabric feeding mechanism (5) is equipped with a point contact module at the conveying end. The point contact module consists of several horizontally arranged telescopic electric contacts (11). The telescopic electric contacts (11) simultaneously extend and press down the plastic isolation cloth cut by the electric cutting head (10) to contact the fabric segment on the fabric rolling mechanism (3). The telescopic electric contacts (11) are electrically connected to the controller.

7. The cold roll stack wrapping film application robot assembly of claim 1, wherein: The tensioning mechanism (2) is equipped with a motion capture probe (6), which faces the fabric rolling mechanism (3) and is electrically connected to the controller.

8. The cold roll stack wrapping film application robot assembly of claim 7, wherein: The tensioning mechanism (2) is provided with the motion capture probe (6) on the crossbeam and the longitudinal beam respectively, and the size of the motion capture probe (6) is not unique.

Images