A fully automatic cloth roll palletizing manipulator

Abstract

The present invention relates to a fully automatic cloth roll palletizing manipulator, which comprises a six-axis robot. The working end of the six-axis robot is connected to a mounting seat. A first linear guide rail is vertically fixed on the mounting seat, and a fixed gripper arm perpendicular to the first linear guide rail is fixed at one end of the first linear guide rail. A tensioning cylinder is fixed at the other end of the first linear guide rail. A movable gripper arm parallel to the fixed gripper arm is slidably connected to the first linear guide rail. The movable gripper arm is hinged to the piston rod of the tensioning cylinder through a connecting rod. Two laterally arranged second linear guide rails are respectively fixed on both sides of the mounting seat along the first linear guide rail. A clamping arm that can be driven by a clamping cylinder is slidably connected to each second linear guide rail. The present invention can realize the full-automatic stacking of paper covers and cloth rolls, and the equipment operates fully automatically, significantly improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and particularly relates to a fully automatic cloth roll palletizing manipulator. Background Art

[0002] After the non-woven fabric is wound and formed, it needs to be cut into small cloth rolls on a slitter. During slitting, in order to facilitate the separation of the non-woven fabric from the air shaft of the slitter, generally a paper tube is sleeved on the air shaft of the slitter and the non-woven fabric is wound around it to form rolls of cloth. The rolls of cloth are in a horizontal barrel shape and are transported to the palletizing area by a shuttle car. The robot grabs the cloth roll, turns it 90°, and then stacks it into a vertical barrel-shaped stack.

[0003] Before and after the cloth rolls are palletized, generally paper covers with a film are placed. In this way, together with the subsequent winding film, they form an outer package and a protective layer, facilitating the transportation of the product. The palletized non-woven fabric rolls generally have a roll diameter of φ600 - 1200mm, a width of 80 - 1500mm, and a weight of 10 - 240kg. The cores of the non-woven fabric rolls are generally divided into two types, a 3-inch tube with a diameter of φ76mm or a 6-inch tube with a diameter of φ155mm. The palletizing of non-woven fabrics generally uses a four-axis robot plus a gripper, and a swing structure needs to be added to the gripper, which has a complex structure and a high failure rate. If a six-axis robot plus an air shaft structure is used, since the diameter of the air shaft is 2 - 4mm smaller than the core of the roll, the shape requirements for the cloth roll are relatively high. If the roundness of the cloth roll is not enough, the cloth roll will tilt on the palletizing trolley. At this time, when the robot palletizes, it will damage the paper tube shape of the cloth roll, and when used by downstream manufacturers, it will contaminate the cloth roll. Especially some non-woven fabric rolls belong to medical supplies and have high requirements for cleanliness. If the slitting machine equipment produces products with 3-inch and 6-inch cores, using a gripper with an air shaft requires replacing different sizes of air shafts according to different cores, which affects the efficiency. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a fully automatic cloth roll palletizing manipulator, which is installed on a six-axis robot. By using a swing arm in cooperation with a suction cup to pick up the paper cover, a vision camera detects the spatial position of the core of the cloth roll, and the movable gripper arm and the fixed gripper arm expand to tighten the core of the rolled cloth. With the cooperation of the clamping arm and the clamping plate driven by the clamping cylinder, the cloth roll is assisted to be fixed. With the movement of the six-axis robot, the horizontal barrel-shaped rolled cloth is fully automatically palletized into a vertical barrel-shaped stack in space.

[0005] The present invention is realized through the following technical solutions:

[0006] Provide a fully automatic cloth roll palletizing manipulator, including a six-axis robot, and the working end of the six-axis robot is connected to a mounting seat.

[0007] A first linear guide is vertically fixed on the mounting seat, and a fixed gripping arm perpendicular to the first linear guide is fixed at one end of the first linear guide, and a tensioning cylinder is fixed at the other end of the first linear guide. A movable gripping arm parallel to the fixed gripping arm is slidably connected to the first linear guide, and the movable gripping arm is hinged to the piston rod of the tensioning cylinder through a connecting rod;

[0008] The mounting seat is respectively fixed with two transversely arranged second linear guide rails on both sides of the first linear guide rail, and each second linear guide rail is slidably connected with a clamping arm which can be driven by a clamping cylinder.

[0009] This solution uses a combination of a six-axis robot and a stacking robot. The non-woven fabric that has been cut into horizontal barrels on the shuttle car is inserted into the core of the cloth roll using a mechanical expansion axis formed by a fixed gripper arm and a movable gripper arm. The movable gripper arm and the fixed gripper arm are driven away by an expansion cylinder to form a mechanical expansion. The cloth roll is then clamped with the help of the clamping arm and the clamping plate driven by the clamping cylinder. The six-axis robot can automatically stack the horizontal barrel-shaped cloth rolls into vertical barrel-shaped stacks in space.

[0010] The six-axis robot with stacking manipulator automatically stacks the cloth rolls on the stacking conveyor line. If the goods need to be placed with upper and lower end covers, the swing arm rotates 90 degrees driven by the swing cylinder, and then the double-axis cylinder drives the accordion suction cup to move downward. The six-axis robot drives the accordion suction cup on the gripper to grab the paper cover from the paper cover warehouse. After the paper cover is stacked, the double-axis cylinder is retracted to reduce space occupation. The swing arm returns to its original horizontal direction to facilitate the mechanical expansion axis to perform the cloth roll stacking operation.

[0011] Furthermore, a clamping plate is connected to the clamping arm via a fixed shaft, and spring clips are installed at both ends of the fixed shaft.

[0012] The clamping plate is provided to increase the contact area with the cloth roll, so as to facilitate clamping. Spring clips are installed at both ends of the fixed shaft to prevent the fixed shaft from moving.

[0013] Furthermore, a visual camera for collecting cloth roll core position information is installed on the mounting seat via a camera mounting plate.

[0014] The camera mounting plate is fixed on the mounting base, and the visual camera is installed on the camera mounting plate, so that the stacking robot can first take a picture of the cloth roll core, and identify the spatial position of the roll core through the background software, so that the six-axis robot can drive the fixed gripper arm and the movable gripper arm to find the center of the circle for expansion and tightening.

[0015] Further, it further includes a first swing arm and a second swing arm rotatably connected to the mounting base. The two swing arms are symmetrically arranged with respect to the first linear guide rail. One end of the swing arm close to the first linear guide rail is connected to a swing cylinder mounted on the mounting base through a rotating member. The other end of the swing arm far from the first linear guide rail is provided with a double-acting cylinder. The piston rod of the double-acting cylinder is provided with two separate double suction cups through a suction cup mounting plate. The double suction cups are respectively connected to a vacuum generator through air pipes and valves.

[0016] The first swing arm and the second swing arm can be pushed by the swing cylinder to rotate around the mounting base, which is convenient for cooperating with the double suction cups to suck the paper covers from the paper board library. After use, the swing cylinder retracts to enable the first swing arm and the second swing arm to return to the initial position.

[0017] Furthermore, the rotating member includes a swing arm side plate and a swing foot seat fixed on the mounting base. A swing long shaft perpendicular to the swing arm is rotatably mounted on the swing side plate. One end of the swing long shaft is fixed with a swing short shaft parallel to the swing long shaft through a fixing plate. The other end of the swing long shaft is fixed to one end of the swing arm close to the first linear guide rail. The swing foot seat is hinged to one end of the swing cylinder, and the other end of the swing cylinder is connected to the swing short shaft through a ball eye joint.

[0018] By pushing the swing short shaft with the swing cylinder, the swing short shaft drives the swing long shaft to rotate on the swing arm side plate, and further drives the swing arm connected to the swing long shaft to rotate, realizing the rotation action of the swing arm.

[0019] Further, the six-axis robot is fixedly installed on the base through chemical bolts.

[0020] It is fixed between the base and the ground through chemical bolts, increasing the firmness of the base of the six-axis robot.

[0021] The beneficial effects of the present invention:

[0022] By combining a six-axis robot and a palletizing manipulator, the non-woven fabric cut horizontally into barrels on the feeder vehicle is inserted into the core of the fabric roll by using a mechanical expansion shaft formed by a fixed gripper arm and a movable gripper arm. The expansion cylinder is used to drive the movable gripper arm and the fixed gripper arm to move away from each other to form mechanical expansion. Then, with the cooperation of the clamping arm and the clamping plate driven by the clamping cylinder, the fabric roll is assisted to be clamped. The six-axis robot realizes the full-automatic stacking of the horizontally barrel-shaped fabric rolls into the vertical barrel-shaped stack in space. The position of the core is located by taking pictures with a vision camera to ensure accurate insertion. At the same time, since the diameter of the mechanical expansion shaft formed by the fixed gripper arm and the movable gripper arm is 60 mm, and the core of the paper roll is 76 mm or 155 mm, when the vision camera detects the spatial position of the fabric roll core, the six-axis robot drives the expansion shaft to be conveniently inserted into the fabric roll core, reducing the accuracy requirements of the equipment. Through mutual cooperation, the full-automatic operation of the equipment is realized, improving the production efficiency.

[0023] When the upper and lower paper covers need to be placed on the goods, two swing arms are driven by a swing cylinder to rotate 90 degrees, and then a double-axis cylinder drives the bellows suction cup to move downward. The six-axis robot drives the bellows suction cup to grab the paper covers from the paper cover library. After the paper covers are stacked, the double-axis cylinder retracts to reduce space occupancy, and the swing arms return to the original horizontal direction, facilitating the palletizing operation of the cloth roll by the mechanical tightening shaft. The palletizing of the cloth roll and the simultaneous stacking of the end covers are realized, facilitating the formation of split packaging in the next film winding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the front view of the present invention;

[0025] Figure 2 is Figure 1 the top view of;

[0026] Figure 3 is Figure 1 the left sectional view of;

[0027] Figure 4 Schematic diagram of grasping during the operation of the present invention;

[0028] Figure 5 is the schematic diagram of the suction cup grasping the paper cover in the present invention.

[0029] As shown in the figure:

[0030] 1. Electrical board, 2. End cover, 3. JFB bushing, 4. Swing short shaft, 5. Fixed plate, 6. Swing cylinder, 7. Swing footrest, 8. Swing long shaft, 9. Suction cup, 10. Double-axis cylinder, 11. Swing arm, 12. Suction cup mounting plate, 13. Vision camera, 14. Second linear guide, 15. Mounting seat, 16. Connecting fork, 17. Tightening cylinder, 18. Connector, 19. First linear guide, 20. Fixed gripper arm, 21. Movable gripper arm, 22. Swing arm side plate, 23. Clamping arm, 24. Clamping plate, 25. Fixed shaft, 26. Six-axis robot, 27. Paper cover. DETAILED DESCRIPTION OF THE INVENTION

[0031] To clearly illustrate the technical features of this solution, the following elaborates on this solution through specific embodiments.

[0032] A fully automatic cloth roll palletizing manipulator includes a six-axis robot 26, and the six-axis robot 26 is fixedly installed on the base through chemical bolts. The working end of the six-axis robot 26 is connected to the mounting seat 15. In the present invention, an electrical board 1 is further provided on the mounting seat 15 for installing various valves of pneumatic components, the vacuum generator of the suction cup 9, the pressure detection switch, etc.

[0033] A first linear guide rail 19 is vertically fixed on the mounting base 15, and a fixed gripper arm 20 perpendicular to the first linear guide rail 19 is fixed at one end of the first linear guide rail 19. A tightening cylinder 17 is fixed at the other end of the first linear guide rail 19. A movable gripper arm 21 parallel to the fixed gripper arm 20 is slidably connected to the first linear guide rail 19. The movable gripper arm 21 is hinged to the piston rod of the tightening cylinder 17 through a connecting rod. As Figure 1 shown, the connecting rod includes a connecting fork 16 and a joint 18. One end of the connecting fork 16 is rotatably hinged to one end of the joint 18. The other end of the joint 18 is hinged to the piston rod of the tightening cylinder 17. The other end of the connecting fork 16 is connected to the movable gripper arm 21 through a slider, and the slider is slidably arranged on the first linear guide rail 19.

[0034] Two horizontally arranged second linear guide rails 14 are respectively fixed on both sides of the first linear guide rail 19 of the mounting base 15. A clamping arm 23 that can be driven by a clamping cylinder is slidably connected to each second linear guide rail 14. A clamping plate 24 is connected to the clamping arm 23 through a fixed shaft 25, and spring clips are installed at both ends of the fixed shaft 25. When the two clamping plates 24 are opened, the distance between the two clamping plates 24 at this time is greater than the diameter of the largest cloth roll, realizing the shaft insertion action of the mechanical expansion shaft on the cloth roll. When the mechanical expansion shaft is inserted into the core of the cloth roll to expand the cloth roll. The clamping cylinder clamps, and the two clamping plates 24 centrally fix the goods.

[0035] A vision camera 13 for collecting the position information of the core of the cloth roll is installed on the mounting base 15 through a camera mounting plate. The camera mounting plate is bolted to the connecting seat 15, and the vision camera 13 is installed on the camera mounting plate, enabling the palletizing robot to take a photo of the core of the cloth roll first, and identifying the spatial position of the core through the background software, facilitating the six-axis robot 26 to drive the mechanical expansion shaft to find the center and expand.

[0036] The fully automatic cloth roll palletizing manipulator further includes a first swing arm and a second swing arm rotatably connected to the mounting base 15. The two swing arms 11 are symmetrically arranged with respect to the first linear guide rail 19. One end of the swing arm 11 close to the first linear guide rail 19 is connected to a swing cylinder 6 mounted on the mounting base 15 through a rotating member. The other end of the swing arm 11 far from the first linear guide rail 19 is equipped with a double-acting cylinder 10. The piston rod of the double-acting cylinder 10 is equipped with two separate double suction cups 9 through a suction cup mounting plate 12. The double suction cups 9 are respectively connected to a vacuum generator through air pipes and valves. When sucking the paper cover 27, the double-acting cylinder 10 extends, so that the position of the suction cup 9 is lower than the height of the mechanical expansion shaft composed of the fixed gripper arm 20 and the movable gripper arm 21, which is convenient for sucking the paper cover 27. When the sucking is completed, the double-acting cylinder 10 retracts, reducing the support length of the suction cup 9 and preventing the interference between the suction cup 9 and the V-shaped palletizing trolley; the retraction of the swing cylinder 6 is convenient for palletizing. The swing cylinder 6 is arranged on the other side, and can be used for a palletizing trolley with an angle of 130-150°, so that the side of the swing cylinder 6 faces the V-shaped trolley to palletize goods with a diameter of 600-1200 mm without interference. The two swing arms 11 are mirror-image distributed. When the swing arms 11 fall, there are two groups of extending cylinders and four suction cups 9 to suck the paper cover 27, forming a four-point rectangular grasping layout, as Figure 5 shown.

[0037] Among them: The rotating member includes a swing arm side plate 22 and a swing footrest 7 fixed on the mounting base 15. A swing long shaft 8 perpendicular to the swing arm 11 is rotatably installed on the swing side plate 22. One end of the swing long shaft 8 is fixed with a swing short shaft 4 parallel to the swing long shaft 8 through a fixing plate 5. The other end of the swing long shaft 8 is fixed to one end of the swing arm 11 close to the first linear guide rail 19. The swing footrest 7 is hinged to one end of the swing cylinder 6, and the other end of the swing cylinder 6 is connected to the swing short shaft 4 through a ball eye joint. The ball eye joint is rigidly and overly fitted with the swing short shaft 4, and a shaft sleeve and a short sleeve are installed in a clearance fit manner at both ends to limit the deviation of the ball eye joint. The swing long shaft 8 is rigidly and overly fitted with the swing arm 11. Among them: JFB shaft sleeves 3 are sleeved at the joints of the swing long shaft 8 with the swing arm 11 and the swing side plate 22 respectively, and end covers 2 are respectively installed to be used for filling lubricating grease and dust prevention. Limit spring clips are installed at both ends of the swing short shaft 4 to prevent the swing short shaft 4 from moving back and forth.

[0038] Working process: The palletizing manipulator installed on the six-axis robot 26 is powered by the six-axis robot 26. The vision camera 13 is used to first detect the spatial position of the core of the fabric roll. According to the detected core position, the palletizing manipulator forms a mechanical expansion shaft with the fixed gripper arm 20 and the movable gripper arm 21, moves to the core position, then inserts it into the core of the fabric roll, and then the expansion cylinder 17 connected to the movable gripper arm 21 by bolts is opened to form mechanical expansion. Then, the clamping arm 23 and the clamping plate 24 are driven by the clamping cylinder to assist in fixing the fabric roll. The six-axis robot 26 drives the palletizing manipulator to vertically and automatically palletize the fabric roll onto the palletizing conveyor line. If upper and lower paper covers 27 need to be placed on the fabric roll, the swing arm 11 rotates 90 degrees driven by the swing cylinder 7, and then the double-axis cylinder 10 drives the suction cup 9 to move downward. The six-axis robot 26 drives the suction cup 9 to grab the paper cover from the paper cover library. After the paper cover 27 is palletized, the double-axis cylinder 10 retracts to reduce space occupancy. The swing arm 11 returns to its original horizontal direction to facilitate the palletizing operation of the mechanical expansion shaft for the fabric roll. The general palletizing sequence of the fabric roll is to first place the bottom paper cover 27, palletize the non-woven fabric roll, place the upper paper cover 27, and then convey it to the subsequent film winding process to form split packaging. The full-automatic palletizing of the paper cover and the fabric roll by the palletizing manipulator realizes the full-automatic operation of the equipment and improves production efficiency.

[0039] Of course, the above description is not limited to the above examples. The technical features not described in the present invention can be achieved by or adopted from the prior art, and will not be elaborated here; the above embodiments and the accompanying drawings are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. The present invention has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that any changes, modifications, additions, or substitutions made by those of ordinary skill in the art within the scope of the essence of the present invention do not depart from the purpose of the present invention and should also fall within the scope of the claims of the present invention.

Claims

1. A fully automatic cloth roll palletizing manipulator, comprising a six-axis robot, and the working end of the six-axis robot is connected to a mounting seat, characterized in that: A first linear guide is vertically fixed on the mounting base. A fixed gripper arm perpendicular to the first linear guide is fixed at one end of the first linear guide, and a tightening cylinder is fixed at the other end of the first linear guide. A movable gripper arm parallel to the fixed gripper arm is slidably connected to the first linear guide, and the movable gripper arm is hinged to the piston rod of the tightening cylinder through a connecting rod; On both sides of the first linear guide, the mounting base is respectively fixed with two second linear guides arranged horizontally. A clamping arm that can be driven by a clamping cylinder is slidably connected to each second linear guide; It also includes a first swing arm and a second swing arm rotatably connected to the mounting base. The two swing arms are symmetrically arranged with respect to the first linear guide. One end of the swing arm close to the first linear guide is connected to a swing cylinder installed on the mounting base through a rotating member. The other end of the swing arm far from the first linear guide is installed with a double-axis cylinder. Two separate double suction cups are installed on the piston rod of the double-axis cylinder through a suction cup mounting plate. The double suction cups are respectively connected to a vacuum generator through air pipes and valves; The rotating member includes a swing arm side plate and a swing foot seat fixed on the mounting base. A swing long shaft perpendicular to the swing arm is rotatably installed on the swing side plate. One end of the swing long shaft is fixed with a swing short shaft parallel to the swing long shaft through a fixing plate. The other end of the swing long shaft is fixed to one end of the swing arm close to the first linear guide. The swing foot seat is hinged to one end of the swing cylinder, and the other end of the swing cylinder is connected to the swing short shaft through a ball eye joint.

2. The fully automatic cloth roll palletizing manipulator according to claim 1, characterized in that: A clamping plate is connected to the clamping arm through a fixed shaft, and spring clips are installed at both ends of the fixed shaft.

3. The fully automatic cloth roll palletizing manipulator according to claim 1, characterized in that: A vision camera for collecting the position information of the core of the collecting cloth roll is installed on the mounting base through a camera mounting plate.

4. The fully automatic cloth roll palletizing manipulator according to claim 1, characterized in that: The six-axis robot is installed and fixed to the base through chemical bolts.

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