An automatic cloth discharging device and method for a dyeing vat

Abstract

The present invention provides a device for automatically discharging cloth from a dyeing vat, which comprises a body bracket, a guide rail and a cloth discharging wheel. The cloth discharging wheel is rotatably connected to the body bracket. A robotic arm is rotatably connected to the body bracket. The guide rail is connected with a driving wheel assembly, and the driving wheel assembly is connected to the body bracket. A cloth guiding ring is arranged at the bottom of the body bracket. The body bracket is connected to a cloth distributing hopper through a swinging assembly, and the cloth distributing hopper is arranged below the cloth discharging wheel. The present invention replaces the traditional cloth discharging rack, saves space and labor, enables the operation technicians to manage more machines, and takes a step forward towards realizing a dyeing and finishing unmanned factory. The present invention also discloses a method for automatically discharging cloth from a dyeing vat.

Description

Technical Field

[0001] The present invention relates to the technical field of the fabric discharging device of a textile dyeing machine, and particularly to a device and method for automatically discharging fabric from a dye vat. Background Art

[0002] The traditional textile dyeing and finishing industry is a labor-intensive industry with low automation. In recent years, although automatic conveying of dyestuffs, automatic control of the dyeing process in the dye vat, automatic control of the cloth pattern of the stenter, automatic control of the overfeed of the stenter, automatic control of the machine speed of the stenter, automatic packaging and sorting, automatic warehousing, and even automatic logistics have been realized.

[0003] However, a large number of operating technicians are still required to operate on-site for fabric discharging from the dye vat. For example, the traditional fabric discharging device of the dye vat is fixed on the dye vat body, and the operator takes the fabric out of the dye vat, passes it through the fabric discharging wheel, and then starts the operation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device for automatically discharging fabric from a dye vat, which can realize automatic fabric grabbing and winding operations without stopping for waiting, and improve the fabric discharging efficiency.

[0005] The present invention is realized as follows: A device for automatically discharging fabric from a dye vat includes a machine body bracket, a guide rail, and a fabric discharging wheel. A first robotic arm and a second robotic arm for grabbing the fabric are rotatably connected to the machine body bracket. The guide rail is arranged along the mouths of each dye vat. A driving wheel assembly is slidably connected to the inner cavity of the guide rail. The lower end of the driving wheel assembly is connected to the machine body bracket. A cloth guiding ring is arranged at the bottom of the machine body bracket. The machine body bracket is connected with a fabric distributing hopper, and the fabric distributing hopper is provided with a fabric discharging channel. The fabric distributing hopper is arranged below the fabric discharging wheel. The machine body bracket is connected with the fabric distributing hopper through a swinging assembly. The swinging assembly includes a swing rod and a rotating wheel respectively rotatably connected to the machine body bracket. The swing rod is fixedly connected to the fabric distributing hopper. A connecting rod is rotatably connected to the side wall of the rotating wheel, and the connecting rod is rotatably connected to the swing rod.

[0006] Further, a mechanical scissor is arranged on the second robotic arm.

[0007] Further, a water baffle is arranged on one side of the machine body bracket close to the fabric discharging wheel.

[0008] Further, the driving wheel assembly includes a connecting frame and two driving wheels. The connecting frame is connected to the machine body bracket. A rotating shaft is rotatably connected to the connecting frame. The two driving wheels are respectively connected to both ends of the rotating shaft. A driven sprocket is arranged on the outer wall of the rotating shaft. A driving sprocket is arranged inside the machine body bracket. The driving sprocket and the driven sprocket are connected by a chain.

[0009] Further, a controller, a rechargeable battery, a plurality of drive motors and a positioning device are arranged in the body support. The controller controls the start and stop of the plurality of drive motors, and the plurality of drive motors respectively drive the cloth delivery wheel, the driving sprocket and the rotating wheel to rotate.

[0010] A method for automatically discharging cloth from a dyeing vat includes the following steps:

[0011] S1. The AGV vehicle transports a carrier matching the number of dyeing vats to a designated position at the mouth of the dyeing vat. The carrier is used to hold the cloth passing through the cloth distribution hopper. The body support moves along the guide rail to a designated working position;

[0012] S2. After the dyeing vat is opened, the first robotic arm grabs the end of the cloth tied with a magnetic ring and pulls it out of the dyeing vat, so that the end of the cloth passes through the cloth guiding ring. The second robotic arm takes out the end of the cloth passing through the cloth guiding ring and bypasses the cloth delivery wheel;

[0013] S3. The cloth delivery wheel starts to rotate, and cloth discharging begins. The cloth passes through the cloth discharging channel of the cloth distribution hopper and falls onto the carrier;

[0014] S4. The rotating wheel rotates, so that the cloth distribution hopper swings reciprocally. At the same time, the driving wheel assembly reciprocally slides within a certain distance on the guide rail, so that the cloth passes through the cloth discharging channel of the cloth distribution hopper and is laid flat on the carrier;

[0015] S5. The body support moves away from this working position, and the AGV vehicle transfers the cloth loaded in the carrier to the next process.

[0016] Further, in the step S2, before the end of the cloth passes through the cloth guiding ring, the second robotic arm equipped with a mechanical scissor moves to the end of the cloth, and the mechanical scissor cuts the end of the cloth according to the set length.

[0017] Further, the length of the end of the cloth cut by the mechanical scissor is half a meter or one meter.

[0018] Further, in the step S2, after the temperature, pressure, etc. in the dyeing vat meet the requirements for opening the vat cover, the controller controls the first robotic arm to twist the safety device, thereby opening the vat door.

[0019] Further, before the dyeing vat is opened, after the central control system confirms that the temperature and pressure in the vat meet the requirements, the controller controls the first robotic arm to twist the safety device, thereby opening the vat door.

[0020] The advantages of the present invention are as follows:

[0021] 1. It replaces the traditional cloth discharging rack and saves space.

[0022] 2. After the fabric is dyed, the robotic arm can grasp the fabric and wind it around the fabric output wheel, thus saving labor and enabling the operating technician to manage more machines. Moreover, the mechanical scissors installed on the robotic arm cut off the fabric head as a sample for in-tank inspection, also avoiding the problem of manual fabric cutting during fabric output.

[0023] 3. It takes a step forward towards realizing a fully automated dyeing and finishing factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the drawings in conjunction with embodiments.

[0025] Figure 1 is a schematic structural diagram of the present invention;

[0026] Figure 2 is a schematic structural diagram of the working state of the present invention;

[0027] Figure 3 is a schematic structural diagram of the drive wheel assembly of the present invention;

[0028] Figure 4 is a schematic structural diagram of the clamping point and cutting point of the fabric head of the present invention;

[0029] Figure 5 is a working flowchart of the present invention.

[0030] 1. First robotic arm; 2. Guide rail; 3. Drive wheel assembly; 4. Body support; 5. Fabric guide ring; 6. Fabric output wheel; 7. Fabric distribution hopper; 8. Water baffle; 9. Mechanical scissors; 10. Rotating wheel; 11. Connecting rod; 12. Second robotic arm; 13. Swing rod; 14. Drive wheel; 15. Rotating shaft; 16. Driven sprocket; 17. Driving sprocket; 18. Chain; 19. Carrier. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Please refer to Figures 1 to 3As shown in the figure, an automatic cloth discharging device for a dyeing vat of the present invention includes a machine body bracket 4, a guide rail 2, and a cloth discharging wheel 6. When the cloth discharging wheel 6 rotates, it can actively drive out the rope-shaped cloth. The cloth discharging wheel 6 is rotatably connected to the machine body bracket 4. When the guide rail 2 is arranged, it passes through each dyeing vat in the production workshop, so that this device can move to each dyeing vat. The length of the guide rail 2 is set according to the number of dyeing vats. A first robotic arm 1 and a second robotic arm 12 for grasping the cloth are rotatably connected to the machine body bracket 4. The first robotic arm 1 and the second robotic arm 12 can automatically avoid obstacles and have the functions of opening the door cover of the dyeing vat and detecting the position of the magnetic ring carried by the cloth head. A driving wheel assembly 3 is slidably connected to the inner cavity of the guide rail 2. A cloth guiding ring 5 is arranged at the bottom of the machine body bracket 4. The rope-shaped cloth coming out of the vat passes through the cloth guiding ring 5, thereby preventing the cloth from being scratched. The machine body bracket 4 is connected to a cloth arranging hopper 7. The cloth arranging hopper 7 is provided with a cloth discharging channel. The cloth arranging hopper 7 is arranged below the cloth discharging wheel 6. The machine body bracket 4 is connected to the cloth arranging hopper 7 through a swinging assembly. The swinging assembly includes a swing rod 13 and a rotating wheel 10 that are respectively rotatably connected to the machine body bracket 4. The swing rod 13 is fixedly connected to the cloth arranging hopper 7. A connecting rod 11 is rotatably connected to the side wall of the rotating wheel 10. The connecting rod 11 is rotatably connected to the swing rod 13. A controller, a rechargeable battery, a plurality of driving motors, and a positioning device are arranged in the machine body bracket 4. The positioning device is an RFID positioning system. The function of the positioning device is to facilitate the central control system to view the position of this device and command the movement of this device. The controller controls the plurality of driving motors. The plurality of driving motors respectively drive the cloth discharging wheel 6, the driving sprocket, and the rotating wheel to rotate. The battery is used to supply power to the entire device. One of the driving motors drives the rotating wheel 10 to rotate, drives the swing rod to swing reciprocally through the connecting rod 11, and further drives the cloth arranging hopper 7 to swing reciprocally, so as to spread the cloth and drop it into the carrier 19 prepared by the AGV.

[0032] Specifically, a mechanical scissors 9 is arranged on the second robotic arm 12. The cloth head is cut off by the mechanical scissors 9, and the cut cloth is used as a sample for detecting the cloth coming out of the vat.

[0033] Specifically, a water baffle 8 is arranged on one side of the machine body bracket 4 close to the cloth discharging wheel 6. The water baffle 8 blocks the water splashed out from the cloth to prevent random splashing.

[0034] Specifically, two sets of driving wheel assemblies 3 are provided. Each set of driving wheel assemblies can rotate independently to adapt to the curved guide rail. Each driving wheel assembly 3 includes a connecting frame and two driving wheels 14. The connecting frame is connected to the body support 4. The connecting frame is rotatably connected to a rotating shaft 15. The two driving wheels 14 are respectively fixedly connected to both ends of the rotating shaft 15. A driven sprocket 16 is provided on the outer wall of the rotating shaft 15. A driving sprocket 17 is provided inside the body support. The driving sprocket and the driven sprocket are connected by a chain 18. The driving sprocket is connected to the driving motor. The driving motor can also make the driving wheel rotate by means of belt transmission, transmission shaft transmission, or gear transmission. The driving motor can also be installed inside the driving wheel to directly drive the driving wheel to rotate.

[0035] Please refer to Figures 4 to 5 As shown, a method for automatically discharging cloth from a dyeing vat includes the following steps:

[0036] S1. After the cloth is dyed and run in the dyeing vat, the central control system controls the AGV vehicle to transport the carriers matching the number of dyeing vats to the designated position at the mouth of the dyeing vat. RFID positioning systems are also installed on the AGV vehicle and the carriers. Installing the RFID positioning system on the AGV vehicle facilitates the central control system to view the position of the AGV vehicle and command its movement. Installing the RFID positioning system on the carrier facilitates the central control system to view the position of the carrier and the storage location. The carrier is used to hold the cloth passing through the cloth distribution hopper. The designated position at the mouth of the dyeing vat is the working position. And, the controller controls the driving motor to start, so that the driving wheel rotates, and the body support moves along the guide rail to the designated working position;

[0037] After the central control system confirms again that the temperature, pressure, etc. in the vat meet the requirements for opening the vat cover, the vat cover of the dyeing vat automatically opens. If the dyeing vat does not have the function of automatically opening the vat cover, the first robotic arm 1 twists the safety device to open the vat door.

[0038] S2. After the dyeing vat is opened, after the first robotic arm 1 learns through the central control system that the cloth head tied with a magnetic ring in the dyeing vat has stopped at the vat mouth, the first robotic arm 1 grabs the cloth head tied with the magnetic ring and pulls it out of the dyeing vat. The second robotic arm 12 equipped with a mechanical scissors 9 moves to the cloth head, and the mechanical scissors 9 cut the cloth head according to the set length. As Figure 4 shown, the first robotic arm 1 grabs point A of the cloth head, and the mechanical scissors 9 on the second robotic arm 12 cut along point B of the cloth head.

[0039] After the cloth head is cut, the first robotic arm that grabs the lower or upper end of the cloth head passes the grabbed cut cloth through the cloth guide ring 5, and the second robotic arm 12 takes out the cloth head passing through the cloth guide ring 5 and bypasses the cloth discharging wheel 6;

[0040] S3. The controller controls the driving motor to start, causing the cloth output wheel 6 connected to the driving motor to start rotating, and the cloth output begins. After the cloth passes through the cloth output channel of the cloth layout hopper, it is laid flat on the carrier.

[0041] S4. The controller controls another driving motor to start, causing the rotating wheel connected to the driving motor to rotate, thereby causing the cloth layout hopper 7 to swing reciprocally. At the same time, the controller controls the driving motor to start, causing the driving sprocket to rotate. The driving sprocket drives the driven sprocket to rotate through a chain, thereby causing the driving wheel to rotate. The driving motor rotates forward and reverses alternately in a cycle, causing the driving wheel assembly 3 to reciprocally slide within a certain distance on the guide rail 2, and then driving the body support to move horizontally reciprocally, so that the cloth passes through the cloth output channel of the cloth layout hopper and is laid flat on the carrier. By the above method, the cloth can be laid flat in the carrier, avoiding the need for manual flattening constantly due to only the reciprocating movement of the cloth layout rack in traditional cloth output, and avoiding the problem of cloth stacking and pressing.

[0042] S5. The body support moves away from this working position, and the cloth output device returns to the charging position to charge the storage battery or moves to the next working position.

[0043] The AGV vehicle transfers the cloth loaded in the carrier to the next process.

[0044] Specifically, the mechanical scissors 9 cut the length of the cloth head to be half a meter or one meter.

[0045] Specifically, in the step S2, when the dyeing vat is opened, the controller controls the first robotic arm to twist the safety device, thereby opening the vat door.

[0046] Specifically, before the dyeing vat is opened, after the central control system confirms that the temperature and pressure in the vat meet the requirements, the controller controls the first robotic arm to twist the safety device, thereby opening the vat door.

[0047] Although the specific embodiments of the present invention have been described above, those skilled in the art of this technology should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should all be covered by the scope protected by the claims of the present invention.

Claims

1. An automatic cloth discharging device for a dyeing vat, comprising an organic body bracket (4), a guide rail (2) and a cloth discharging wheel (6), characterized in that: A first robotic arm (1) and a second robotic arm (12) for grasping fabric are rotatably connected to the body support (4). The guide rail (2) is arranged along the mouths of each dyeing vat. A driving wheel assembly (3) is slidably connected inside the guide rail (2). The lower end of the driving wheel assembly (3) is connected to the body support (4). A cloth guiding ring (5) is arranged at the bottom of the body support (4). The body support (4) is connected to a cloth distributing hopper (7). The cloth distributing hopper (7) is provided with a cloth outlet channel. The cloth distributing hopper (7) is arranged below the cloth outlet wheel (6). The body support (4) is connected to the cloth distributing hopper (7) through a swinging assembly. The swinging assembly includes a swing rod (13) and a rotating wheel (10) which are respectively rotatably connected to the body support (4). The swing rod (13) is fixedly connected to the cloth distributing hopper (7). A connecting rod (11) is rotatably connected to the side wall of the rotating wheel (10). The connecting rod (11) is rotatably connected to the swing rod (13). The first robotic arm grasps the end of the cloth tied with a magnetic ring and pulls it out of the dyeing vat, so that the end of the cloth passes through the cloth guiding ring. The second robotic arm takes out the end of the cloth passing through the cloth guiding ring and bypasses the cloth outlet wheel. The driving wheel assembly (3) includes a connecting frame and two driving wheels (14). The connecting frame is connected to the body support (4). A rotating shaft (15) is rotatably connected to the connecting frame. The two driving wheels (14) are respectively connected to both ends of the rotating shaft (15). A driven sprocket (16) is arranged on the outer wall of the rotating shaft (15). A driving sprocket (17) is arranged inside the body support. The driving sprocket and the driven sprocket are connected by a chain (18).

2. The device for automatically discharging cloth from a dyeing vat according to claim 1, wherein: A mechanical scissor (9) is arranged on the second robotic arm (12).

3. The device for automatically discharging cloth from a dyeing vat according to claim 1, characterized in that: A water baffle (8) is arranged on one side of the body support (4) close to the cloth outlet wheel (6).

4. The device for automatically discharging cloth from a dyeing vat according to claim 1, characterized in that: A controller, a rechargeable battery, a plurality of driving motors and a positioning device are arranged inside the body support. The controller controls the start and stop of the plurality of driving motors. The plurality of driving motors respectively drive the cloth outlet wheel (6), the driving sprocket and the rotating wheel (10) to rotate.

5. A method for automatic cloth discharging of a dyeing vat, characterized in that: Applying the device for automatic cloth outlet of a dyeing vat as described in any one of claims 1-4, the method includes the following steps: S1. The AGV vehicle transports a carrier matching the number of dyeing vats to a specified position at the mouth of the dyeing vat. The body support moves along the guide rail to a specified working position. S2. After the dyeing vat is opened, the first robotic arm grasps the end of the cloth tied with a magnetic ring and pulls it out of the dyeing vat, so that the end of the cloth passes through the cloth guiding ring. The second robotic arm takes out the end of the cloth passing through the cloth guiding ring and bypasses the cloth outlet wheel. S3. The cloth outlet wheel starts to rotate and starts to discharge the cloth. S4. The rotating wheel rotates, so that the cloth distributing hopper swings back and forth. At the same time, the driving wheel assembly reciprocally slides within a certain distance on the guide rail, so that the cloth passes through the cloth outlet channel of the cloth distributing hopper and is laid flat on the carrier. S5. The body support moves away from this working position. The AGV vehicle transfers the cloth loaded in the carrier to the next process.

6. A method for automatically discharging cloth from a dyeing vat according to claim 5, characterized in that: In step S2, before the end of the cloth passes through the cloth guiding ring, the second robotic arm equipped with the mechanical scissor moves to the end of the cloth, and the mechanical scissor cuts the end of the cloth according to the set length.

7. A method for automatically discharging cloth from a dyeing vat according to claim 6, characterized in that: The length of the cloth cut by the mechanical scissors is half a meter or one meter.

8. A method for automatically discharging cloth from a dyeing vat according to claim 5, characterized in that: In the step S2, the opening of the dyeing vat is controlled by the controller to twist the safety device of the first robotic arm, thereby opening the vat door.

9. A method for automatically discharging cloth from a dyeing vat according to claim 8, characterized in that: Before the dyeing vat is opened, after the central control system confirms that the temperature and pressure in the vat meet the requirements, the controller controls the first robotic arm to twist the safety device, thereby opening the vat door.

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