Automatic material cutting and roll changing device and roll changing method

Abstract

The invention discloses an automatic material cutting and roll changing device and method, and belongs to the field of textile machinery automation. The automatic material cutting and roll changing device comprises a conveying platform, a mechanical arm clamping jaw mechanism used for clamping a finished cloth roll or an empty rod core is arranged on the rear side of the conveying platform, and a shearing area is arranged in front of the mechanical arm clamping jaw mechanism; a movable shearing mechanism used for cutting cloth is arranged in the shearing area, a buffer area used for containing finished cloth rolls is arranged behind the shearing area, a containing area used for containing replaced empty rod cores is arranged in front of the shearing area, a cloth falling area is arranged between the containing area and the shearing area, and cut cloth leftovers are located in the cloth falling area. The mechanical arm clamping jaw mechanism is provided with a twisting mechanism used for rotating a finished cloth roll or an empty rod core. Through cooperative operation of the mechanical arm clamping jaw mechanism and the shearing mechanism, in combination with the spatial layout of the cropping area and the placement area, automatic operation of the cloth cutting and roll changing process is achieved, manual intervention is reduced, and the advantages of improving the cutting precision, the roll changing efficiency and the automation degree are achieved.

Description

Technical Field

[0001] The present invention relates to the field of textile machinery automation, and particularly to an automatic material cutting and roll changing device and a roll changing method. Background Art

[0002] As an important production equipment in the textile industry, the circular knitting machine is also known as the circular weft knitting machine or circular knitting machine. In the traditional production process, after the circular weft knitting machine finishes weaving, the double-layer fabric continuously winds around the cloth roller. When the cloth roller is full of fabric, the machine needs to stop and wait for manual operation. Workers need to manually complete a series of operations such as opening the door, cutting the fabric, transporting the cloth roller, and replacing the empty roller. This manual intervention work mode not only makes the process flow cumbersome, but also has problems such as low production efficiency and high labor intensity. Especially in the fabric cutting and roll changing links, manual operation is difficult to ensure the cutting accuracy and roll changing efficiency, and it is easy to cause fabric waste and production interruption. In addition, the traditional method lacks effective positioning and fixing means in the docking process of the fabric head and the empty core rod, which is easy to cause problems such as uneven winding or fabric head falling off. The existing technology urgently needs to be improved. Summary of the Invention

[0003] The purpose of this application is to provide an automatic material cutting and roll changing device and its use method, which have the advantages of improving cutting accuracy, roll changing efficiency and automation degree.

[0004] This application provides an automatic material cutting and roll changing device, and the technical solution is as follows:

[0005] It includes a transportation platform. At the rear position on the transportation platform, there is a robotic arm gripper mechanism for clamping finished cloth rolls or empty core rods. In front of the robotic arm gripper mechanism, there is a cutting area. Inside the cutting area, there is a movable cutting mechanism for cutting the cloth. Behind the cutting area, there is a buffer area for placing finished cloth rolls. In front of the cutting area, there is a placement area for placing the empty core rods to be replaced. Between the placement area and the cutting area, there is a cloth dropping area, and the cut fabric head is located in the cloth dropping area; on the robotic arm gripper mechanism, there is a rubbing mechanism for rotating the finished cloth roll or the empty core rod.

[0006] Furthermore, this application also proposes that there is a rubber pad in the cloth dropping area.

[0007] Furthermore, this application also proposes that on one side of the placement area away from the cloth dropping area, there is a baffle plate. Between the baffle plate and the rubber pad, there is a placement groove, and the empty core rod is placed in the placement groove.

[0008] Furthermore, this application also proposes that there is a graphic viewing device on the mechanical gripper mechanism, and there is a graphic mark in the cloth dropping area. The graphic viewing device is used to identify the graphic mark.

[0009] Furthermore, this application also proposes that the graphic viewing device includes a camera module and a supplementary lighting module.

[0010] Furthermore, the present application also proposes that a sticking layer is provided on the surface of the empty bobbin core, and the sticking layer can be adhered to the cloth head.

[0011] Furthermore, the present application also proposes that the sticking layer is a Velcro.

[0012] Furthermore, the present application also proposes an automatic cut-off and roll-changing device and a roll-changing method using the above device, and the technical solution is as follows:

[0013] S1. The transportation platform first places the empty bobbin core in the placement area and then enters the circular knitting machine.

[0014] S2. The wound cloth roll is taken out from the circular knitting machine by the robotic arm gripper mechanism and placed on the buffer area.

[0015] S3. The shearing mechanism is used to cut the cloth, and the cut cloth head falls into the cloth dropping area. The graphic viewing device identifies the graphic mark and judges the state of the cloth head in the cloth dropping area.

[0016] S4. The robotic arm gripper mechanism lifts the empty bobbin core upward, so that the cloth covering the empty bobbin core slides downward and falls back into the cloth dropping area.

[0017] S5. The sticking part on the empty bobbin core is aligned downward and pressed against the cloth head in the cloth dropping area to adhere the cloth head to the empty bobbin core.

[0018] S6. The rubbing mechanism rotates the empty bobbin core to wind the cloth onto the empty bobbin core.

[0019] S7. Finally, the bobbin core with the wound cloth is placed on the circular knitting machine to complete the roll-changing process.

[0020] As can be seen from the above, an automatic cut-off and roll-changing device and a roll-changing method provided by the present application realize the automated operation of the cloth cutting and roll-changing processes through the collaborative operation of the robotic arm gripper mechanism and the shearing mechanism, combined with the spatial layout of the cloth dropping area and the placement area, reduce manual intervention, and have the advantages of improving the cutting accuracy, roll-changing efficiency and automation degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of the automatic cut-off and roll-changing device before cutting;

[0022] Figure 2 is a schematic structural diagram of the automatic cut-off and roll-changing device after cutting;

[0023] Figure 3 is a schematic structural diagram when the empty bobbin core is lifted upward;

[0024] Figure 4 is a schematic structural diagram when the empty bobbin core presses the cloth head downward;

[0025] Figure 5 It is a schematic structural diagram when the empty bobbin core is put back into the circular knitting machine;

[0026] In the figure:

[0027] 1. Transportation platform; 2. Robotic arm gripper mechanism; 3. Shearing area; 4. Shearing mechanism; 5. Buffer area; 6. Placement area; 7. Empty bobbin core; 8. Cloth dropping area; 9. Rubbing mechanism; 10. Rubber pad; 11. Edge guard plate; 12. Placement groove; 14. Cloth. Specific implementation manners

[0028] Next, the technical solutions in the present application will be clearly and completely described in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Usually, the components of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0029] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation manners.

[0030] In the prior art, circular knitting machines are widely used in the textile industry, and the traditional workflow relies on manual operation to complete the cloth roll replacement. When the cloth roller is full of cloth, the machine needs to stop waiting for the worker to manually cut the cloth, carry the cloth roller and install the empty roller, resulting in the interruption of the production process, low efficiency and high labor intensity. Especially in large-scale cluster production scenarios, the manual roll change operation frequently triggers machine stops, forming a production capacity bottleneck.

[0031] To solve the above problems, the R & D personnel observed that there are three core pain points in manual operation: the roll change process involves multi-step coordination, precise positioning is required for cloth cutting and cloth head bonding, and the empty bobbin core 7 and the finished cloth roll need to be quickly alternated. After multiple on-site investigations, it was found that the lack of integrated functional areas in the existing equipment leads to scattered processes. By introducing the idea of modular layout, functional areas such as robotic arm clamping, cloth cutting, and empty bobbin core 7 preparation are arranged longitudinally along the production line to achieve the spatial continuity of processes. Especially for the difficult problem of cloth head positioning, a cloth dropping area 8 design combining gravity guidance and mechanical assistance is adopted to ensure that the cloth head automatically returns to its position after cutting.

[0032] Therefore, the present application proposes an automatic cutting and roll-changing device, which includes a transportation platform 1. A robotic arm gripper mechanism 2 with a rubbing mechanism 9 is arranged at the rear side of the platform. A cutting area 3, a cloth dropping area 8 and a placement area 6 are sequentially arranged in the front, and a buffer area 5 is arranged at the rear. A movable cutting mechanism 4 is configured in the cutting area 3. The placement area 6 stores empty bobbin cores 7, the buffer area 5 temporarily stores finished cloth rolls, and the cloth dropping area 8 receives the cut cloth heads.

[0033] Among them, the transportation platform 1 refers to the base structure that bears the device main body and realizes the transportation of the empty bobbin core 7 and the finished cloth roll, and an AGV transport vehicle can be used. The robotic arm gripper mechanism 2 refers to a clamping device with multi-degree-of-freedom movement, which is used to accurately grasp the cloth roll or bobbin core during the roll-changing process. The cutting area 3 refers to the operation area where the cutting tool is arranged. The movable cutting mechanism 4 can be a structure with a linear slide rail carrying a rotary blade to realize rapid cloth cutting. The buffer area 5 refers to the storage area for temporarily storing the finished cloth roll, and can be designed as an inclined tray with a limit baffle to facilitate subsequent transfer operations. The placement area 6 refers to the positioning area for preparing the empty bobbin core 7. The cloth dropping area 8 refers to the guiding area for receiving the cut cloth heads to ensure that the cloth heads remain flat after falling naturally. The rubbing mechanism 9 refers to a transmission component that drives the cloth roll or bobbin core to rotate, such as a gripper structure with an internal friction wheel, which is used to start the winding action after bonding the cloth heads.

[0034] Specifically, when the device runs, the empty bobbin core 7 is pre-placed in the positioning groove of the placement area 6. After the circular knitting machine finishes winding the cloth, the robotic arm gripper mechanism 2 moves to the working position to grip the full cloth roll and transfers it along the transportation platform 1 to the buffer area 5 for temporary storage. The cutting mechanism 4 then moves along the guide rail to the upper part of the cloth to complete the cutting. The cut cloth head falls into the cloth dropping area 8 under the action of gravity. At this time, the robotic arm picks up the prepared empty bobbin core 7, and through a vertical lifting action, the cloth covering the bobbin core naturally slides to the cloth dropping area 8. The gripper mechanism presses the empty bobbin core 7 precisely, so that the adhesive layer on the surface of the bobbin core contacts the cloth head to complete the preliminary fixation. The rubbing mechanism 9 drives the bobbin core to rotate. After the cloth is rewound to the set length, the robotic arm sends the bobbin core loaded with the new cloth roll back to the circular knitting machine station to realize the fully automatic roll-changing process.

[0035] Compared with the prior art, this solution realizes seamless connection of processes through optimized spatial layout. The integration of the rubbing function in the robotic arm gripper avoids the setting of additional driving devices. The interlocking design of the cutting area 3 and the cloth dropping area 8 eliminates the operation of manually adjusting the position of the cloth head, and the symmetrical distribution of the placement area 6 and the buffer area 5 shortens the material transfer distance.

[0036] Through the above technical solution, the present application realizes the full-process automated operation of fabric cutting, cloth roll replacement, and cloth head bonding, eliminating the process interruption caused by manual intervention. The collaborative operation of the robotic arm and the functional zones shortens the roll change time to 30% of the traditional method, while avoiding the problem of cloth head positioning deviation in manual operation. The integrated design of each functional module reduces the floor area of the equipment by about 40%, which is especially suitable for the layout of textile workshops with compact spaces.

[0037] The present application further proposes that a rubber pad 10 is provided in the cloth dropping area 8.

[0038] Among them, the rubber pad 10 refers to a planar buffer structure composed of an elastic polymer material, and specifically, it can be molded by styrene-butadiene rubber or natural rubber. Its surface can be designed with regular textures or granular protrusions to increase the frictional resistance of the contact surface. The thickness range of the rubber pad 10 can be between 3 mm and 10 mm, and the kinetic energy of the cloth head falling is absorbed through elastic deformation.

[0039] Specifically, when the cut cloth head freely detaches from the shearing mechanism 4, the rubber pad 10 restricts the sliding amplitude of the cloth head through the frictional resistance generated by the surface roughness. At the moment when the cloth head contacts the rubber pad 10, the material compression deformation prolongs the impact action time and reduces the probability of the cloth head rebounding. The static friction force between the cloth head and the rubber pad 10 overcomes the gravity component, enabling the cloth head to stay stably in the contact area and preventing it from sliding out of the predetermined grasping range due to inertia.

[0040] Compared with the prior art, traditional devices use metal or hard plastic as the base material of the cloth dropping area 8, and elastic rebound or sliding deviation is likely to occur when the cloth head contacts. This solution enables the kinetic energy of the cloth head to be converted into internal energy of the material through the viscous damping effect of the elastic material, achieving self-stabilization of the cloth head without an external positioning mechanism.

[0041] Through the above technical solution, the present application enables the cut cloth head to accurately stay in the predetermined area, and the robotic arm gripper mechanism 2 can complete the positioning and bonding of the cloth head and the empty bobbin core 7 without additional adjustment of the grasping path. The deformation constraint effect generated when the cloth head contacts the rubber pad 10 ensures that the end of the cloth head is perpendicular to the axis of the empty bobbin core 7 during the subsequent bonding process.

[0042] The present application further proposes that a baffle plate 11 is provided on the side of the placement area 6 far from the cloth dropping area 8, and a placement groove 12 is formed between the baffle plate 11 and the rubber pad 10, and the empty bobbin core 7 is placed in the placement groove 12.

[0043] Among them, the baffle plate 11 refers to a rigid limiting structure perpendicular to the transportation platform 1, and specifically, it can be welded and formed by a metal plate with a thickness of 2 - 5 mm, which is used to block the lateral displacement of the empty bobbin core 7.

[0044] The rubber pad 10 refers to an elastic buffer layer covering the surface of the cloth drop area 8, and can be specifically molded from a rubber material having a Shore hardness of 50-70 degrees, and its surface can be provided with anti-slip textures to enhance the friction coefficient.

[0045] The placement groove 12 refers to the space area enclosed by the vertical surface of the baffle plate 11 and the horizontal surface of the rubber pad 10. The groove width is designed to be slightly larger than 1.05-1.2 times the diameter of the hollow rod core 7. For example, for the hollow rod core 7 with a diameter of 200 mm, the groove width can be set to 210-240 mm.

[0046] Specifically, when the hollow rod core 7 is placed in the placement groove 12 by the robot arm, its axial direction is parallel to the plane of the side plate 11. The vertical height of the side plate 11 is set to 1.2-1.5 times the radius of the hollow rod core 7. For example, for a hollow rod core 7 with a diameter of 200 mm, the height of the side plate 11 can be 120-150 mm, ensuring that the hollow rod core 7 cannot climb over the side plate 11 when subjected to external force. The compression deformation of the rubber pad 10 is controlled within the range of 3-5 mm, and moderate deformation occurs when bearing the weight of the hollow rod core 7. The rebound force generated by the elastic deformation of the material enhances the covering effect on the hollow rod core 7. The three-dimensional limiting structure thus formed realizes mechanical limiting in the horizontal direction through the side plate 11, and realizes dynamic constraint in the vertical direction through the deformation friction of the rubber pad 10.

[0047] Compared with the prior art, the traditional empty rod core 7 placement area 6 is only provided with a flat support platform, which easily causes the rod core to slip and dislocate when the equipment is vibrating or the robot arm is grasping. This solution realizes the precise positioning of the empty rod core 7 in the coil changing process through the synergy of the rigid retaining edge and the elastic support, and prevents the grasping failure or bonding dislocation caused by displacement deviation.

[0048] Through the above technical solution, the present application effectively constrains the spatial position of the empty rod core 7 during the automated roll changing process, ensuring that the robot arm gripper can obtain a consistent positioning reference each time it grabs. The elastic deformation characteristics of the rubber pad 10 compensate for the position fluctuation caused by the vibration of the equipment, and the rigid limit of the side plate 11 eliminates the risk of lateral slippage. The combination of the two significantly improves the continuity and reliability of the roll changing operation.

[0049] The present application further proposes that a graphic viewing device is provided on the mechanical gripper mechanism, and a graphic mark is provided in the cloth landing area 8, and the graphic viewing device is used to identify the graphic mark.

[0050] Among them, the graphic viewing device refers to a device installed on the mechanical gripper mechanism for collecting image information, which can be specifically implemented by a vision system with a camera. For example, an industrial camera and a supplementary light source are integrated at the end of the gripper, and the position and posture of the fabric head are judged through image processing algorithms. The function of this device is to detect in real time whether the fabric head falls into the fabric dropping area 8 through visual feedback and judge its spreading state to ensure the accuracy of subsequent bonding operations.

[0051] Among them, the graphic mark refers to a specific pattern or identifier preset in the fabric dropping area 8, which can be specifically implemented by using high-contrast geometric shapes or coded symbols, such as a black rectangular border or a QR code. The function of this mark is to provide a reference for image recognition. By analyzing the proportion of the fabric head covering the mark area or the visibility of the mark, it is judged whether the fabric head is in the correct position.

[0052] Specifically, when the cut fabric head falls into the fabric dropping area 8, the mechanical gripper mechanism collects images of the fabric dropping area 8 through the graphic viewing device. The camera module captures a real-time picture containing the graphic mark and detects whether the fabric head completely covers the mark area through image processing algorithms. For example, if the fabric head completely obscures the graphic mark, it is determined that the fabric head has fallen correctly; if part of the mark is visible, it is determined that the fabric head is offset or wrinkled. The system adjusts the actions of the robotic arm according to the recognition result: if the position of the fabric head is correct, the subsequent bonding steps are executed; if it is abnormal, an alarm is triggered or the position of the fabric head is readjusted.

[0053] Compared with the prior art, the traditional method relies on manual visual inspection or mechanical contact sensors to judge the state of the fabric head, which has problems such as low detection accuracy and slow response speed. For example, mechanical sensors cannot identify fabric head wrinkles or local offsets, and manual observation is prone to misjudgment due to fatigue. This solution uses non-contact visual detection, which combines graphic marks and image analysis technology to accurately identify the spatial position and spreading form of the fabric head and avoid bonding failures caused by abnormal fabric head postures.

[0054] Through the above technical solution, this application can automatically judge whether the cut fabric head completely falls into the fabric dropping area 8 and remains flat, eliminating the problem of bonding misalignment of the empty bobbin core 7 caused by fabric head offset, folding or hanging. For example, when the edge of the fabric head does not completely cover the graphic mark, the system can pause the process in time and adjust the position of the fabric head, thereby ensuring the success rate of subsequent bonding operations and reducing production interruptions and material waste.

[0055] This application further proposes that the graphic viewing device includes a camera module and a supplementary light module.

[0056] Among them, the camera module refers to a device used to collect the image information of the cut fabric head in the fabric dropping area 8, which can be specifically implemented by an industrial camera. The optical signal is converted into a digital signal through an image sensor, providing a data source for subsequent image processing. The supplementary light module refers to a device that provides a stable light source for image acquisition, which can be specifically implemented by an LED array. By adjusting the brightness and angle, the environmental light interference is eliminated to ensure the image clarity.

[0057] Specifically, the camera module is installed on the robotic arm gripper mechanism 2, and its shooting range covers the position of the cut fabric head in the fabric dropping area 8. The supplementary light module is integrated with the camera module on the same bracket, and the light source irradiates the surface of the cut fabric head with a specific wavelength and uniform light intensity. After the fabric is cut, the camera module continuously takes pictures of the fabric dropping area 8 with the assistance of the supplementary light module, and uses an edge detection algorithm to identify whether the cut fabric head is flat on the surface of the rubber pad 10, or there are wrinkles or offsets. The system determines whether the cut fabric head is in a state where it can be bonded according to the recognition result, and transmits a signal to the robotic arm gripper mechanism 2 to perform subsequent operations.

[0058] Compared with the prior art, the traditional method relies on manual visual inspection of the state of the cut fabric head, which is easily affected by light conditions and visual fatigue, resulting in misjudgment, and it is necessary to stop the machine and wait for manual confirmation. In this solution, through automated image acquisition and analysis, the position of the cut fabric head is monitored in real time during continuous production without interrupting the operation of the equipment. At the same time, the environmental light fluctuation interference on the image quality is eliminated through the supplementary light module, improving the recognition stability.

[0059] Through the above technical solution, the present application realizes the automated and accurate judgment of the position state of the cut fabric head, avoids the subjective error of manual observation, shortens the time-consuming of the cut fabric head positioning during the roll change process, thereby improving the overall efficiency and reliability of the roll change process.

[0060] The present application further proposes to provide an adhesive layer on the surface of the empty bobbin core 7, and this adhesive layer can be bonded to the cut fabric head.

[0061] Among them, the adhesive layer refers to a layer of adhesive material attached to the surface of the empty bobbin core 7, which can be specifically implemented by Velcro or pressure-sensitive tape, and its bonding surface faces the falling direction of the cut fabric head. This structure uses adhesion to replace the traditional manual fixing method and directly completes the initial connection between the cut fabric head and the bobbin core during the downward pressing action of the robotic arm. The bonding of the cut fabric head means that the end of the cut fabric contacts the adhesive layer through pressure to form a physical connection, providing a fixed basis for subsequent winding.

[0062] Specifically, after the empty bobbin core 7 is lifted by the robotic arm gripper mechanism 2, the adhesive layer faces downward and aligns with the fabric head in the fabric dropping area 8. When the robotic arm performs a pressing-down action, the fabric head comes into contact with and adheres to the adhesive layer under pressure. During the bonding process, the fabric head does not require manual position adjustment or additional fixing devices, and an effective connection can be achieved only relying on the positioning accuracy of the robotic arm. After the bonding is completed, the rubbing mechanism 9 drives the empty bobbin core 7 to rotate, and the fabric 14 is continuously wound onto the surface of the bobbin core. The initial fixing force provided by the adhesive layer ensures a smooth winding process.

[0063] Compared with the prior art, in the traditional roll-changing process, the fabric head needs to be manually wound or tied around the empty bobbin core 7, which is time-consuming and prone to loosening. This solution directly completes automatic bonding through a preset adhesive layer, without manual intervention, avoiding problems such as winding deviation or downtime caused by insecure fixing of the fabric head.

[0064] Through the above technical solution, the present application realizes a fast and reliable connection between the fabric head and the empty bobbin core 7, solving the problems of difficult fabric head fixing and low operation efficiency in manual roll changing. The bonding process cooperates with the actions of the robotic arm to ensure the continuous automation of the roll-changing process and reduce the downtime caused by manual intervention. The bonding structure is simple and easy to implement, has strong compatibility with existing equipment, and can be adapted to different sizes of bobbin cores and fabric types.

[0065] The present application further proposes a technical solution of setting Velcro on the surface of the empty bobbin core 7 as the adhesive layer.

[0066] Among them, Velcro refers to a reusable adhesive material composed of a hook surface and a loop surface. Specifically, it can be realized by combining a nylon hook surface belt and a polyester fiber loop surface belt, and the bonding is formed through the physical engagement of the hook surface and the loop surface. Among them, the hook surface part of the Velcro is fixed on the surface of the empty bobbin core 7, and the loop surface part contacts the fabric head. During the pressing-down action of the robotic arm gripper mechanism 2, the hook surface and the loop surface automatically complete the engagement.

[0067] Specifically, during the roll-changing process, when the cutting mechanism 4 completes the cutting, the fabric head naturally drops onto the surface of the rubber pad 10 in the fabric dropping area 8. At this time, the robotic arm gripper mechanism 2 grabs the empty bobbin core 7 and moves it above the fabric dropping area 8, and through a vertical pressing-down action, the hook surface of the Velcro on the surface of the empty bobbin core 7 contacts the fabric head. Since the hook surface and the loop surface of the Velcro can immediately form an effective bond under pressure, there is no need to manually adjust the relative position of the fabric head and the empty bobbin core 7. When the subsequent rubbing mechanism 9 drives the empty bobbin core 7 to rotate, the biting force of the Velcro is sufficient to maintain the stable connection between the fabric head and the empty bobbin core 7, ensuring a smooth winding process.

[0068] Compared with existing technologies, traditional solutions use glue or double-sided tape to fix the cloth heads, which requires manual application of glue or removal of the tape protective layer, and requires precise control of contact pressure and dwell time during bonding. Velcro, on the other hand, achieves instant bonding through a physical bite mechanism, which not only saves the glue curing time, but also avoids the risk of glue contaminating the equipment. In addition, Velcro can withstand thousands of repeated bonding operations, significantly reducing the frequency of consumable replacement.

[0069] Through the above technical solution, the present application realizes the automatic bonding of the cloth head and the hollow rod core 7, completely eliminating the manual intervention link. The cloth head positioning error can be automatically compensated by the adaptive bite characteristics of the Velcro, ensuring that cloths of different thicknesses or materials can be reliably bonded. This solution also solves the problem of viscosity attenuation of traditional adhesives caused by temperature or humidity changes, and improves the stability of the roll changing operation.

[0070] The present application proposes a roll changing method of an automatic material cutting and roll changing device, and the specific steps are as follows: S1, the transport platform 1 first places the empty rod core 7 in the placement area 6 and enters the large circular machine; S2, the wound cloth roll is taken out from the large circular machine through the mechanical arm clamping mechanism 2 and transferred to the buffer area 5; S3, the cloth is cut by the shearing mechanism 4 to make the cloth head fall into the cloth dropping area 8, and the graphic viewing device recognizes the graphic mark to determine the state of the cloth head; S4, the mechanical arm clamping mechanism 2 lifts the empty rod core 7 to make the covered cloth 14 slide to the cloth dropping area 8; S5, the adhesive part of the empty rod core 7 is pressed downwardly toward the cloth head to make it bonded; S6, the rubbing mechanism 9 drives the empty rod core 7 to rotate to wind the cloth 14; S7, finally, the rolled rod core is sent back to the large circular machine to complete the roll change.

[0071] Among them, the transport platform 1 refers to an automated mobile device for carrying and transporting the empty rod core 7 to a designated position, and its function is to provide empty material support for the subsequent roll-changing process. The robot arm clamp mechanism 2 refers to a clamping device with multi-degree-of-freedom movement, which can be specifically realized by the cooperation of a servo motor and a pneumatic clamp, and is used to accurately grasp and transfer the cloth roll and the empty rod core 7. The shearing mechanism 4 refers to a cutting device that can move along a preset path, which can be specifically realized by an electric cutter in conjunction with a guide rail structure, and is used to cut the cloth at a set position to form a cloth head. The graphic viewing device refers to a positioning component based on visual recognition, which can be specifically realized by an industrial camera and an image processing module, and is used to determine whether the posture of the cloth head in the cloth drop area 8 meets the bonding conditions. The rubbing mechanism 9 refers to a transmission component that drives the empty rod core 7 to rotate, which can be specifically realized by a friction wheel or a belt transmission device, and is used to automatically wrap the cloth head around the surface of the empty rod core 7.

[0072] Specifically, after the circular knitting machine finishes winding the fabric roll, the empty bobbin core 7 is pre-placed in the placement area 6 of the transportation platform 1. The robotic arm gripper mechanism 2 grabs the full fabric roll and transfers it to the buffer area 5. Meanwhile, the cutting mechanism 4 cuts the fabric above the fabric dropping area 8, allowing the fabric head to droop freely. The graphic viewing device determines whether the fabric head is in the bondable area by identifying the graphic mark in the fabric dropping area 8. If the position of the fabric head is offset, the robotic arm gripper mechanism 2 lifts the empty bobbin core 7 to let the fabric 14 covering it slide off, and then readjusts the position of the fabric head. Subsequently, the adhesive layer of the empty bobbin core 7 is pressed down to contact the fabric head, and the starting end of the fabric head is fixed through the bonding effect. The rubbing mechanism 9 drives the empty bobbin core 7 to rotate, continuously winds the fabric to form a new fabric roll, and finally the robotic arm sends the new fabric roll back to the circular knitting machine, realizing unmanned roll change operation.

[0073] Compared with the prior art, the traditional method requires manual operations for opening the door, cutting, handling, and roll change. There are multiple stops during the roll change process, resulting in limited production efficiency. In this solution, through the collaborative operation of the transportation platform 1 and the robotic arm, automatic feeding of the empty bobbin core 7 and transfer of the full fabric roll are achieved; the linkage between the cutting mechanism 4 and the graphic viewing device ensures the positioning accuracy of the fabric head; the cooperation of the bonding and rubbing mechanisms 9 replaces manual fixing and winding actions, enabling the roll change process to proceed continuously without manual intervention.

[0074] Through the above technical solution, this application realizes the full automation of the roll change process, eliminates the operation steps of manually handling the fabric roll, manually cutting the fabric, and fixing the fabric head, reduces the equipment downtime, and avoids problems such as fabric head misalignment or bonding failure caused by human operation errors, thereby improving the roll change efficiency and reducing the labor intensity.

[0075] The present invention is described through preferred embodiments. Those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited by the specific embodiments disclosed herein, and other embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. An automatic material cutting and reel changing device, characterized in that: The invention comprises a transport platform (1), wherein a mechanical arm clamp mechanism (2) for clamping a finished cloth roll or an empty rod core (7) is provided at the rear side of the transport platform (1), a shearing area (3) is provided in front of the mechanical arm clamp mechanism (2), a movable shearing mechanism (4) for cutting cloth is provided in the shearing area (3), and a buffer area (5) for placing the finished cloth roll is provided behind the shearing area (3). A placement area (6) for placing a replaced empty rod core (7) is provided in front of the shearing area (3), a cloth drop area (8) is provided between the placement area (6) and the shearing area (3), and the cut cloth ends are located in the cloth drop area (8); The mechanical arm clamp mechanism (2) is provided with a rubbing mechanism (9) for rotating the finished cloth roll or the empty rod core (7).

2. The automatic material cutting and reel changing device according to claim 1 is characterized in that: A rubber pad (10) is provided in the cloth dropping area (8).

3. The automatic material cutting and reel changing device according to claim 2 is characterized in that: A side guard plate (11) is provided on the side of the placement area (6) away from the cloth drop area (8), a placement groove (12) is formed between the side guard plate (11) and the rubber pad (10), and the hollow rod core (7) is placed in the placement groove (12).

4. The automatic material cutting and reel changing device according to claim 1 or 3, characterized in that: The mechanical gripper mechanism is provided with a graphic viewing device, and a graphic mark is provided in the cloth dropping area (8), and the graphic viewing device is used to identify the graphic mark.

5. The automatic material cutting and reel changing device according to claim 4 is characterized in that: The graphic viewing device comprises a camera module and a fill light module.

6. The automatic material cutting and reel changing device according to claim 1 or 3, characterized in that: The surface of the hollow rod core (7) is provided with an adhesive layer, and the adhesive layer can be bonded to the cloth head.

7. The automatic material cutting and reel changing device according to claim 6 is characterized in that: The adhesive layer is Velcro.

8. A roll changing method using the automatic material cutting and roll changing device according to any one of claims 1 to 7, characterized in that: Here are the steps: S1, the transport platform (1) first places the empty rod core (7) in the placement area (6), and then enters the large circular knitting machine; S2, taking the wound cloth roll out of the circular knitting machine through the mechanical arm gripper mechanism (2) and placing it in the buffer area (5); S3, using the shearing mechanism (4) to cut the cloth, and the cut cloth ends fall into the cloth drop area (8), and the graphic viewing device recognizes the graphic mark to determine the state of the cloth ends in the cloth drop area (8); S4, the mechanical arm gripper mechanism (2) lifts the empty rod core (7) upward, so that the cloth (14) covering the empty rod core (7) slides downward and falls back into the cloth drop area (8); S5, aligning the adhesive portion on the hollow rod core (7) downwardly with the cloth head in the cloth drop area (8) and pressing downwardly, so that the cloth head and the hollow rod core (7) are bonded; S6, the rubbing mechanism (9) rotates the hollow rod core (7) to roll the cloth (14) into the hollow rod core (7); S7. Finally, the rolled cloth core is placed on the circular knitting machine to complete the roll changing process.

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