Automatic coil unloading and filling robot

Abstract

The invention relates to an automatic coil unloading and filling robot which comprises a storage box and a clamping jaw. A guide channel through which only one winding drum can pass is arranged in the storage box; the winding drum moves to an outlet in the lower end of the guide channel under the gravity effect; a containing box driven by a first air cylinder is arranged under an outlet of the guide channel, and the containing box is provided with a containing groove only capable of containing one winding drum. The first air cylinder drives the containing box to sequentially and circularly conduct two actions, one action is retracting into the storage box to receive the winding drum, and the other action is stretching out of the storage box to send the winding drum out of the storage box. A second air cylinder is arranged on the containing box and drives one end of a winding drum in the containing box to protrude out of the containing box. The clamping jaw grabs the part, protruding out of the containing box, of the winding drum. The second air cylinder drives one end of the winding drum in the containing box to protrude out of the containing box, so that the winding drum forms a section of overhanging part. The clamping jaw can grab in the same posture and position every time, and the problems that clamping is unstable and positioning is difficult due to the fact that the postures of the winding drums are different are solved.

Description

Technical Field

[0001] This invention relates to the field of automatic roll feeding technology, specifically an automatic roll unloading and loading robot. Background Technology

[0002] After processing, filaments, fabrics, or other sheet materials typically need to be wound onto rolls for storage or transportation. To improve the continuity and automation of production lines, automated equipment equipped with grippers is commonly used to pick up empty rolls and accurately place them at designated take-up stations for subsequent winding operations.

[0003] Currently, empty rolls are typically stacked in storage bins, silos, or conveyor platforms in a disordered or semi-disordered manner. Because the rolls exhibit varying postures and unpredictable positions within the storage containers, the grippers struggle to stably and uniformly position their clamping points, making it difficult to accurately engage the rolls with the winding machine's shaft. This can easily lead to misaligned roll installation, poor fit with the shaft, and consequently, material misalignment, wrinkling, uneven tension, and even equipment jamming or damage during winding.

[0004] Therefore, how to stably and accurately grasp empty rolls in a disordered stacking state and ensure that they can be quickly and accurately placed at the winding station has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] To address the technical problems in the background art, this invention discloses an automatic unloading and loading robot.

[0006] This invention provides an automatic unloading and loading robot, including a storage bin and grippers; The drums are stacked in the storage box in an axially parallel manner; the storage box is equipped with a guide channel that can only accommodate one drum at a time; the drums enter the guide slot one by one under the action of gravity and move to the outlet at the lower end of the guide channel; A receiving box driven by a first cylinder is set directly below the exit of the guide channel. The receiving box is equipped with a receiving slot that can only hold one roll. The first cylinder drives the receiving box to perform two actions in sequence: first, it retracts into the storage box to receive the roll, and second, it extends out of the storage box to send the roll out of the storage box. A second cylinder is provided on the receiving box to drive one end of the spool inside the receiving box to protrude out of the receiving box; The grippers grasp the part of the roll that protrudes from the receiving box.

[0007] Furthermore, a loosening cylinder is also installed inside the storage box, in the area outside the guide channel; The loosening cylinder applies a thrust to the portion of the drum inside the storage box and outside the guide channel.

[0008] Furthermore, the loosening cylinder applies an upward thrust to the drum.

[0009] Furthermore, the storage bin is equipped with a Z-shaped first guide plate and an L-shaped second guide plate; The first guide plate includes a first upper plate and a first lower plate that extend vertically and are offset horizontally, with the lower end of the first upper plate and the upper end of the first lower plate connected by a first connecting plate. The second guide plate consists of a vertically extending second vertical plate and a horizontally extending second horizontal plate; The second vertical plate is opposite to the first lower plate and is arranged at intervals; the second horizontal plate is opposite to the first connecting plate and is arranged at intervals. The area between the second vertical plate and the first lower plate, and the area between the second horizontal plate and the first connecting plate together form the guide channel.

[0010] Furthermore, the second horizontal plate is arranged at an angle, with its lower end located at the entrance of the guide channel.

[0011] Furthermore, the loosening cylinder is installed on the second horizontal plate, pushing the drum at the upper end of the second horizontal plate.

[0012] Furthermore, the gripper moves horizontally laterally, horizontally longitudinally, and vertically under the driving action of the drive component: The grippers move horizontally to grasp the roll on the receiving box; The grippers switch positions between the storage bin and the winding machine by moving horizontally and vertically. The grippers move in sequence by lifting and horizontal movement, feeding the roll into the winding station.

[0013] Furthermore, the driving components include: The first linear guide rail and the first rack are located at the bottom. A base plate is mounted on the slider of the first linear guide rail. The first drive motor is mounted on the base plate, and a first gear that meshes with the first rack is mounted on its drive end. A vertical plate is fixed to the base plate; a vertically extending second linear guide rail is installed on the vertical plate, and a lifting plate is installed on the slider of the second linear guide rail; synchronous pulleys are also provided at the upper and lower ends of the vertical plate, and synchronous pulleys are engaged with synchronous belts, with the upper synchronous pulley being driven by a second drive motor; the lifting plate is fixedly connected to the synchronous belt. The third linear guide and the third rack are horizontally mounted on the lifting plate; a slide plate is fixedly mounted on the slider of the third linear guide, the third drive motor is mounted on the slide plate, and the drive end of the motor is equipped with a third gear that meshes with the third rack; the gripper is mounted on the slide plate.

[0014] The beneficial effects of this invention are: 1. The guide channel inside the storage bin allows randomly stacked rolls to automatically align under gravity and fall one by one to the outlet. The guide channel allows only one roll to pass at a time, effectively ensuring the consistency of the roll's posture during the descent and keeping its axis basically parallel, providing a stable position and posture basis for subsequent clamping.

[0015] 2. The first cylinder drives the receiving box to circulate between the "receiving" and "delivering" stations, so that only one roll is accurately transferred to the preset handover position each time.

[0016] 3. The second cylinder drives one end of the drum inside the receiving box to protrude from the receiving box, forming an overhanging section of the drum. Furthermore, the stroke of the second cylinder is fixed, ensuring that even if the drum has axial positional deviations within the receiving groove, the distance protruding from the receiving box remains consistent. This provides a clear, stable, and consistent gripping point for the grippers, allowing them to grasp the drum in the same posture and position each time, fundamentally solving the problems of unstable gripping and positioning difficulties caused by inconsistent drum postures.

[0017] 4. The entire device mainly utilizes gravity, mechanical guidance, and cylinder drive to achieve its functions. It has a simple and reliable structure and is easy to maintain. It can automatically adapt to the disordered material feeding state of the drum and transform it into an ordered, single-piece, accurately positioned output, significantly improving the continuity and automation level of the production line and reducing the need for manual intervention and operational difficulty. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is the front view of the present invention; Figure 2 This is the right view of the present invention; Figure 3 This is the front view of the storage bin; Figure 4 yes Figure 3 Sectional view of AA; Figure 5 This is the right view of the storage bin; In the diagram: 1. Storage bin; 2. Gripper; 3. Drum; 4. First cylinder; 5. Receiving box; 6. Loosening cylinder; 7. First linear guide rail; 8. First rack; 9. Base plate; 10. First drive motor; 11. First gear; 12. Vertical plate; 13. Second linear guide rail; 14. Lifting plate; 15. Synchronous pulley; 16. Synchronous belt; 17. Second drive motor; 18. Third linear guide rail; 19. Third rack; 20. Slide plate; 21. Third drive motor; 22. Third gear; 23. Push plate; 24. Fourth linear guide rail; 25. Second cylinder; 26. Base; 51. Receiving slot; 101. Guide channel; 102. First guide plate; 103. Second guide plate; 1021. First upper plate; 1022. First lower plate; 1023. First connecting plate; 1031. Second vertical plate; 1032. Second horizontal plate. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0021] This invention discloses an automatic unloading and loading robot, including a storage bin 1 and grippers 2.

[0022] like Figure 3-5 As shown, a first guide plate 102 is provided on the left side inside the storage bin 1. The first guide plate 102 is Z-shaped and is composed of an integrally formed first upper plate 1021, a first lower plate 1022, and a first connecting plate 1023. The first upper plate 1021 extends vertically, with its upper end reaching the top of the storage bin 1; the first lower plate 1022 extends vertically, with its lower end reaching the bottom of the storage bin 1, and its left side abuts against the left side plate of the storage bin 1, and is horizontally offset from the first upper plate 1021. The first connecting plate 1023 is inclined, with its upper end connected to the lower end of the first upper plate 1021 and its lower end connected to the upper end of the first lower plate 1022.

[0023] A second guide plate 103 is provided in the lower region of the storage bin 1. The second guide plate 103 is L-shaped and is composed of an integrally formed second vertical plate 1031 and a second horizontal plate 1032. The second vertical plate 1031 extends vertically and is located to the right of the first lower plate 1022, and is arranged at intervals; the lower end of the second vertical plate 1031 also extends to the bottom of the storage bin 1. The second horizontal plate 1032 is located below the first connecting plate 1023 and is parallel to the first connecting plate 1023, so that the second horizontal plate 1032 is also arranged at an inclination, and its high end abuts against the right side plate of the storage bin 1. With this arrangement, the first guide plate 102, the second guide plate 103 and the right side plate of the storage bin 1 form a storage cavity, and the empty rolls 3 are stacked in the storage cavity in an axially parallel manner.

[0024] Moreover, the above structure allows the area between the second vertical plate 1031 and the first lower plate 1022, and the area between the second horizontal plate 1032 and the first connecting plate 1023, to jointly form a guide channel 101. This guide channel 101 can only accommodate one roller 3. Furthermore, the area between the second horizontal plate 1032 and the first connecting plate 1023 of the guide channel 101 forms a downward-sloping channel, and the second horizontal plate 1032 is arranged at an incline. The rollers 3 can automatically enter the guide channel 101 one by one under the action of gravity.

[0025] A receiving box 5 is provided on the lower side of the guide channel 101 in the storage box 1. A receiving groove 51 is provided on the upper left side of the receiving box 5, which can only accommodate one roll 3. A first cylinder 4 is installed at the lower end of the receiving box 5 in the storage box 1. The first cylinder 4 is a horizontally arranged rodless cylinder. The receiving box 5 is installed on the driving end of the rodless cylinder, which can drive the receiving box 5 to retract into the storage box 1 to the right or extend out of the storage box 1 to the left. A fourth linear guide rail 24 is also installed on the storage box 1. The lower end of the receiving box 5 is fixedly connected to the slider of the fourth linear guide rail 24 to improve the movement stability of the receiving box 5. When the first cylinder 4 drives the receiving box 5 to extend out of the storage box 1, the receiving groove 51 is located outside the storage box 1, and the area on the right side of the receiving groove 51 at the top of the receiving box 5 obstructs the lower end of the guide channel 101; when the first cylinder 4 drives the receiving box 5 to retract into the storage box 1, the receiving groove 51 is located directly below the guide channel 101, and the lowest end of the drum 3 will automatically fall into the receiving groove 51.

[0026] A second cylinder 25 is installed on the right side of the receiving box 5, located in the receiving groove 51. A push plate 23 is installed on the driving end of the second cylinder 25, with one end of the push plate 23 extending to the position of the receiving groove 51. When the piston rod of the second cylinder 25 moves towards the drum 3, the push plate 23 can push the drum 3 on the receiving groove 51 to move axially a certain distance, causing the gripping part of the drum 3 to protrude out of the receiving box 5.

[0027] When the roll 3 is piled up in the storage bin 1, it will generate pressure due to gravity. Under this pressure, the roll 3 will reach force balance at the entrance of the guide channel 101 and get stuck at the entrance of the guide channel 101, making it difficult to enter the guide channel 101. Therefore, a loosening cylinder 6 is installed at the lower end of the second horizontal plate 1032. The driving end of the loosening cylinder 6 passes upward through the second horizontal plate 1032 and applies a pushing force to the lower end of part of the roll 3, thereby breaking the above-mentioned force balance and breaking the stuck state of the roll 3, so that the roll 3 can stably enter the guide channel 101. Moreover, since the roll 3 abuts against the left and right sides of the storage bin 1, there is only room for the roll 3 to move in the upper area of ​​the storage bin 1. Therefore, the upward push of the loosening cylinder 6 results in the best loosening effect of the roll 3.

[0028] Under the action of the drive assembly, the gripper 2 grasps the portion of the roll 3 that protrudes from the receiving groove 51 and moves the roll 3 to the winding station. In this embodiment, the gripper 2 is a three-jaw chuck. The specific structure of the drive assembly is as follows: Figure 1-2 As shown, the system includes a base 26 with a horizontal upper surface. Two symmetrically arranged first linear guide rails 7 are mounted on the upper surface of the base 26. A first rack 8 is positioned between the first linear guide rails 7, parallel to the first linear guide rails 7, and fixedly mounted on the base 26. A base plate 9 is fixedly connected to the slider of the first linear guide rails 7. A first drive motor 10 (a geared motor) is mounted on the base plate 9. The drive end of the first drive motor 10 points downwards and passes through the base plate 9, where a first gear 11 meshes with the first rack 8. When the first drive motor 10 starts, it can drive the base plate 9 to reciprocate between the storage bin 1 and the winding machine.

[0029] A vertically extending upright plate 12 is provided on the base plate 9. Two vertically extending, symmetrically arranged second linear guide rails 13 are mounted on the upright plate 12. A lifting plate 14 is mounted on the slider of the second linear guide rail 13. Synchronous pulleys 15 are also provided at the upper and lower ends of the upright plate 12. The synchronous pulleys 15 are engaged with a synchronous belt 16. The upper synchronous pulley 15 is driven by a second drive motor 17; the second drive motor 17 is also a geared motor. The lifting plate 14 is fixedly connected to the synchronous belt 16, so that the lifting plate 14 can move up and down under the drive of the second drive motor 17, so that the gripper 2 moves closer to or away from the winding station (the winding station is located on the upper side).

[0030] Two sets of horizontally symmetrical third linear guides 18, perpendicular to the first linear guide 7, are installed on the lifting plate 14. The slide plate 20 is fixedly installed on the slider of the third linear guide 18. A horizontally arranged third rack 19 is installed between the third linear guides 18. The third drive motor 21 is installed on the slide plate 20, and its drive end is equipped with a third gear 22 meshing with the third rack 19; in this embodiment, the third drive motor 21 is a geared motor.

[0031] The gripper 2 is installed at one end of the slide plate 20, so that the third drive motor 21 can drive the gripper 2 to move horizontally, for gripping the roll 3 in the receiving slot 51 or placing the roll 3 on the winding station.

[0032] Compared to existing technologies, the advantages of this embodiment are: 1. The guide channel 101 provided in the storage box 1 enables the randomly stacked rolls 3 to automatically align under gravity and fall one by one to the outlet through the guide channel 101. The guide channel 101 only allows a single roll 3 to pass through, effectively ensuring the consistency of the roll 3's posture during the falling process, keeping its axis basically parallel, and providing a stable position and posture basis for subsequent clamping. 2. The first cylinder 4 drives the receiving box 5 to cyclically move between the "receiving" and "delivering" stations, so that only one roll 3 is accurately transferred to the preset handover position each time. 3. The second cylinder 25 drives one end of the roll 3 inside the receiving box 5 to protrude from the receiving box 5, so that the roll 3 forms a cantilevered section. Furthermore, the stroke of the second cylinder 25 is fixed. Even if the drum 3 has an axial positional deviation within the receiving groove 51, the distance of its protrusion from the receiving box 5 remains consistent. This provides a clear, stable, and consistent gripping point for the gripper 2, ensuring that the gripper 2 can grasp in the same posture and position each time. This fundamentally solves the problem of unstable gripping and positioning difficulties caused by inconsistent postures of the drum 3. 4. The entire device mainly utilizes gravity, mechanical guidance, and cylinder drive to achieve its functions. It has a simple and reliable structure and is easy to maintain. It can automatically adapt to the disordered incoming state of the drum 3 and transform it into an ordered, single-piece, and accurately positioned output, significantly improving the continuity and automation level of the production line and reducing the need for manual intervention and operational difficulty.

[0033] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automatic unloading palletizing robot, characterized by: It comprises a storage box (1) and a clamping jaw (2); The winding drum (3) is stacked in the storage box (1) in an axial parallel manner; the storage box (1) is provided with a guide channel (101) capable of accommodating only one winding drum (3) to pass through; the winding drum (3) enters the guide channel (101) one by one under the action of gravity and moves to the outlet at the lower end of the guide channel (101); The outlet of the guide channel (101) is provided with a containing box (5) driven by a first air cylinder (4) directly below, the containing box (5) is provided with a containing groove (51) capable of accommodating only one winding drum (3); the first air cylinder (4) drives the containing box (5) to sequentially and circularly perform two actions, one of which is to retract into the storage box (1) to receive the winding drum (3), and the other of which is to extend out of the storage box (1) to send the winding drum (3) out of the storage box (1); The containing box (5) is provided with a second air cylinder (25) to drive one end of the winding drum in the containing box (5) to protrude out of the containing box (5); The clamping jaw (2) grabs the part of the winding drum (3) protruding out of the containing box (5).

2. The automatic unloading and loading robot according to claim 1, characterized in that: The storage box (1) is further provided with a loosening air cylinder (6) in the area outside the guide channel (101); The loosening air cylinder (6) applies a pushing force to the part of the winding drum (3) inside the storage box (1) and outside the guide channel (101).

3. The automatic unloading and loading robot according to claim 2, characterized in that: The loosening air cylinder (6) applies an upward pushing force to the winding drum (3).

4. The automatic unloading and loading robot according to claim 3, characterized in that: The storage box (1) is provided with a Z-shaped first guide plate (102) and an L-shaped second guide plate (103); The first guide plate (102) comprises a first upper plate (1021) and a first lower plate (1022) extending vertically and horizontally offset, the lower end of the first upper plate (1021) and the upper end of the first lower plate (1022) are connected by a first connecting plate (1023); The second guide plate (103) is composed of a second vertical plate (1031) extending vertically and a second horizontal plate (1032) extending horizontally; The second vertical plate (1031) is arranged opposite and spaced apart from the first lower plate (1022); the second horizontal plate (1032) is arranged opposite and spaced apart from the first connecting plate (1023); The area between the second vertical plate (1031) and the first lower plate (1022), and the area between the second horizontal plate (1032) and the first connecting plate (1023) together constitute the guide channel (101).

5. The automatic unloading and loading robot according to claim 4, characterized in that: The second horizontal plate (1032) is arranged obliquely, with the low end located at the inlet position of the guide channel (101).

6. The automatic unloading and loading robot according to claim 4, characterized in that: The loosening air cylinder (6) is installed on the second horizontal plate (1032) to push the winding drum (3) at the upper end of the second horizontal plate (1032).

7. The automatic unloading and loading robot according to claim 1, characterized in that: The clamping jaw (2) moves horizontally and vertically and lifts and lowers under the driving action of the driving assembly: The clamping jaw (2) grabs the winding drum (3) on the containing box (5) by horizontal movement; The clamping jaw (2) switches positions between the storage box (1) and the winding machine by horizontal and vertical movement; The clamping jaw (2) sends the winding drum (3) into the winding position by lifting and horizontal movement in sequence.

8. The automatic unloading and loading robot according to claim 7, characterized in that, The driving assembly comprises: First linear guide rail (7) and first rack (8) are arranged at the bottom, the slider of the first linear guide rail (7) is installed with bottom plate (9), first driving motor (10) is installed on the bottom plate (9), and the driving end is installed with first gear (11) engaged with the first rack (8); Vertical plate (12) is vertically fixed on the bottom plate (9), the vertical plate (12) is installed with vertically extending second linear guide rail (13), the slider of the second linear guide rail (13) is installed with lifting plate (14), the upper and lower ends of the vertical plate (12) are further provided with synchronous pulley (15), the synchronous pulley (15) is engaged with synchronous belt (16), the synchronous pulley (15) at the upper end is driven by second driving motor (17), and the lifting plate (14) is fixedly connected with the synchronous belt (16); Third linear guide rail (18) and third rack (19) are horizontally installed on the lifting plate (14), the slider of the third linear guide rail (18) is fixedly installed with sliding plate (20), third driving motor (21) is installed on the sliding plate (20), and the driving end is installed with third gear (22) engaged with the third rack (19), and the clamping jaw (2) is installed on the sliding plate (20).

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