Automatic woven cloth roll stacking device

Abstract

The utility model discloses a kind of automatic stacking devices of woven cloth roll, including portal frame, vertical sliding installation of longitudinal beam in portal frame, the beam that longitudinal beam bottom end is slidably installed along X-axis direction and the two slide platforms that beam bottom end is slidably installed along Y-axis direction, the bottom end of two slide platforms is fixed with connecting plate, the lower surface of connecting plate is installed with cloth roll double-end clamping mechanism, cloth roll double-end clamping mechanism is clamped to the both ends of woven cloth roll.The utility model controls the spatial position of connecting plate and cloth roll double-end clamping mechanism and pneumatic gripper mechanism by Z-axis gear lifting assembly, Y-axis gear linear movement assembly, X-axis synchronous belt linear movement assembly, until cloth roll double-end clamping mechanism and pneumatic gripper mechanism move to woven cloth roll, the end of woven cloth roll is positioned by cloth roll double-end clamping mechanism, and woven cloth roll is clamped in front and back side by pneumatic gripper mechanism, to ensure that woven cloth roll keeps stable in stacking, transfer process, avoids slippage, falling phenomenon.

Description

Technical Field

[0001] This utility model relates to the field of roll material transfer technology, specifically an automatic stacking device for woven fabric rolls. Background Technology

[0002] The automatic fabric roll palletizing device is mainly used to automatically retrieve and stack fabric rolls, improving production efficiency, reducing labor costs, and ensuring neat and stable stacking. Its structure consists of a conveying system, a mechanical gripping device, a stacking platform, and a control system. The conveying system stably transports the fabric rolls to the picking position, while the robotic arm or clamp precisely grips and transports the rolls. The stacking platform stacks multiple layers in a preset order, and the control system automates the entire process through sensors and programs. During operation, after the fabric roll moves along the conveyor belt to the picking point, the sensor detects the movement and instructs the robotic arm to retrieve the roll and move it to the stacking platform for stacking. The stacking height and position are monitored by sensors to ensure neat and stable stacking. The entire process is automated, which improves the efficiency of the production line, reduces human error and labor intensity, and ensures the neatness and safety of stacking. However, the current palletizing equipment mainly relies on a claw-like gripping mechanism to pick up the fabric roll from the front and back outer walls. Since the outer walls of the fabric roll are mostly made of soft or highly elastic materials, they are prone to deformation or slippage during clamping. Especially when the fabric roll is large or heavy, the clamping force is insufficient to completely fix the fabric roll, causing the fabric roll to slip or shift during the transfer process. Utility Model Content

[0003] The purpose of this utility model is to provide an automatic stacking device for woven fabric rolls. This device controls the spatial position of the connecting plate, the fabric roll double-end clamping mechanism, and the pneumatic gripper mechanism via a Z-axis gear lifting assembly, a Y-axis gear linear motion assembly, and an X-axis synchronous belt linear motion assembly. The device moves the fabric roll to the woven fabric roll, where the double-end clamping mechanism positions the ends of the roll, while the pneumatic gripper mechanism clamps the roll from the front and rear sides. This ensures the stability of the fabric roll during stacking and transfer, preventing slippage and falling, thus solving the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatic stacking device for woven fabric rolls, comprising a gantry frame, a longitudinal beam vertically slidably installed inside the gantry frame, a crossbeam slidably installed at the bottom end of the longitudinal beam along the X-axis, and two sliding tables slidably installed at the bottom end of the crossbeam along the Y-axis. A connecting plate is fixed to the bottom end of the two sliding tables. A double-end clamping mechanism for the fabric roll is installed on the lower surface of the connecting plate, clamping both ends of the woven fabric roll. Pneumatic gripper mechanisms are installed on the front and rear outer walls of the connecting plate, and the two pneumatic gripper mechanisms clamp the front and rear outer walls of the woven fabric roll. For clamping, a Z-axis gear lifting assembly is installed on one outer wall of the longitudinal beam, and a Y-axis gear linear motion assembly for driving the crossbeam to slide in the Y direction is installed on the other outer wall of the longitudinal beam. An X-axis synchronous belt linear motion assembly for driving the slide table and connecting plate to slide in the X direction is installed on one outer wall of the crossbeam. A control panel is installed on one side of the gantry frame surface. The output end of the control panel is electrically connected to the input ends of the Z-axis gear lifting assembly, the Y-axis gear linear motion assembly, the X-axis synchronous belt linear motion assembly, the cloth roll double-end clamping mechanism, and the pneumatic gripper mechanism.

[0005] Preferably, the Z-axis gear lifting assembly and the Y-axis gear linear motion assembly have the same structural composition. The Z-axis gear lifting assembly includes a reduction motor mounted on the outer wall of one side of the longitudinal beam, a helical gear mounted on the end of the drive shaft of the reduction motor, and a helical rack vertically fixed on the outer wall of one side of the gantry frame. The helical rack and the helical gear mesh with each other, and the input end of the reduction motor is electrically connected to the output end of the control panel.

[0006] Preferably, guide rails are fixed on both the left and right outer walls of the longitudinal beam, and two U-shaped concave frames are installed at the top of the crossbeam. A sliding sleeve for sliding cooperation with the guide rail is fixed on one outer wall of the U-shaped concave frame.

[0007] Preferably, the fabric roll double-end clamping mechanism includes a bidirectional lead screw rotatably mounted on the lower surface of the connecting plate, a U-shaped slide symmetrically slidably mounted on both sides of the bottom end of the connecting plate, and a stepper motor mounted on one side of the top end of the connecting plate. The drive shaft of the stepper motor is equipped with a synchronous wheel transmission structure for driving the bidirectional lead screw to rotate. A nut pair is fixed inside the U-shaped slide, and the nut pair and the bidirectional lead screw are connected to each other. A tapered column is fixed on the outer wall of the opposite side of the two U-shaped slides.

[0008] Preferably, the U-shaped carriage and the tapered column are both made of stainless steel.

[0009] Preferably, the pneumatic gripper mechanism includes a cylinder hinged to one side of the top of the connecting plate, a support shaft rotatably mounted on one side of the bottom of the connecting plate, and support arms fixed at both ends of the support shaft. A rake claw is installed at the end of the support arm away from the support shaft. An upwardly extending inclined pull arm with a straight groove is installed at one end of the surface of the support shaft. A U-shaped joint is fixed at the top of the piston rod of the cylinder. The U-shaped joint and the straight groove of the inclined pull arm slide in engagement.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows: This automatic stacking device for woven fabric rolls is equipped with a structure that includes a Z-axis gear lifting assembly, a Y-axis gear linear motion assembly, an X-axis synchronous belt linear motion assembly, a connecting plate, a fabric roll double-end clamping mechanism, and a pneumatic gripper mechanism. The Z-axis gear lifting assembly, Y-axis gear linear motion assembly, and X-axis synchronous belt linear motion assembly control the spatial position of the connecting plate, the fabric roll double-end clamping mechanism, and the pneumatic gripper mechanism until they move to the woven fabric roll. The fabric roll double-end clamping mechanism positions the end of the woven fabric roll, while the pneumatic gripper mechanism clamps the woven fabric roll from the front and rear sides to ensure that the woven fabric roll remains stable during stacking and transfer, and to prevent slippage and falling.

[0011] By precisely controlling the Z-axis gear lifting assembly, the Y-axis gear linear motion assembly, and the X-axis synchronous belt linear motion assembly, the clamping mechanism can achieve three-dimensional spatial positioning and movement. This multi-axis coordinated movement ensures that the clamping mechanism can accurately and smoothly reach the predetermined position of the fabric roll, greatly improving the accuracy and repeatability of the operation. The fabric roll double-end clamping mechanism positions the ends of the fabric roll, and combined with the pneumatic gripper mechanism's clamping method on the front and rear sides, it forms a multi-point, multi-angle stable clamping system. It makes full use of the diversity of clamping points and pressure distribution, which can firmly fix the key parts of the fabric roll and prevent slippage caused by inertia or vibration during transportation. Especially during transfer or stacking, the multi-point clamping of the clamping mechanism can effectively disperse stress, reduce fabric roll deformation or displacement, and ensure its stability and safety during movement. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0014] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0015] Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ;

[0016] Figure 5 This is a three-dimensional structural diagram of the double-end clamping mechanism for the fabric roll of this utility model.

[0017] In the diagram: 1. Gantry frame; 2. Longitudinal beam; 3. Z-axis gear lifting assembly; 4. Crossbeam; 5. Y-axis gear linear motion assembly; 6. X-axis synchronous belt linear motion assembly; 7. Slide table; 8. Connecting plate; 9. Cloth roll double-end clamping mechanism; 901. Bidirectional lead screw; 902. Stepper motor; 903. Synchronous pulley transmission structure; 904. U-shaped slide; 905. Conical column; 10. Control panel; 11. Pneumatic gripper mechanism. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0019] Please see Figure 1-5 This utility model provides an embodiment of an automatic stacking device for woven fabric rolls, comprising a gantry frame 1, a longitudinal beam 2 vertically slidably installed inside the gantry frame 1, a crossbeam 4 slidably installed at the bottom end of the longitudinal beam 2 along the X-axis, and two slides 7 slidably installed at the bottom end of the crossbeam 4 along the Y-axis. A connecting plate 8 is fixed to the bottom end of the two slides 7. A double-end clamping mechanism 9 for the fabric roll is installed on the lower surface of the connecting plate 8, clamping both ends of the woven fabric roll. Pneumatic gripper mechanisms 11 are installed on the front and rear outer walls of the connecting plate 8, clamping the front and rear outer walls of the woven fabric roll. The clamp has a Z-axis gear lifting assembly 3 installed on one side of the outer wall of the longitudinal beam 2, a Y-axis gear linear motion assembly 5 installed on the other side of the outer wall of the longitudinal beam 2 for driving the crossbeam 4 to slide in the Y direction, and an X-axis synchronous belt linear motion assembly 6 installed on one side of the outer wall of the crossbeam 4 for driving the slide table 7 and connecting plate 8 to slide in the X direction. A control panel 10 is installed on one side of the surface of the gantry frame 1. The output end of the control panel 10 is electrically connected to the input end of the Z-axis gear lifting assembly 3, the Y-axis gear linear motion assembly 5, the X-axis synchronous belt linear motion assembly 6, the cloth roll double-end clamping mechanism 9, and the pneumatic gripper mechanism 11.

[0020] The Z-axis gear lifting assembly 3 and the Y-axis gear linear motion assembly 5 have the same structural composition. The Z-axis gear lifting assembly 3 includes a reduction motor installed on the outer wall of one side of the longitudinal beam 2, a helical gear installed at the end of the drive shaft of the reduction motor, and a helical rack vertically fixed on the outer wall of one side of the gantry frame 1. The helical rack and the helical gear mesh with each other, and the input end of the reduction motor is electrically connected to the output end of the control panel 10.

[0021] Guide rails are fixed on both the left and right outer walls of the longitudinal beam 2. Two U-shaped concave frames are installed at the top of the crossbeam 4. A sliding sleeve for sliding cooperation with the guide rail is fixed on one side of the outer wall of the U-shaped concave frame. The longitudinal beam 2 is raised and lowered in the vertical direction by the Z-axis gear lifting assembly 3. The crossbeam 4, the X-axis synchronous belt linear moving assembly 6, and the connecting plate 8 are driven to slide along the Y-axis direction where the longitudinal beam 2 is located by the Y-axis gear linear moving assembly 5. The connecting plate 8, the cloth roll double-end clamping mechanism 9, and the pneumatic gripper mechanism 11 are driven to slide along the X-axis direction where the crossbeam 4 is located by the X-axis synchronous belt linear moving assembly 6, so as to change the spatial position of the cloth roll double-end clamping mechanism 9 and the pneumatic gripper mechanism 11, and achieve fast and precise movement.

[0022] The fabric roll double-end clamping mechanism 9 includes a bidirectional lead screw 901 rotatably mounted on the lower surface of the connecting plate 8, a U-shaped carriage 904 symmetrically slidably mounted on both sides of the bottom end of the connecting plate 8, and a stepper motor 902 mounted on one side of the top end of the connecting plate 8. The drive shaft of the stepper motor 902 is equipped with a synchronous wheel transmission structure 903 for driving the bidirectional lead screw 901 to rotate. A nut pair is fixed inside the U-shaped carriage 904, and the nut pair and the bidirectional lead screw 901 are connected to each other. A tapered column 905 is fixed on the opposite outer wall of the two U-shaped carriages 904. The U-shaped carriages 904 and the tapered column 905 are all made of stainless steel.

[0023] When the fabric roll double-end clamping mechanism 9 is working, the stepper motor 902 is controlled by the control panel 10. The stepper motor 902 drives the bidirectional lead screw 901 to rotate through the synchronous wheel transmission structure 903. Then, the bidirectional lead screw 901 drives the U-shaped slide 904 to move horizontally through the nut pair. At this time, the two U-shaped slides 904 move closer to each other until the ends of the fabric roll are clamped by the tapered column 905 to firmly clamp both ends of the fabric roll and ensure that the fabric roll does not slip or deform during movement and operation.

[0024] The pneumatic gripper mechanism 11 includes a cylinder hinged to one side of the top of the connecting plate 8, a support shaft rotatably mounted on one side of the bottom of the connecting plate 8, and support arms fixed at both ends of the support shaft. A claw is installed at the end of the support arm away from the support shaft, and an upwardly extending inclined pull arm with a straight groove is installed at one end of the surface of the support shaft. A U-shaped connector is fixed at the top of the piston rod of the cylinder. The U-shaped connector and the straight groove of the inclined pull arm slide together. The pneumatic gripper mechanism 11 is driven by air pressure to achieve rapid opening and closing. Its operation response is sensitive and it is suitable for frequent gripping and releasing actions.

[0025] In this embodiment, the device is first mounted on the fabric roll conveyor via a gantry frame 1, allowing the conveyor to deliver the fabric roll to the area below the connecting plate 8. After the fabric roll enters the gantry frame 1 via the conveyor, the operator issues control commands via the control panel 10. The Z-axis gear lifting assembly 3, Y-axis gear linear motion assembly 5, and X-axis synchronous belt linear motion assembly 6 move the connecting plate 8, the fabric roll double-end clamping mechanism 9, and the pneumatic gripper mechanism 11 to the predetermined position of the fabric roll. During this process, the operator closely observes the movement of each part to ensure a smooth movement trajectory without abnormal vibration or deviation. Once the fabric roll double-end clamping mechanism 9 and the pneumatic gripper mechanism 11 are in place, the control panel 10 is activated to clamp the ends of the fabric roll, ensuring its fixation. Securely, the gantry 1 then clamps the fabric roll from both the front and rear sides to provide additional stable support. After clamping, the control panel 10 directs the Z-axis gear lifting assembly 3, the Y-axis gear linear motion assembly 5, and the X-axis synchronous belt linear motion assembly 6 to move the fabric roll along the predetermined path to the stacking position. Upon reaching the target position, the operator issues a release command through the control panel 10, causing the fabric roll double-end clamping mechanism 9 and the pneumatic gripper mechanism 11 to gradually release the fabric roll. During this process, the fabric roll double-end clamping mechanism 9 will release first, followed by the pneumatic gripper mechanism 11 releasing the clamping state until the fabric roll is stacked. Afterward, the control panel 10 automatically controls the Y-axis gear linear motion assembly 5, the Z-axis gear lifting assembly 3, and the X-axis synchronous belt linear motion assembly 6 to return the connecting plate 8, the fabric roll double-end clamping mechanism 9, and the pneumatic gripper mechanism 11 to the starting position, ready for the next operation.

Claims

1. An automatic stacking device for woven fabric rolls, characterized in that: The system includes a gantry frame (1), a vertically sliding longitudinal beam (2) inside the gantry frame (1), a horizontal beam (4) slidingly installed at the bottom end of the longitudinal beam (2) along the X-axis, and two sliding tables (7) slidingly installed at the bottom end of the horizontal beam (4) along the Y-axis. A connecting plate (8) is fixed to the bottom end of each sliding table (7). A double-end clamping mechanism (9) for the fabric roll is installed on the lower surface of the connecting plate (8). The double-end clamping mechanism (9) clamps both ends of the woven fabric roll. Pneumatic gripper mechanisms (11) are installed on the front and rear outer walls of the connecting plate (8). The two pneumatic gripper mechanisms (11) clamp the front and rear outer walls of the woven fabric roll. A [missing information - likely a device or mechanism] is installed on one side of the outer wall of the longitudinal beam (2). The Z-axis gear lifting assembly (3) is installed on the outer wall of the other side of the longitudinal beam (2), and the Y-axis gear linear motion assembly (5) is installed on the outer wall of the other side of the crossbeam (4) for Y-axis sliding. The X-axis synchronous belt linear motion assembly (6) is installed on the outer wall of one side of the crossbeam (4) for X-axis sliding of the slide table (7) and the connecting plate (8). The control panel (10) is installed on one side of the surface of the gantry (1). The output end of the control panel (10) is electrically connected to the input end of the Z-axis gear lifting assembly (3), the Y-axis gear linear motion assembly (5), the X-axis synchronous belt linear motion assembly (6), the cloth roll double-end clamping mechanism (9), and the pneumatic gripper mechanism (11).

2. The automatic stacking device for woven fabric rolls according to claim 1, characterized in that: The Z-axis gear lifting assembly (3) and the Y-axis gear linear motion assembly (5) have the same structure. The Z-axis gear lifting assembly (3) includes a geared motor installed on the outer wall of one side of the longitudinal beam (2), a helical gear installed at the end of the drive shaft of the geared motor, and a helical rack vertically fixed on the outer wall of one side of the gantry frame (1). The helical rack and the helical gear mesh with each other. The input end of the geared motor is electrically connected to the output end of the control panel (10).

3. The automatic stacking device for woven fabric rolls according to claim 1, characterized in that: Guide rails are fixed on the left and right outer walls of the longitudinal beam (2), and two U-shaped concave frames are installed at the top of the cross beam (4). A sliding sleeve for sliding cooperation with the guide rail is fixed on one side of the outer wall of the U-shaped concave frame.

4. The automatic stacking device for woven fabric rolls according to claim 1, characterized in that: The fabric roll double-end clamping mechanism (9) includes a bidirectional lead screw (901) rotatably mounted on the lower surface of the connecting plate (8), a U-shaped slide (904) symmetrically slidably mounted on both sides of the bottom end of the connecting plate (8), and a stepper motor (902) mounted on one side of the top end of the connecting plate (8). The drive shaft of the stepper motor (902) is equipped with a synchronous wheel transmission structure (903) for driving the bidirectional lead screw (901) to rotate. A nut pair is fixed inside the U-shaped slide (904), and the nut pair and the bidirectional lead screw (901) are connected to each other. A tapered column (905) is fixed on the opposite outer wall of the two U-shaped slides (904).

5. The automatic stacking device for woven fabric rolls according to claim 4, characterized in that: The U-shaped carriage (904) and the tapered column (905) are both made of stainless steel.

6. The automatic stacking device for woven fabric rolls according to claim 1, characterized in that: The pneumatic gripper mechanism (11) includes a cylinder hinged to one side of the top of the connecting plate (8), a support shaft rotatably mounted on one side of the bottom of the connecting plate (8), and support arms fixed at both ends of the support shaft. A rake is installed at one end of the support arm away from the support shaft. An upwardly extending inclined pull arm with a straight groove is installed at one end of the surface of the support shaft. A U-shaped joint is fixed at the top of the piston rod of the cylinder. The U-shaped joint and the straight groove of the inclined pull arm slide together.

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