Full-automatic unstacking and unbundling cloth returning machine

Abstract

The utility model relates to cloth returning machine technical field, specifically disclose a full -automatic unstacking unbundling cloth returning machine, including gantry module, visual unbundling mechanism, find cloth head mechanism and discharge conveying mechanism, be provided with Z axle mechanism on the gantry module, Z axle mechanism slidingly arranged on the gantry module, be provided with unstacking clamp on Z axle mechanism, unstacking clamp slidingly arranged on Z axle mechanism, visual unbundling mechanism and find cloth head mechanism all be located below the gantry module, visual unbundling mechanism, find cloth head mechanism and discharge conveying mechanism all are in turn arrangement. The utility model cooperates with the unstacking clamp through the setting Z axle mechanism and unstacking clamp and conveys cloth stack to visual unbundling mechanism and carries out the rope unbundling operation, and visual identification precision is higher, and then find cloth head mechanism carries out the rotation to cloth stack, thereby convenient for staff to carry out cloth head checkout operation, save time and labour, can promote work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of fabric unloading machine technology, and in particular to a fully automatic destacking and unbinding fabric unloading machine. Background Technology

[0002] In the textile industry, raw fabrics are typically rolled into cylindrical rolls for ease of transportation, storage, and production. During fabric processing, these rolls need to be unrolled, and the equipment used for this is a fabric unwinding machine. This machine uses unwinding rollers to extract the fabric, unwinding the roll into a single layer, which is then sent to the next processing step.

[0003] A search revealed that Chinese invention patent application CN202510376908.0 discloses an automatic fabric roll unpacking device, including a stacking bracket on which multiple sets of fabric rolls can be stacked sequentially. Each fabric roll has binding ropes tied to both ends. A robot body is mounted on one side of the stacking bracket, and a first clamp or a second clamp can be installed on the top of the robot body. The first clamp and the second clamp are mutually exclusive, meaning only one set can be installed at the same position on the top of the robot body. This automatic fabric roll unpacking device can unpack fabric rolls, cut binding ropes, and adjust the orientation of the fabric ends. It also automates the entire process of handling and loading fabric rolls, maximizing savings in labor and labor costs during the unpacking process. Furthermore, it significantly improves the efficiency of unpacking and reduces the workload of workers.

[0004] For example, Chinese utility model patent application number CN202323235179.2 discloses a high-efficiency fabric unwinding machine device that prevents tangling and tearing. Belonging to the field of textile equipment technology, it solves the problem of fabric tangling and tearing easily caused by existing fabric unwinding machines. This utility model includes a frame, on which a drive shaft is mounted. The drive shaft is connected to a drive motor, and the drive shaft is connected to an upper pulley. The upper pulley is connected to an upper V-belt, and the upper V-belt is connected to an unwinding roller. The frame also has an unwinding wheel and an unwinding swing arm. Fabric is installed between the unwinding swing arm and the unwinding roller. The unwinding wheel is installed below the fabric. A drive chain and a swing arm connecting rod are connected between the unwinding wheel and the unwinding swing arm, respectively. This utility model is used for high-efficiency fabric unwinding, resulting in high production efficiency, preventing tangling, and improving product quality.

[0005] While the existing fabric unwinding machines can meet basic usage requirements, they all rely on grippers on the robot body to grasp the sides of the fabric rolls. Since the fabric rolls are stacked, they inevitably grab other rolls during grasping, reducing the accuracy of grasping and production efficiency. Furthermore, during untying, they rely on sensors to detect and identify the binding ropes at both ends of the fabric roll before controlling the crescent blades on the automatic rope cutting mechanism to cut them. This sensor recognition method has low accuracy and is prone to failing to identify the binding ropes, resulting in missed cutting of the binding ropes. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a fully automatic destacking, untying and unbinding fabric machine in view of the above-mentioned defects of the prior art. By setting a Z-axis mechanism and a destacking clamp to transport the fabric stack to the vision untying mechanism for the untying operation of the binding ropes, the vision recognition accuracy is high. Then, the fabric end finding mechanism rotates the fabric stack, which makes it convenient for the staff to detect the fabric ends, saving time and effort and improving work efficiency.

[0007] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0008] A fully automatic destacking, untying, and fabric unloading machine includes a gantry module, a vision untying mechanism, a fabric head finding mechanism, and a material discharge conveying mechanism. The gantry module is equipped with a Z-axis mechanism, which is slidably mounted on the gantry module. A destacking clamp is mounted on the Z-axis mechanism, which is slidably mounted on the Z-axis mechanism. The vision untying mechanism and the fabric head finding mechanism are both located below the gantry module, and the vision untying mechanism, the fabric head finding mechanism, and the material discharge conveying mechanism are arranged sequentially.

[0009] Preferably, the Z-axis mechanism includes a Z-axis guide rail, a Z-axis drive motor, a Z-axis cable chain, a Z-axis cable chain bracket, and a Z-axis support roller. The Z-axis cable chain is connected to the Z-axis drive motor and the Z-axis cable chain bracket respectively. The destacking clamp is disposed on the Z-axis cable chain bracket, and the Z-axis cable chain bracket is slidably disposed on the Z-axis guide rail via the Z-axis support roller.

[0010] Preferably, the gantry module is provided with a gantry guide rail, a gantry drive motor, a Z-axis mounting frame and a gantry cable chain. The Z-axis mechanism is mounted on the Z-axis mounting frame, and the gantry cable chain is connected to the Z-axis mounting frame and the gantry drive motor respectively. The Z-axis mounting frame is slidably mounted on the gantry guide rail.

[0011] Preferably, the visual untying mechanism includes a roller assembly, a rope cutting mechanism, a lifting mechanism, and a camera assembly. The rope cutting mechanism is located below the roller assembly, the lifting mechanism is located inside the middle of the roller assembly, and the camera assembly is installed below the gantry module. The camera assembly is communicatively connected to the rope cutting mechanism, and the rope cutting mechanism cuts the binding ropes on the fabric stack according to the rope cutting signal transmitted by the camera assembly.

[0012] Preferably, the fabric finding mechanism includes a fabric finding base frame and a first fabric rotating mechanism, a second fabric rotating mechanism, a first fabric sensor, a second fabric sensor, and a rotating auxiliary mechanism disposed on the fabric finding base frame. The first fabric sensor and the second fabric sensor are electrically connected to the first fabric rotating mechanism and the second fabric rotating mechanism, respectively. The rotating auxiliary mechanism is located at the upper middle part of the fabric finding base frame. The first fabric rotating mechanism and the second fabric rotating mechanism are respectively located at the left and right ends of the fabric finding base frame. The first fabric sensor and the second fabric sensor are respectively located at the front and rear ends of the fabric finding base frame.

[0013] Preferably, the discharge conveying mechanism includes a discharge drive motor, a first discharge bracket, a first discharge conveyor belt, a second discharge bracket, and a second discharge conveyor belt. The discharge drive motor is connected to the first discharge conveyor belt, and the first discharge conveyor belt and the second discharge conveyor belt are respectively installed on the first discharge bracket and the second discharge bracket.

[0014] The fully automatic destacking, untying, and unbinding fabric machine provided by this utility model, using the above technical solution, has the following beneficial effects: A Z-axis mechanism is provided on the gantry module of the fully automatic destacking, untying, and unbinding fabric machine. The Z-axis mechanism is slidably mounted on the gantry module, and a destacking clamp is provided on the Z-axis mechanism. The visual untying mechanism and the fabric head finding mechanism are both located below the gantry module. The visual untying mechanism, the fabric head finding mechanism, and the material conveying mechanism are arranged sequentially. By cooperating with the destacking clamp, the fabric stack is conveyed to the visual untying mechanism for untying the binding ropes. Using visual recognition, the visual untying mechanism visually identifies the fabric stack and precisely cuts the binding ropes on the stack, thus achieving automatic untying. The recognition accuracy is high, avoiding missed cutting of binding ropes. The fabric head finding mechanism then rotates the fabric stack, facilitating the worker's fabric head detection operation, saving time and effort, and improving work efficiency. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present utility model;

[0016] Figure 2 This is a side view of the present invention;

[0017] Figure 3 This is a top view of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of the destacking clamp in this utility model;

[0019] Figure 5 This is a schematic diagram of the visual unbinding mechanism in this utility model;

[0020] Figure 6 This is a schematic diagram of the fabric-finding mechanism in this utility model;

[0021] In the diagram, 1-Gantry module, 2-Vision unbinding mechanism, 3-Fabric head finding mechanism, 4-Outlet conveying mechanism, 5-Z-axis mechanism, 6-Destacking fixture, 7-Z-axis guide rail, 8-Z-axis drive motor, 9-Z-axis cable chain, 10-Z-axis cable chain bracket, 11-Z-axis support roller, 12-Gantry guide rail, 13-Gantry drive motor, 14-Z-axis mounting bracket, 15-Gantry cable chain, 16-Idler roller assembly, 17-Rope cutting mechanism, 18-Lifting mechanism, 19-Camera assembly, 20-Fabric head finding base frame, 21-First fabric rotation mechanism, 22-Second fabric rotation mechanism 23-First fabric head sensor, 24-Second fabric head sensor, 25-Rotation auxiliary mechanism, 26-Discharge drive motor, 27-First discharge bracket, 28-First discharge conveyor belt, 29-Second discharge bracket, 30-Second discharge conveyor belt, 31-Fabric stack, 32-Crossbeam assembly, 33-Sliding guide rail, 34-Clamp drive mechanism, 35-Left clamp mechanism, 36-Right clamp mechanism, 37-Clamping seat, 38-Claw drive mechanism, 39-First claw, 40-Second claw, 41-Fabric roll plug, 42-Rotating mounting plate. Detailed Implementation

[0022] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] like Figure 1-6 As shown, the fully automatic depalletizing, unbundling, and fabric unloading machine includes a gantry module 1, a vision unbundling mechanism 2, a fabric head finding mechanism 3, and a discharge conveying mechanism 4. A Z-axis mechanism 5 is mounted on the gantry module 1, and a depalletizing clamp 6 is mounted on the Z-axis mechanism 5, also slidably mounted thereon. The vision unbundling mechanism 2 and the fabric head finding mechanism 3 are both located below the gantry module 1, and the vision unbundling mechanism 2, the fabric head finding mechanism 3, and the discharge conveying mechanism 4 are arranged sequentially. It can be understood that the gantry module 1 can be a general-purpose gantry module, used to install and drive the Z-axis mechanism. Fabric stacks are piled inside the gantry module 1 for the depalletizing clamp 6 to grip and convey.

[0026] Specifically, the Z-axis mechanism 5 includes a Z-axis guide rail 7, a Z-axis drive motor 8, a Z-axis cable chain 9, a Z-axis cable chain bracket 10, and a Z-axis support roller 11. The Z-axis cable chain 9 is connected to the Z-axis drive motor 8 and the Z-axis cable chain bracket 10 for transmission. The destacking fixture 6 is mounted on the Z-axis cable chain bracket 10, and the Z-axis cable chain bracket 10 is slidably mounted on the Z-axis guide rail 7 via the Z-axis support roller 11. It is understood that the Z-axis drive motor 8 can be a general-purpose servo motor, etc., used to drive the Z-axis cable chain bracket 10 to move up and down along the Z-axis guide rail 7, thereby driving the destacking fixture 6 to move up and down.

[0027] Specifically, the gantry module 1 is equipped with a gantry guide rail 12, a gantry drive motor 13, a Z-axis mounting bracket 14, and a gantry cable chain 15. The Z-axis mechanism 5 is mounted on the Z-axis mounting bracket 14. The gantry cable chain 15 is connected to both the Z-axis mounting bracket 14 and the gantry drive motor 13. The Z-axis mounting bracket 14 is slidably mounted on the gantry guide rail 12. It is understood that the gantry drive motor 13 can be a general-purpose servo motor, etc., used to drive the Z-axis mounting bracket 14 to move along the gantry guide rail 12, thereby driving the Z-axis mechanism 5 and the destacking fixture 6 to move.

[0028] Specifically, the destacking clamp 6 includes a crossbeam assembly 32, on which a sliding guide rail 33 is provided. A clamp driving mechanism 34 is provided on the sliding guide rail 33. The clamp driving mechanism 34 is driven to a left clamping mechanism 35 and a right clamping mechanism 36 arranged symmetrically. A clamping seat 37 is installed at the bottom of the left clamping mechanism 35 and the right clamping mechanism 36. A gripper driving mechanism 38 and a first gripper 39 and a second gripper 40 driven to the gripper driving mechanism 38 are provided on the gripper seat 37. The first gripper 39 and the second gripper 40 are rotatably connected to the clamping seat 37. A cloth roll plug 41 is provided on the inner side of the first gripper 39 and the second gripper 40. A rotating mounting plate 42 is provided on the crossbeam assembly 32. The rotating mounting plate 42 can be connected to a rotating motor through a rotating shaft. The rotating motor can drive the crossbeam assembly 32 to rotate. Understandably, the destacking clamp 6 uses a gripping method that inserts from the end of the fabric stack. By setting a clamp driving mechanism 34, the left clamp mechanism 34 and the right clamp mechanism 35 are driven to move laterally, thereby driving the fabric roll plug 41 on the first gripper 39 and the second gripper 40 to be inserted from the end of the fabric stack. Then, the gripper driving mechanism 38 drives the first gripper 39 and the second gripper 40 to clamp. Compared with the traditional method of gripping from the side of the fabric stack, its gripping accuracy is higher and it can avoid accidentally gripping other adjacent fabric stacks.

[0029] Specifically, the visual untying mechanism 2 includes a roller assembly 16, a rope cutting mechanism 17, a lifting mechanism 18, and a camera assembly 19. The rope cutting mechanism 17 is located below the roller assembly 16, the lifting mechanism 18 is located inside the middle of the roller assembly 16, and the camera assembly 19 is installed below the gantry module 1. The camera assembly 19 is communicatively connected to the rope cutting mechanism 17, and the rope cutting mechanism 17 cuts the binding ropes on the fabric stack according to the rope cutting signal transmitted by the camera assembly 19. Understandably, the camera assembly can consist of a camera boom, a camera mounting bracket, and several industrial CCD cameras. The industrial CCD cameras are mounted on the camera mounting bracket, which is in turn mounted on the camera boom. The roller assembly includes a first roller and a second roller arranged parallel to each other. The ends of the first roller and the second roller are rotatably connected to the upper end of the base frame via bearings. The rope cutting mechanism includes a rope cutting drive motor, a rope cutting sliding frame, a rope cutting lifting frame, a lifting drive cylinder, and a cutter. The rope cutting drive motor is driven by a transmission... The belt is connected to the rope-cutting sliding frame, the lifting drive cylinder is installed on the rope-cutting sliding frame, the lifting drive cylinder is connected to the rope-cutting lifting frame, and the cutter is installed on the rope-cutting lifting frame. The visual untying mechanism 2 adopts a visual recognition method. By setting the camera component 19, it performs visual recognition on the cloth stack placed on the roller component 16 and outputs a rope-cutting signal to control the rope-cutting mechanism 17 to accurately cut the binding rope on the cloth stack, thereby realizing automatic untying. The recognition accuracy is high, and the phenomenon of missing the cutting of binding rope is avoided.

[0030] Specifically, the fabric finding mechanism 3 includes a fabric finding base frame 20 and a first fabric rotating mechanism 21, a second fabric rotating mechanism 22, a first fabric sensor 23, a second fabric sensor 24, and a rotating auxiliary mechanism 25 disposed on the fabric finding base frame 20. The first fabric sensor 23 and the second fabric sensor 24 are electrically connected to the first fabric rotating mechanism 21 and the second fabric rotating mechanism 22. The rotating auxiliary mechanism 25 is located at the upper middle part of the fabric finding base frame 20. The first fabric rotating mechanism 21 and the second fabric rotating mechanism 22 are respectively located at the left and right ends of the fabric finding base frame 20. The first fabric sensor 23 and the second fabric sensor 24 are respectively located at the front and rear ends of the fabric finding base frame 20. Understandably, the first fabric rotation mechanism 21 includes a first rotation drive motor, a first rotation frame, and a first fabric stack rotation gripper. The first rotation drive motor is mounted on the first rotation frame and is drive-connected to the first fabric stack rotation gripper. The second fabric stack rotation mechanism 22 includes a second rotation drive motor, a second rotation frame, and a second fabric stack rotation gripper. The second rotation drive motor is mounted on the second rotation frame and is drive-connected to the second fabric stack rotation gripper. By setting a first fabric end sensor 23 and a second fabric end sensor 24 to detect the position of the fabric end, the first fabric stack rotation mechanism 21 and the second fabric stack rotation mechanism 22 rotate the fabric stack until the fabric end is displayed, thereby facilitating the worker to perform fabric end detection operations.

[0031] Specifically, the discharge conveying mechanism 4 includes a discharge drive motor 26, a first discharge bracket 27, a first discharge conveyor belt 28, a second discharge bracket 29, and a second discharge conveyor belt 30. The discharge drive motor 26 is connected to the first discharge conveyor belt 28, and the first discharge conveyor belt 28 and the second discharge conveyor belt 30 are respectively mounted on the first discharge bracket 27 and the second discharge bracket 29. It is understood that the discharge drive motor 26 can be a general-purpose servo motor, etc., used to drive the discharge conveyor belt to facilitate material discharge.

[0032] Understandably, this utility model has a reasonable design and unique structure. By setting up a Z-axis mechanism 5 and a destacking clamp 6 to cooperate, the fabric stack is transported to the visual untying mechanism 2 for untying the binding ropes. The visual untying mechanism 2 uses visual recognition to visually identify the fabric stack and accurately cut the binding ropes on the fabric stack, thereby achieving automatic untying. The recognition accuracy is high, avoiding the phenomenon of missing cutting of binding ropes. Then, the fabric end finding mechanism 3 rotates the fabric stack, which makes it convenient for workers to detect the fabric ends, saving time and effort and improving work efficiency.

[0033] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. A fully automatic destacking, unbinding, and fabric unwinding machine, characterized in that: The device includes a gantry module, a vision unbinding mechanism, a fabric head finding mechanism, and a material discharge conveying mechanism. The gantry module is equipped with a Z-axis mechanism, which is slidably mounted on the gantry module. A destacking clamp is mounted on the Z-axis mechanism, which is slidably mounted on the Z-axis mechanism. The vision unbinding mechanism and the fabric head finding mechanism are both located below the gantry module, and the vision unbinding mechanism, the fabric head finding mechanism, and the material discharge conveying mechanism are arranged sequentially.

2. The fully automatic destacking, unbinding, and fabric unwinding machine according to claim 1, characterized in that: The Z-axis mechanism includes a Z-axis guide rail, a Z-axis drive motor, a Z-axis cable chain, a Z-axis cable chain bracket, and a Z-axis support roller. The Z-axis cable chain is connected to the Z-axis drive motor and the Z-axis cable chain bracket respectively. The destacking clamp is mounted on the Z-axis cable chain bracket, and the Z-axis cable chain bracket is slidably mounted on the Z-axis guide rail via the Z-axis support roller.

3. The fully automatic destacking, unbinding, and fabric unwinding machine according to claim 1, characterized in that: The gantry module is equipped with a gantry guide rail, a gantry drive motor, a Z-axis mounting frame, and a gantry cable chain. The Z-axis mechanism is mounted on the Z-axis mounting frame, and the gantry cable chain is connected to the Z-axis mounting frame and the gantry drive motor respectively. The Z-axis mounting frame is slidably mounted on the gantry guide rail.

4. The fully automatic destacking, unbinding, and fabric unwinding machine according to claim 1, characterized in that: The visual untying mechanism includes a roller assembly, a rope cutting mechanism, a lifting mechanism, and a camera assembly. The rope cutting mechanism is located below the roller assembly, the lifting mechanism is located inside the middle of the roller assembly, and the camera assembly is installed below the gantry module. The camera assembly is communicatively connected to the rope cutting mechanism, and the rope cutting mechanism cuts the binding ropes on the fabric stack according to the rope cutting signal transmitted by the camera assembly.

5. The fully automatic destacking, unbinding, and fabric unwinding machine according to claim 1, characterized in that: The fabric finding mechanism includes a fabric finding base frame and a first fabric rotating mechanism, a second fabric rotating mechanism, a first fabric end sensor, a second fabric end sensor, and a rotating auxiliary mechanism disposed on the fabric finding base frame. The first fabric end sensor and the second fabric end sensor are electrically connected to the first fabric rotating mechanism and the second fabric rotating mechanism, respectively. The rotating auxiliary mechanism is located at the upper middle part of the fabric finding base frame. The first fabric rotating mechanism and the second fabric rotating mechanism are respectively located at the left and right ends of the fabric finding base frame. The first fabric end sensor and the second fabric end sensor are respectively located at the front and rear ends of the fabric finding base frame.

6. The fully automatic destacking, unbinding, and fabric unwinding machine according to claim 1, characterized in that: The discharge conveying mechanism includes a discharge drive motor, a first discharge bracket, a first discharge conveyor belt, a second discharge bracket, and a second discharge conveyor belt. The discharge drive motor is connected to the first discharge conveyor belt, and the first discharge conveyor belt and the second discharge conveyor belt are respectively installed on the first discharge bracket and the second discharge bracket.

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