阅读说明：本技术 一种成品布卷自动装车系统及其应用 (Automatic finished product yardage roll loading system and application thereof ) 是由 谢亚军 于 2021-08-24 设计创作，主要内容包括：本发明提供一种成品布卷自动装车系统及其应用,涉及布卷运输领域,包括布框自动分成单卷系统,布卷自动分拨输送线和自动桁架组合机械手和车辆到位系统,车辆到位系统将车辆停至指定区域,对布卷依次经过布框自动分成单卷系统,布卷自动分拨输送线,进行自动翻框出布,单卷隔离后自动单卷后喂送到自动桁架组合机械手内的方式,由自动桁架组合机械手将布卷装车,完成自动装车,该成品布卷自动装车系统及其应用,采用桁架自动装车装备和配套的布框自动分成单卷系统,布卷自动分拨输送线,进行布卷自动翻框出布,单卷隔离后自动单卷依次喂送到自动机械手内,完成布卷自动装车,自动化程度高,减少了用工需求,减轻工人劳动强度,提高生产率。(The invention provides an automatic loading system for finished fabric rolls and application thereof, and relates to the field of fabric roll transportation, which comprises an automatic cloth frame dividing and single roll dividing system, an automatic cloth roll distributing and conveying line, an automatic truss combined mechanical arm and a vehicle in-place system, wherein the vehicle in-place system stops a vehicle to a designated area, the fabric rolls are sequentially and automatically divided into the single roll systems through the cloth frames, the automatic cloth roll distributing and conveying line automatically turns over frames and discharges the cloth, the single rolls are isolated and then automatically fed into the automatic truss combined mechanical arm, the automatic truss combined mechanical arm loads the cloth rolls to finish automatic loading, the automatic loading system for finished fabric rolls and application thereof adopt the truss automatic loading equipment and the matched cloth frames to automatically divide and divide into the single roll systems, the cloth rolls are automatically distributed and conveyed through the automatic truss combined mechanical arm, the single rolls are isolated and then automatically fed into the automatic mechanical arm in sequence, the automatic loading of yardage roll is accomplished, and degree of automation is high, has reduced the recruitment demand, alleviates workman intensity of labour, productivity gain.)

1. The utility model provides a finished product yardage roll automatic loading system and application thereof which characterized in that: the automatic cloth frame dividing and distributing system comprises a cloth frame automatic dividing and distributing system (1), a cloth roll automatic dividing and distributing conveying line (2), an automatic truss combined mechanical arm (3) and a vehicle in-place system, wherein the cloth frame automatic dividing and distributing system (1), the cloth roll automatic dividing and distributing conveying line (2) and the automatic truss combined mechanical arm (3) are sequentially connected in a head position, and the vehicle in-place system is used for positioning a parking vehicle (4).

The automatic cloth frame dividing and single-roll removing system (1) is composed of a cloth frame feeding and discharging conveyor (11), a cloth frame turning device (12), a cloth roll cache line (13), a single-roll separating device (14), a single-roll cache lifting line (15) and an ultra-diameter cloth roll removing line (16), wherein the cloth frame turning device (12) is arranged in the middle of the cloth frame feeding and discharging conveyor (11), the cloth roll turning device (12) is connected with the cloth roll cache line (13), the single-roll separating device (14), the single-roll cache lifting line (15) and the ultra-diameter cloth roll removing line (16) in the rear, and the turning and discharging of the cloth frame, the cache separating of the cloth roll and the ultra-diameter cloth roll removing are completed in sequence.

The automatic yardage roll distribution conveying line (2) comprises a sectional distribution conveying line (21), a cylinder yardage roll removing mechanism and a yardage roll positioner (22), wherein the yardage roll positioner (22) is arranged at two ends of the sectional distribution conveying line (21), and the cylinder yardage roll removing mechanism is arranged on one side, far away from a loading, of the sectional distribution conveying line (21).

Automatic truss combination manipulator (3) comprise automatic truss (31), manipulator (32), automatic feed line (33), positioning system, manipulator (32) top sliding connection is on automatic truss (31), automatic feed line (33) link to each other with manipulator (32), carry the yardage roll for manipulator (32), positioning system installs at automatic truss (31) top, and positioning manipulator (32) go up and down in Z axle vertical direction, move at X and Y axle direction accuracy.

The cloth frame is automatically divided into a single-roll system (1), the cloth roll is automatically allocated to a conveying line (2) and is arranged on a finished product platform (7), and the automatic truss combined mechanical arm (3) is arranged in a loading area (8).

2. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: yardage roll turning device (12) are including base (121), upset drive (122), drive mechanism (123), roll-over stand (124), establish in the middle of material conveyer (11) on the cloth frame on base (121) in base (121), and upset drive (122) are established on base (121), roll-over stand (124) are established on base (121), upset drive (122) drive roll-over stand (124) through drive mechanism (123) and to yardage roll buffer memory line (13) one side reciprocating rotation.

3. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: the single-roll separating device (14) comprises a fixing plate (141), a separating frame (142) and a separating drive, wherein the fixing plate (141) is vertically erected between a cloth roll cache line (13) and a single-roll cache lifting line (15), two ends of the separating frame (142) are pivoted between the fixing plate (141), and the separating drive drives the separating frame (142) to rotate in a reciprocating mode to separate the cloth roll to the single-roll cache lifting line (15).

4. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: manipulator (32) include horizontal pole (321), montant (322), unloading chamber (323), unloading board (324), unloading drive (325), horizontal pole (321) sliding connection is on the length direction at automatic truss (31) top, montant (322) sliding connection is on horizontal pole (321), unloading chamber (323) top is connected to the bottom of montant (322), unloading chamber (323) are close to automatic feeding line (33) one side and are equipped with the opening, and the opening part links to each other with automatic feed (33) earlier, yardage (6) fall into unloading chamber (323) through automatic feeding line (33) in, unloading board (324) are transferred yardage (6) through unloading drive (325).

5. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: the vehicle in-place system comprises the following specific working steps:

positioning step 1, installing a 3D scanner above a parking area;

a positioning step 2, namely, the charging vehicle stops in a defined parking area (whether the charging vehicle stops in place or not can be detected);

and 3, positioning: after the vehicle stops in place, the 3D scanner above the parking area starts to work;

and 4, positioning: and analyzing information results such as the height of a baffle plate of the carriage of the vehicle, the position of 4 corners, the vehicle deflection angle and the like according to the obtained data, and sending the information results to an upper control system, wherein the upper control system controls a loading point of a truss manipulator for loading yardage rolls by using the data.

6. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: the automatic cloth roll distribution and conveying system comprises an automatic cloth roll distribution and conveying line (2), an automatic truss combined mechanical arm (3) and a vehicle in-place system (4), and is characterized by further comprising a main electric control system, a server and control software, wherein the automatic cloth roll distribution and conveying line (1), the automatic truss combined mechanical arm and the vehicle in-place system (4) are all connected with the main electric control system, and the server is provided with a communication interface of an MES system.

7. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: the safety protection device also comprises a finished product platform (7) and a safety protection fence installed in the loading area (8).

8. The automatic loading system for finished cloth rolls and the application thereof according to claim 1 are characterized in that: for a vehicle (4) parked by a vehicle in-place system, the system performs automatic loading application steps as follows:

step 1-cloth frame feeding: the cloth frames conveyed by the manual forklift or the AGV are placed at the feeding points of the feeding and discharging conveyor (11) of the cloth frames (5).

Step 2, frame turning and roll out: the cloth frame (5) passes through the cloth roll turning device (12), the cloth roll turning device (12) turns to the cloth roll cache line (13), and the cloth roll (6) in the cloth frame (5) falls into the cloth roll cache line (13).

Step 3-blanking with an empty frame: after the yardage roll is emptied, the yardage roll is automatically reset, the empty frame is sent to an empty frame discharging point, and the empty frame is displayed by a signal lamp and is notified to a forklift worker to take away.

Step 4-yardage roll caching: the sectional type design, except the buffer memory effect, still need handle the yardage roll that comes out in the cloth frame as far as possible and not overlap, make things convenient for subsequent single roll separation.

Step 5-single roll separation: the front end coming rolls are separated in a single roll mode through the reciprocating rotation motion of the single roll separating device (14) and are not close to each other.

Step 6-single volume caching: after the single rolls are separated, the single rolls fall into a single roll cache line, and the cache line is provided with separation clapboards which are distributed according to a certain width, so that the cloth rolls are not overlapped.

Step 7, removing the ultra-diameter cloth rolls; the tail end of the single-roll cache lifting line (15) is provided with diameter on-line detection, the cloth with abnormal diameter is removed, and the cloth enters an ultra-diameter cloth roll removing line (16). The robot does not enter an automatic manipulator, and needs to be additionally processed by manual car repairing.

Step 8, distributing and conveying the cloth: the single cloth roll enters into the automatic cloth roll distribution conveying line, and the cloth roll is distributed and conveyed to the feeding conveying line of the mechanical arm according to the specific position of the mechanical arm.

Step 9, mechanical feeding: and an automatic circulating type mechanical arm is adopted, the cloth rolls are fed in a filling mode, and the diameter of each cloth roll to be placed on the vehicle is detected, so that the mechanical arm determines the position of a coordinate point where each cloth roll is to be placed.

Step 10: and (3) finishing loading: the manipulator (32) repeatedly loads materials until loading is finished.

Technical Field

The invention relates to the technical field of yardage roll transportation, in particular to an automatic finished yardage roll loading system and application thereof.

Background

Traditional yardage roll loading truck, from yardage roll finished product storehouse to vehicle, need many manual operation to accomplish, relate to the transport of cloth frame, the pile up neatly of yardage roll, there is personnel's safety problem still in the pile up neatly in-process of yardage roll simultaneously, and the yardage roll is trampled by the staff and influences cloth quality scheduling problem, if there are 170# and 210# series standard sign indicating number packing at present, the yardage roll width (including the outer packaging film) is 1750mm, 2000mm is not exceeded at the utmost, the yardage roll diameter is unified to be ≦ 175mm, weight ≦ 21 KG/volume's yardage roll, and the 13 meters high hurdle car of dress cloth vehicle standard specification: the net width of the vehicle is 2.375 meters, the height of the surface of the vehicle plate from the ground is 1.43 meters, the height of a loading cloth roll is less than or equal to 2.35 meters, the total length of the vehicle body is 16.7 meters, the loading length is 13 meters, the loading total amount of finished cloth is about 30 tons (about 30 ten thousand meters of cloth), according to measurement and calculation, 4 workers are required to operate in the conventional manual loading process, and the vehicle cloth is loaded about 4 hours, so that time and labor are wasted.

In conclusion, under the background of the era of robot exchange, enterprises actively seek intelligent solutions, and the automatic loading system is adopted to save labor and shorten the loading time of a single vehicle, so that the labor demand is reduced, the labor intensity of workers is reduced, and the labor productivity is improved. The scheme provides an automatic loading system and a solution for finished cloth rolls.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an automatic loading system for finished yardage rolls and application thereof, and solves the problems in the background technology.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the automatic finished product yardage roll loading system comprises a yardage frame automatic dividing single-roll system, a yardage roll automatic distributing conveying line, an automatic truss combined mechanical arm and a vehicle in-place system, wherein the yardage frame automatic dividing single-roll system is formed, the yardage roll automatic distributing conveying line and the automatic truss combined mechanical arm are sequentially connected, and the vehicle in-place system positions parked empty vehicles.

The automatic cloth frame dividing and single-roll removing system is composed of a cloth frame feeding and discharging conveyor, a cloth frame turning device, a cloth roll caching line, a single roll separating device, a single roll caching lifting line and an ultra-diameter cloth roll removing line, wherein the cloth frame turning device is arranged between the cloth frame feeding and discharging conveyor, the cloth roll caching line, the single roll separating device, the single roll caching lifting line and the ultra-diameter cloth roll removing line are connected behind the cloth roll turning device, and the cloth frame turning and discharging, the cloth roll caching and separating and the ultra-diameter cloth roll removing are sequentially completed.

The sectional type automatic yardage roll distribution conveying line comprises a sectional type distribution conveying line, a cylinder yardage roll removing mechanism and a yardage roll positioner, wherein the yardage roll positioner is arranged at two ends of the sectional type distribution conveying line, and the cylinder yardage roll removing mechanism is arranged on one side, far away from a vehicle, of the sectional type distribution conveying line.

Automatic truss combination manipulator comprises automatic truss, manipulator, automatic feed line, positioning system, manipulator top sliding connection is on automatic truss, automatic feed line links to each other with the manipulator, carries the yardage roll for the manipulator, positioning system installs at automatic truss top, and the positioning manipulator goes up and down at Z axle vertical direction, removes at X and Y axle direction accuracy.

The cloth frame is automatically divided into single-roll systems, the automatic cloth roll distribution conveying lines are arranged on the finished product platform, and the automatic truss combination mechanical arm is arranged in the loading area.

Preferably, the yardage roll turning device includes base, upset drive, drive mechanism, roll-over stand, the base is established in the middle of the material conveyer on the cloth frame, and the upset drive is established on the base, the roll-over stand is established on the base, the upset drive passes through drive mechanism and drives the roll-over stand and rotate to yardage roll buffer memory line one side.

Preferably, the single-roll separating device comprises a fixing plate and a separating frame, and the separating drive is used for driving the separating frame to rotate in a reciprocating mode to separate the cloth rolls to the single-roll cache lifting line.

Preferably, the manipulator includes horizontal pole, montant, unloading chamber, unloading board, unloading drive, horizontal pole sliding connection is on the length direction at automatic truss top, montant sliding connection is on the horizontal pole, unloading chamber top is connected to the bottom of montant, the unloading chamber is close to automatic feeding line one side and is equipped with the opening, and the opening part links to each other with automatic feeding line, the yardage roll falls into the unloading intracavity through automatic feeding line, the yardage roll is transferred through the unloading drive to the unloading board.

Preferably, the vehicle access system comprises the following specific working steps:

positioning step 1, installing a 3D scanner above a parking area;

a positioning step 2, stopping the loading truck in a parking area with a defined range (whether the loading truck parks in place or not can be detected);

and 3, positioning: after the vehicle stops in place, the 3D scanner above the parking area starts to work;

and 4, positioning: and analyzing information results such as the height of a baffle plate of the carriage of the vehicle, the position of 4 corners, the vehicle deflection angle and the like according to the obtained data, and sending the information results to an upper control system, wherein the upper control system controls a loading point of a truss manipulator for loading yardage rolls by using the data.

Preferably, the system also comprises a main electronic control system, a server and control software, wherein the automatic single-roll separating system, the automatic cloth roll distribution conveying line, the automatic truss combined mechanical arm and the vehicle in-place system are all connected with the main electronic control system, and the server is provided with a communication interface of an MES system.

Preferably, the system also comprises a finished product platform and a safety barrier arranged in the loading area.

The method is used for automatically loading the stopped vehicles through the vehicle in-place system, and comprises the following application steps:

step 1-cloth frame feeding: and placing the cloth frames conveyed by the manual forklift or the AGV to a feeding point of a feeding and discharging conveyor of the cloth frames.

Step 2, frame turning and roll out: the cloth frame passes through the cloth roll turning device, the cloth roll turning device turns over to the cloth roll cache line, and the cloth roll in the cloth frame falls into the cloth roll cache line.

Step 3-blanking with an empty frame: after the yardage roll is emptied, the yardage roll is automatically reset, the empty frame is sent to an empty frame discharging point, and the empty frame is displayed by a signal lamp and is notified to a forklift worker to take away.

Step 4-yardage roll caching: the sectional type design, except the buffer memory effect, still need handle the yardage roll that comes out in the cloth frame as far as possible and not overlap, make things convenient for subsequent single roll separation.

Step 5-single roll separation: the front end coming coils are separated in a single coil mode through the reciprocating rotation motion of the single coil separating device and are not close to each other.

Step 6-single volume caching: after the single rolls are separated, the single rolls fall into a single roll cache line, and the cache line is provided with separation clapboards which are distributed according to a certain width, so that the cloth rolls are not overlapped.

Step 7, removing the ultra-diameter cloth rolls; the tail end of the single-roll cache lifting line is subjected to diameter on-line detection, the cloth with the abnormal diameter is rejected, and an ultra-diameter cloth roll rejection line is entered. The robot does not enter an automatic manipulator, and needs to be additionally processed by manual car repairing.

Step 8, distributing and conveying the cloth: the single cloth roll enters into the automatic cloth roll distribution conveying line, and the cloth roll is distributed and conveyed to the feeding conveying line of the mechanical arm according to the specific position of the mechanical arm.

Step 9, mechanical feeding: and an automatic circulating type mechanical arm is adopted, the cloth rolls are fed in a filling mode, and the diameter of each cloth roll to be placed on the vehicle is detected, so that the mechanical arm determines the position of a coordinate point where each cloth roll is to be placed.

Step 10: and (3) finishing loading: the manipulator 32 repeats the loading until the loading is finished.

(III) advantageous effects

The invention provides an automatic loading system for finished cloth rolls and application thereof. The method has the following beneficial effects:

1. this finished product yardage roll automatic loading system and application thereof adopts automatic loading equipment of truss and supporting cloth frame to fall into single roll system automatically, and the transfer chain is allocated automatically to the yardage roll, carries out the yardage roll and turns over the frame automatically and go out the cloth, and automatic single roll is fed in proper order to the automatic mechanical hand in the single roll is kept apart in, accomplishes the yardage roll automatic loading, and degree of automation is high, has reduced the recruitment demand, alleviates workman intensity of labour, promotes productivity.

2. The finished product yardage roll automatic loading system and the application thereof adopt the cooperation of the upper and lower conveyors of the cloth frame and the cloth frame turning device to realize the automatic unloading of yardage rolls in the cloth frame and the recovery of the cloth frame, and the automation degree is high.

3. According to the automatic loading system for finished yardage rolls and the application thereof, the single-roll separation is performed on the front-end incoming rolls by adopting the reciprocating and reciprocating rotary motion of the single-roll separating device, and the feeding rhythm of yardage rolls is controlled, so that the loading of the system is smoother.

4. This finished product yardage roll automatic loading system and application thereof, the manipulator adopts the structure in unloading chamber, solves the difficult problem that snatchs of traditional yardage roll, and the yardage roll unloading is more convenient.

Drawings

FIG. 1 is a first general layout diagram of the present invention;

FIG. 2 is a front view of the present invention

FIG. 3 is a schematic top view of the structure of the present invention;

FIG. 4 is a schematic structural view of a cloth frame turnover device according to the present invention;

FIG. 5 is an enlarged view taken at A of FIG. 1 (single roll unwinding device state one);

FIG. 6 is an enlarged view of FIG. 2 at B (state two of the single reel unrolling device);

FIG. 7 is a second overall layout diagram of the present invention;

FIG. 8 is an enlarged view of the position C in FIG. 7 (showing the automatic dispensing and feeding of the fabric roll)

FIG. 9 is a third schematic view of the overall layout of the present invention;

fig. 10 is an enlarged view (a schematic view of a robot structure) at D of fig. 9;

FIG. 11 is a flow chart of the present invention.

In the figure: 1 cloth frame is automatically divided into a single-roll system, 11 cloth frame up-and-down conveyors, 12 cloth frame turning devices, 121 bases, 122 turning drives, 123 transmission mechanisms, 124 turning frames, 13 cloth roll cache lines, 14 single-roll splitting devices, 141 fixing plates, 142 splitting frames, 15 single-roll cache lifting lines, 16 super-diameter cloth roll removing lines, 161 super-diameter cloth roll removing and collecting points, 2 cloth roll automatic distribution conveying lines, 21 sectional distribution conveying lines, 22 cloth roll positioners, 3 automatic truss combined mechanical arms, 31 automatic trusses, 32 mechanical arms, 321 cross bars, 322 vertical rods, 323 blanking chambers, 324 blanking plates, 325 blanking drives, 33 automatic feeding lines, 4 vehicles, 5 cloth frames, 6 cloth rolls, 7 finished product platforms and 8 loading areas.

Detailed Description

The embodiment of the invention provides an automatic finished cloth roll loading system and application thereof, as shown in figure 1, a set of truss automatic loading equipment and a matched automatic cloth roll frame overturning and cloth discharging mode are adopted, single rolls are automatically fed into an automatic manipulator in sequence after being isolated, after a manual forklift or an AGV is used for carrying, the automatic loading of finished cloth conveyed without human operation can be realized, cloth frames containing the finished cloth are conveyed to a feeding point of a finished cloth loading area from a finished product warehouse, and the system automatically loads the cloth into a high-column vehicle. The loading beat of the standard code cloth roll can reach 4S/roll.

As shown in fig. 1, 2 and 3, the automatic finished product yardage roll loading system and the application thereof comprise a yardage frame automatically divided into a single roll system 1, a yardage roll automatically distributing and conveying line 2, an automatic truss combined mechanical arm 3 and a vehicle in-place system, wherein the yardage frame automatically divided into the single roll system 1, the yardage roll automatically distributing and conveying line 2 and the automatic truss combined mechanical arm 3 are sequentially connected, the vehicle in-place system positions a parked empty vehicle, determines the space coordinate point position information of a wagon carriage structure and a carriage fence, and assists the mechanical arm to automatically load the specific loading range of yardage rolls on the carriage fence, so that the yardage rolls are divided into single rolls, distributed and loaded.

The cloth frame is automatically divided into a single-roll system 1, the automatic cloth roll distribution conveying line 2 is arranged on a finished product platform 7, and the automatic truss combination manipulator 3 is arranged in a loading area 8.

As shown in fig. 1, the cloth frame automatic dividing single-roll system comprises a cloth roll diameter on-line detection, not shown in the figure 1, the cloth frame turning device 12 is arranged in the middle of the cloth frame feeding and discharging conveyor 11, the cloth frame turning device 12 is connected with the cloth roll buffer line 13, the single-roll separating device 14, the single-roll buffer lifting line 15 and the super-diameter cloth roll removing line 16 behind the cloth roll turning device 12, and the cloth frame turning blanking, the cloth roll buffer separating and the super-diameter cloth roll removing are sequentially completed.

The cloth frame feeding and discharging conveyor 11 comprises two temporary storage positions of cloth frames and automatically feeds the cloth frames in a progressive mode. The fork truck can also use an AGV to feed materials;

as shown in fig. 4, the yardage roll turning device 12 includes a base 121, a turning drive 122, a transmission mechanism 123, and a turning frame 124, where the base 121 is disposed in the middle of the frame cloth feeding and discharging conveyor 11, the turning drive 122 is disposed on the base 121, the turning frame 124 is disposed on the base 121, and the turning drive 122 drives the turning frame 124 to rotate toward the yardage roll cache line 13 through the transmission mechanism 123. After the cloth frame is in place, the cloth frame is turned over for a certain angle, and the cloth rolls in the cloth frame are enabled to fall out to the cloth roll cache line as far as possible; after the yardage roll is emptied, the yardage roll is automatically reset, the empty frame is sent to an empty frame discharging point, and the empty frame is displayed by a signal lamp and is notified to a forklift worker to take away. The full frame cloth enters the cloth roll turning device 12.

The cloth roll cache line 13 is designed in a sectional manner, and besides the cache function, the cloth rolls coming out of the cloth frame need to be processed to the greatest extent so as not to be overlapped, and the subsequent separation of single rolls is facilitated.

The single-roll separating device 14 comprises a fixing plate 141 and a separating frame 142, and is used for separating rolls, wherein the fixing plate 141 is vertically erected between the cloth roll cache line 13 and the single-roll cache lifting line 15, two ends of the separating frame 142 are hinged between the fixing plates 141, and the separating frame 142 is driven by the separating drive to turn over so as to separate the cloth rolls to the single-roll cache lifting line 15. Fig. 5 shows a first state of the single-roll unwinding device, and fig. 6 shows a second state of the single-roll unwinding device. The front end incoming rolls are separated in a single roll mode through a reciprocating rotating mechanism and are not close to each other.

And a single-roll buffer lifting line 15 falls into the single-roll buffer line after the single roll is separated, a separating partition plate distributed according to a certain width is arranged on the buffer line, the tail end of the buffer line is provided with a diameter on-line detection, the cloth with the abnormal diameter is removed, the cloth enters an ultra-diameter cloth roll removing line 16, the cloth does not enter an automatic manipulator, and the cloth is additionally loaded by a manual operation.

As shown in fig. 8, the yardage roll automatic distribution conveying line 2 comprises a sectional distribution conveying line 21, a cylinder yardage roll removing mechanism and a yardage roll positioner 22, wherein the yardage roll positioner 22 is arranged at two ends of the sectional distribution conveying line 21, and the cylinder yardage roll removing mechanism is arranged at one side, far away from a loading, of the sectional distribution conveying line 21.

Automatic yardage roll distribution conveying line 2: the single cloth roll enters the automatic cloth roll distribution conveying line 2, and the cloth roll is distributed and conveyed to an automatic feeding line 33 of the mechanical arm 32 according to the specific position of the mechanical arm 32.

Sectional type allocation transfer chain 21 has the multistage to constitute, distributes along the length edge of 13 meters car, and sectional type allocation transfer chain 21 has two yardage roll locators 22 that move the location, can control the specific position that the yardage roll will arrive follow the removal location according to the position of manipulator 32 automatic feed line 33, carries the location as the switching of yardage roll 6.

As shown in fig. 2, the automatic truss combined mechanical arm 3 is composed of an automatic truss 31, a mechanical arm 32, an automatic feed line 33 and a positioning system 34, wherein the top of the mechanical arm 32 is connected to the automatic truss 31 in a sliding manner, the automatic feed line 33 is connected with the mechanical arm 32 to convey the cloth roll to the mechanical arm 32, the positioning system 34 is installed at the top of the automatic truss 31, and the positioning mechanical arm 32 is lifted in the vertical direction of the Z axis and moves accurately in the directions of the X axis and the Y axis.

Automatic truss 31 adopts steel construction mode, makes the manipulator walk on the track along girder and end beam and carries out the removal of X and Y direction, and all remove and adopt high accuracy positioning system, guarantee the walking stop bit precision, and the essential element adopts the import brand. The end beam and the upright post need to be fixed on site, and long-time deformation is guaranteed, so that the operation precision of the system is guaranteed;

as shown in fig. 10, an automatic manipulator 32 installed on the automatic truss 31 includes a cross rod 321, a vertical rod 322, a discharging cavity 323, a discharging plate 324 and a discharging drive 325, the cross rod 321 is slidably connected to the length direction of the top of the automatic truss 31, the vertical rod 322 is slidably connected to the cross rod 321, the bottom end of the vertical rod 322 is connected to the top of the discharging cavity 323, an opening is formed in one side of the discharging cavity 323 close to the automatic feeding line 33, the opening is connected to the automatic feeding line 33, the cloth roll 6 falls into the discharging cavity 323 through the automatic feeding line 33, and the cloth roll 6 is discharged from the discharging plate 324 through the discharging drive 325. As shown in fig. 10, using an automatic circulation robot, roll-fill feeding, diameter detection is performed for each roll of cloth to be loaded down onto the cart so that the robot determines the coordinate point location where each roll of cloth is to be placed.

The manipulator 32 can be lifted in the vertical direction of the Z axis, and the top trolley can be controlled to move accurately in the X and Y axis directions. The manipulator 32 is accurately controlled in displacement on the X-Y-Z axis, and smooth control of loading actions is realized by adopting a plurality of groups of high-precision sensors;

when loading, the manipulator 32 sequentially moves back and forth from the carriage plate upward in the top view direction to place the fabric rolls in layers.

The left side and the right side of the manipulator 32 are provided with anti-collision mechanisms for safety protection to prevent the manipulator from colliding with guardrails.

The manipulator 32 loads the vehicle from the head to the tail of the vehicle in turn according to 7 vertical rows on the 13-meter vehicle, the yardage rolls between each row are as close as possible, and gaps between each row are reduced.

As shown in fig. 10, an automatic feed line 33 is responsible for the stepwise feeding of the single rolls in the robot 32, each roll being individually separated by a baffle to ensure that the supply of rolls in the robot 32 is continuous in sequence.

The vehicle in-place system is fixedly arranged on the automatic truss 31, and the transport vehicle is required to be stopped in place in a specified area according to requirements before loading, so that the next loading work can be carried out; the vehicle in-place system configured by the system consists of the following parts:

ground guide indicator strip: the driver can conveniently park in the loading position according to the guidance when entering the loading parking space.

Vehicle edge induction: the side of the vehicle and the truss end beam are parallel by adopting a sensing detection mode, and the distance is within 0.5 meter of the required side.

And (3) tail parking limitation: the tail of the vehicle is required to be stopped in a required area and allowed to be within a range of one meter, and the ground is also provided with a mark;

the three-color signal lamp is close to the cab: the red light is on, and the parking is not in place; the green light is on, the parking is in place, and the driver can leave the vehicle.

The vehicle in-place system 4 specifically comprises the following steps:

positioning step 1, installing a 3D scanner above a parking area;

positioning step 2, detecting whether the loading truck parks in place or not when the loading truck parks in a parking area in a defined range;

and 3, positioning: after the vehicle stops in place, the 3D scanner above the parking area starts to work;

and 4, positioning: and analyzing information results such as the height of a baffle plate of the carriage of the vehicle, the position of 4 corners, the vehicle deflection angle and the like according to the obtained data, and sending the information results to an upper control system, wherein the upper control system controls a loading point of a truss manipulator for loading yardage rolls by using the data.

The automatic cloth roll distribution and conveying system comprises an automatic cloth roll distribution and conveying line 2, an automatic truss combination manipulator 3 and a vehicle in-place system 4, and is characterized by further comprising a main electronic control system, a server and control software, wherein the automatic cloth roll distribution and conveying line, the automatic truss combination manipulator 3 and the vehicle in-place system 4 are all connected with the main electronic control system, and the server is provided with a communication interface of an MES system.

And otherwise, installing a safety guardrail in the finished product yardage roll automatic loading system and the application operation area thereof.

In conclusion, the automatic finished product yardage roll special vehicle system automatically loads the vehicle 7 stopped by the vehicle in-place system 4, and the specific steps are as follows: the overall flow is shown in fig. 11.

Step 1-cloth frame feeding: the cloth frames conveyed by the manual forklift or the AGV are placed at the feeding points of the feeding and discharging conveyor 11 of the cloth frames 5.

Step 2, frame turning and roll out: the cloth frame 5 passes through the cloth roll turning device 12, the cloth roll turning device 12 turns towards the cloth roll cache line 13, and the cloth roll 6 in the cloth frame 5 falls into the cloth roll cache line 13.

Step 3-blanking with an empty frame: after the yardage roll is emptied, the yardage roll is automatically reset, the empty frame is sent to an empty frame discharging point, and the empty frame is displayed by a signal lamp and is notified to a forklift worker to take away.

Step 4-yardage roll caching: the sectional type design, except the buffer memory effect, still need handle the yardage roll that comes out in the cloth frame as far as possible and not overlap, make things convenient for subsequent single roll separation.

Step 5-single roll separation: the front end coming rolls are separated in a single roll mode through the reciprocating rotation motion of the single roll separating device (14) and are not close to each other.

Step 6-single volume caching: after the single rolls are separated, the single rolls fall into a single roll cache line, and the cache line is provided with separation clapboards which are distributed according to a certain width, so that the cloth rolls are not overlapped.

Step 7, removing the ultra-diameter cloth rolls; the tail end of the single-roll cache lifting line 15 is provided with diameter on-line detection, the cloth with abnormal diameter is removed, and the cloth enters an ultra-diameter cloth roll removing line 16. The robot does not enter an automatic manipulator, and needs to be additionally processed by manual car repairing.

Step 8, distributing and conveying the cloth: the single cloth roll enters into the automatic cloth roll distribution conveying line, and the cloth roll is distributed and conveyed to the feeding conveying line of the mechanical arm according to the specific position of the mechanical arm.

Step 9, mechanical feeding: and an automatic circulating type mechanical arm is adopted, the cloth rolls are fed in a filling mode, and the diameter of each cloth roll to be placed on the vehicle is detected, so that the mechanical arm determines the position of a coordinate point where each cloth roll is to be placed.

Step 10: and (3) finishing loading: the manipulator 32 repeats the loading until the loading is finished.

In conclusion, the automatic finished cloth roll loading system and the application thereof adopt the automatic truss loading equipment and the matched cloth frame to automatically divide into the single roll system, automatically distribute and convey the cloth rolls to automatically turn over the frame and discharge the cloth, automatically feed the single rolls into the automatic manipulator in sequence after the single rolls are isolated, complete the automatic cloth roll loading, have high automation degree, reduce the labor demand, lighten the labor intensity of workers and improve the labor productivity.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.