CN109279513B - Automatic feeding method for cutting wirecord fabric - Google Patents

Automatic feeding method for cutting wirecord fabric Download PDF

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Publication number
CN109279513B
CN109279513B CN201811360146.1A CN201811360146A CN109279513B CN 109279513 B CN109279513 B CN 109279513B CN 201811360146 A CN201811360146 A CN 201811360146A CN 109279513 B CN109279513 B CN 109279513B
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CN
China
Prior art keywords
roll
cord fabric
hydraulic cylinder
wirecord
workbench
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Active
Application number
CN201811360146.1A
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Chinese (zh)
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CN109279513A (en
Inventor
彭金勇
龚国安
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Guilin Lichuang Mechanical & Electrical Equipment Co ltd
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Guilin Lichuang Mechanical & Electrical Equipment Co ltd
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Application filed by Guilin Lichuang Mechanical & Electrical Equipment Co ltd filed Critical Guilin Lichuang Mechanical & Electrical Equipment Co ltd
Priority to CN201811360146.1A priority Critical patent/CN109279513B/en
Publication of CN109279513A publication Critical patent/CN109279513A/en
Application granted granted Critical
Publication of CN109279513B publication Critical patent/CN109279513B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
    • B66C1/30—Duplicate, e.g. pivoted, members engaging the loads from two sides and also arranged to grip the sides of the loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/625—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for gripping drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Replacement Of Web Rolls (AREA)

Abstract

The invention discloses an automatic feeding system for cutting a wirecord fabric, which comprises a cord fabric roll grabbing and discharging robot, a cord fabric roll storage station and a cord fabric roll unwinding device, wherein the cord fabric roll storage station and the cord fabric roll unwinding device are arranged on a rotating station of the cord fabric roll grabbing and discharging robot, the cord fabric roll grabbing and discharging robot comprises a workbench which is arranged on a chassis and is driven to rotate by a hydraulic motor, a lifting arm which is arranged on the workbench and is controlled to pitch by a luffing hydraulic cylinder, a suspension arm which is arranged on the lifting arm and is driven to stretch by a variable-pitch hydraulic cylinder, a vertical boom which is suspended on the suspension arm and is stably supported by a back pressure hydraulic cylinder, and a support frame which is arranged on the vertical boom and is driven to rotate by a servo motor, and a left roll clamp and a right roll clamp which are arranged on the support frame are respectively controlled by a left opening and a right opening hydraulic cylinder to synchronously close and grab a wirecord fabric large roll and synchronously open and release the wirecord fabric large roll. The invention can automatically operate, saves feeding time and manpower resources, effectively reduces the work auxiliary time for cutting the wirecord fabric, and improves the competitiveness of tire manufacturers.

Description

Automatic feeding method for cutting wirecord fabric
Technical Field
The invention relates to tire manufacturing production equipment, in particular to an automatic feeding system for cutting a wirecord fabric.
Background
The cutting of the wirecord fabric is an important process for producing the tire, the belt ply and the reinforcing layer part of the tire need to be cut into products with certain width and angle, and then the products are conveyed, spliced, rubberized and coiled, so that the subsequent process is facilitated to form the tire blank.
At present, most of domestic tire manufacturers use a manual operation forklift or crane to manually push a charging trolley to a fixed point, then the charging trolley is lifted by a single arm, the working speed of a cutting machine production line is faster and faster along with the continuous increase of the productivity of the tire manufacturers, the proportion of the effective working time is not large, the auxiliary time of frequent replacement of the charging rolls becomes a bottleneck for restricting the production efficiency, each shift needs to cut 4-5 large charging rolls with the diameter of 1.2 m, 2 persons change the rolls, the fastest shift also needs tens of minutes, the longest shift needs forty minutes, and the consumed time has great influence on the production.
Fork truck or driving lift by the suspender and hang the material and roll up during the loading, remove gradually to the safety chuck of unwinding device working position, need the manpower constantly promote between them to transfer the material and roll up in order that the square shaft at material roll both ends falls into safety chuck bayonet socket, for every 3 tons of big coil material its degree of exertion is self-evident, the condition of manual promotion material roll dolly material loading is even more, its shortcoming of such material loading mode lies in:
1. the operation is repeated labor, and the labor intensity of workers is high.
2. The feeding process occupies a large part of effective working time and has low efficiency.
3. High labor costs are required.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing an automatic wirecord fabric cutting feeding system for replacing manual feeding.
The automatic feeding system is decided to wirecord fabric that can solve above-mentioned technical problem, and its technical scheme includes that the curtain cloth is rolled up and is grabbed the blowing robot, locates curtain cloth rolling up and grabs curtain cloth rolling up stock station and curtain cloth rolling up unwinding device on the blowing robot rotation station, wherein:
1. the curtain cloth winding, grabbing and discharging robot comprises a workbench, a lifting arm, a front telescopic hanging arm, a rear telescopic hanging arm, a hanging rod and a support frame, wherein the workbench is arranged on a chassis and is driven to rotate on a horizontal plane by a hydraulic motor, the lifting arm is arranged on the workbench and is controlled to pitch in a vertical plane by a luffing hydraulic cylinder, the hanging arm is arranged on the lifting arm and is driven by a variable-pitch hydraulic cylinder to stretch forwards and backwards, the hanging rod is hung on the hanging arm and is stably supported by a back pressure hydraulic cylinder, the support frame is arranged on the hanging rod and is driven to rotate on the horizontal plane by a servo motor, and left and right winding clamps arranged on the support frame are respectively controlled by a left and right opening and closing hydraulic cylinder to synchronously close and grab a large steel wire curtain cloth roll and synchronously open and release the large steel wire curtain cloth roll.
2. The cord fabric roll stock station comprises horizontal rails which are supported and installed by a bracket and are parallel to each other, the large steel cord fabric roll is arranged between the two rails, and two shaft ends of a roll material shaft of the large steel cord fabric roll are respectively arranged on the two rails in a rolling way.
Further, the workbench is arranged on the chassis through a turntable bearing, and the hydraulic motor drives the workbench to rotate through a first gear transmission pair in the turntable bearing.
Further, the rear lower end of the lifting arm is hinged on the workbench, the amplitude changing hydraulic cylinder is obliquely arranged between the workbench and the lifting arm, the rear lower end of the cylinder body of the amplitude changing hydraulic cylinder is hinged on the workbench, and the front upper end of the cylinder rod of the amplitude changing hydraulic cylinder is hinged at the bottom of the lifting arm.
Further, the cantilever arm is inserted into the lifting arm, the rear end of the cylinder body of the variable-pitch hydraulic cylinder is fixedly arranged in the lifting arm, and the front end of the cylinder rod of the variable-pitch hydraulic cylinder is connected with the cantilever arm.
Further, the upper end of the vertical boom is hinged to the cantilever arm, the angle-changing hydraulic cylinder is obliquely arranged between the vertical boom and the cantilever arm, the upper end of the rear cylinder body of the angle-changing hydraulic cylinder is hinged to the cantilever arm, and the front lower end of the cylinder rod of the angle-changing hydraulic cylinder is hinged to the rod body of the vertical boom through a clamping mechanism.
Still further, the support frame passes through the bearing assembly and installs in the lower extreme of hanging down the jib, servo motor locates on the clamping mechanism and drives the support frame through the second gear drive pair on the bearing assembly and rotate.
Further, the upper ends of the left and right material winding clamps are hinged on the supporting frame respectively, the left and right opening and closing hydraulic cylinders are arranged between the left and right material winding clamps and the supporting frame respectively, the lower ends of the outer cylinder rods of the opening and closing hydraulic cylinders are hinged on the corresponding material winding clamps, and the upper ends of the inner cylinder bodies of the opening and closing hydraulic cylinders are hinged on the corresponding positions of the bearing assemblies or the supporting frame.
In an optimized scheme, a hydraulic control unit of the system is arranged on the workbench, and the hydraulic control unit and the lifting arm are arranged in the opposite direction to form a lifting counterweight of the system.
In an optimized scheme, the cord fabric roll storage station and the cord fabric roll unwinding device are positioned in a working range of 15-75 degrees of the cord fabric roll grabbing and unwinding robot.
The invention has the beneficial effects that:
the automatic wirecord fabric cutting and feeding system can automatically identify the position of a wirecord fabric large roll at a cord fabric roll storage station, the wirecord fabric large roll is grabbed by a grabbing manipulator (left roll material clamp and right roll material clamp) under the control of a hydraulic system, and the wirecord fabric large roll is transferred through rotation or expansion of a moving mechanism, so that a cord fabric roll unwinding device which is in a working range of 15-75 degrees with the cord fabric roll storage station is automatically identified, and the wirecord fabric large roll is accurately loaded on the cord fabric roll unwinding device.
The advantages of the invention are as follows:
1. has a wide operating range and a simple structure.
2. The hydraulic control unit (integrated with a hydraulic oil tank, a hydraulic pump and a hydraulic valve group) is arranged on the back side of the lifting arm as a counterweight so as to reduce bending moment of the large coil of the wirecord fabric to the rotary table when the suspending arm works, and stability and reliability of the chassis are improved.
3. The rotary motion quantity of the grabbing mechanical arm (left and right winding clamps) is precisely controlled by a servo motor with feedback, so that the position of the winding can be finely adjusted when the large wire cord fabric roll is loaded to the cord fabric roll unwinding device.
4. The manual intervention is not needed, and the degree of automation is high.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic structural view of the cord fabric roll grabbing and discharging robot in the embodiment of fig. 1.
Drawing number identification: 1. a curtain cloth roll grabbing and discharging robot; 2. a cord fabric roll stock station; 3. a curtain cloth roll unwinding device; 4. a chassis; 5. a hydraulic motor; 6. a work table; 7. a variable amplitude hydraulic cylinder; 8. lifting the boom; 9. a cantilever arm; 10. a variable-pitch hydraulic cylinder; 11. a back pressure hydraulic cylinder; 12. a hanging rod; 13. a support frame; 14. a material winding clamp; 15. opening and closing the hydraulic cylinder; 16. large rolls of wirecord fabric; 17. a hydraulic valve block; 18. a hydraulic pump; 19. a hydraulic oil tank; 20. a bracket; 21. a track; 22. a turntable bearing; 23. a clamping mechanism; 24. a bearing assembly; 25. a servo motor; 26. a second gear pair; 27. a first gear pair.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment shown in the drawings.
The automatic wire cord fabric cutting and feeding system comprises a cord fabric roll grabbing and discharging robot 1, a cord fabric roll storage station 2 and a cord fabric roll unwinding device 3 (in the prior art), wherein the cord fabric roll storage station 2 and the cord fabric roll unwinding device 3 are respectively arranged on a rotating station (15-75-degree working interval) of a manipulator of the cord fabric roll grabbing and discharging robot 1, as shown in figure 1.
The cord fabric roll stock station 2 comprises left, right, front and rear horizontal rails 21 which are supported and installed on a front bracket 20 and a rear bracket 20, or front, rear, left and right horizontal rails 21 which are supported and installed on the left bracket 20 and the right bracket 20, the large steel cord fabric roll 16 can be placed between the two side rails 21, and two shaft ends of a roll material shaft of the large steel cord fabric roll 16 are respectively placed on the two side rails 21 in a rolling way; the stock station 2 for the cord fabric roll may be connected to a rolling station of a cord fabric calender, and the rolled cord fabric large roll 16 may be erected on rails 21 on both sides of a bracket 20, and the cord fabric large roll 16 may be rolled to a predetermined position on the rails 21 by manpower, as shown in fig. 1.
The curtain cloth winding, grabbing and discharging robot 1 comprises a workbench 6, a lifting arm 8, a cantilever arm 9, a hanging boom 12 and a supporting frame 13 which are arranged on the basis of a chassis 4, wherein the chassis 4 is arranged on the ground of a production field (can bear 20 tons of load) by using foundation bolts, the workbench 6 is arranged on the chassis 4 through a turntable bearing 22, a hydraulic motor 5 arranged on the workbench 6 drives the workbench 6 to rotate through a first gear transmission pair 27 in the turntable bearing 22, the rear lower end of a folded lifting boom 8 (a plate welding type cavity structure with excellent mechanical property) is hinged on the workbench 6 through a machine seat, the rear part of the cantilever arm 9 (the plate welding type cavity structure with excellent mechanical property) is inserted and assembled in the front part of the lifting arm 8, a variable-pitch hydraulic cylinder 10 is arranged in the rear part of the lifting arm 8, the rear end of a cylinder body of the variable-pitch hydraulic cylinder 10 is fixedly arranged, the front end of a cylinder rod of the variable-pitch hydraulic cylinder 10 is connected to the rear end of the cantilever arm 9, the upper end of the vertical boom 12 is hinged to the bottom of the front end of the cantilever arm 9, a back pressure hydraulic cylinder 11 (controlling the stability of the vertical boom 12 in operation) is arranged between the vertical boom 12 and the cantilever arm 9, the rear upper end of the cylinder body of the back pressure hydraulic cylinder 11 is hinged to the bottom of the arm body of the cantilever arm 9, the front lower end of the cylinder rod of the back pressure hydraulic cylinder 11 is hinged to a clamping mechanism 23 arranged on the rod body of the vertical boom 12, and a supporting frame 13 is arranged at the lower end of the vertical boom 12 through a bearing assembly 24, as shown in fig. 2.
The bottom of the supporting frame 13 is respectively provided with a left material winding clamp 14 and a right material winding clamp 14, the upper ends of the left material winding clamp 14 and the right material winding clamp 14 are respectively hinged on the supporting frame 13, a left opening and closing hydraulic cylinder 15 and a right opening and closing hydraulic cylinder 15 are respectively arranged between the middle parts of the left material winding clamp 14 and the right material winding clamp 14 and the supporting frame 13, the lower ends outside cylinder rods of the opening and closing hydraulic cylinders 15 are hinged on the corresponding material winding clamps 14, and the upper ends in the cylinder bodies of the opening and closing hydraulic cylinders 15 are hinged on the corresponding positions of the bearing assemblies 24 or the supporting frame 13, as shown in fig. 2.
The hydraulic system control unit is arranged on the machine base of the workbench 6 opposite to the direction of the lifting arm 8, and is integrated with a hydraulic oil tank 19, a hydraulic pump 18 and a hydraulic valve group 17, and the total weight of the hydraulic system control unit is used as a lifting counterweight of the system, as shown in fig. 2.
The operation mode of the invention is as follows:
1. the large wirecord roll 16 is manually rolled to a preparation station of the cord roll stock station 2, and a sensor mounted beside the preparation station detects the large wirecord roll 16, and a limit stop on the rail 21 and a set of small pneumatic stops extend to limit the large wirecord roll 16 from rolling arbitrarily on the rail 21.
2. The curtain cloth roll grabbing and discharging robot 1 returns to zero, the hydraulic motor 5 drives the workbench 6 to rotate towards the curtain cloth roll storage station 2, the rotation target is that the curtain cloth roll storage station 2 waits for a large steel wire curtain cloth roll 16 on a station, the camera sensor and the proximity sensor arranged on the cantilever arm 9 enter a working state, the accurate position of the large steel wire curtain cloth roll 16 is fed back to an upper computer, the mutual movement of the hydraulic motor 5, the amplitude changing hydraulic cylinder 7, the variable-pitch hydraulic cylinder 10 and the servo motor 25 is controlled through program judgment and comparison, meanwhile, the left and right material roll clamps 14 are opened and lowered to the large steel wire curtain cloth roll 16, and the left and right opening and closing hydraulic cylinders 15 drive the left and right material roll clamps 14 to encircle the large steel wire curtain cloth roll 16.
3. After the sensor detects that the large steel wire cord fabric roll 16 is in place in the left and right material roll clamps 14, the amplitude changing hydraulic cylinder 7 pushes the lifting arm 8 to lift upwards, the camera sensor and the proximity sensor search specific positions of the cord fabric roll unwinding device 3, the program controls the hydraulic motor 5, the amplitude changing hydraulic cylinder 7, the variable-distance hydraulic cylinder 10 and the servo motor 25 to move mutually again, the large steel wire cord fabric roll 16 is accurately placed into the bearing position of the cord fabric roll unwinding device 3 through the left and right material roll clamps 14, the left and right material roll clamps 14 are lifted to exit the unwinding working area after being opened, automatic feeding work is completed, and the cord fabric roll grabbing and unwinding robot 1 returns to zero to wait for the next loading cycle.
The left and right material roll clamps 14 ensure the working stability (no shaking) of the hanging rod 12 by the back pressure hydraulic cylinder 11 during the operation of carrying the large steel cord fabric roll 16.

Claims (8)

1. The automatic wirecord fabric cutting and feeding method is characterized by adopting an automatic wirecord fabric cutting and feeding system, wherein the automatic wirecord fabric cutting and feeding system comprises a cord fabric roll grabbing and feeding robot (1), a cord fabric roll storage station (2) and a cord fabric roll unwinding device (3) which are arranged on a rotating station of the cord fabric roll grabbing and feeding robot (1), the cord fabric roll grabbing and feeding robot (1) comprises a workbench (6) which is arranged on a chassis (4) and driven by a hydraulic motor (5) to rotate on a horizontal plane, a lifting arm (8) which is arranged on the workbench (6) and controlled by a luffing hydraulic cylinder (7) to pitch in a vertical plane, a cantilever arm (9) which is arranged on the lifting arm (8) and driven by a variable-pitch hydraulic cylinder (10) to stretch forwards and backwards, a vertical boom (12) which is suspended on the cantilever arm (9) and is provided with stable support by a back pressure hydraulic cylinder (11), and a support frame (13) which is arranged on the vertical boom (12) and is driven by a servo motor (25) to rotate on the horizontal plane, the support frame (13) is provided with a left support frame (16) and a right support roll (16) which is arranged on the horizontal roll (20) and a synchronous roll (20) which is controlled by a synchronous roll releasing rail (20), the wire cord fabric large roll (16) is arranged between two tracks (21), two shaft ends of a roll material shaft of the wire cord fabric large roll (16) are respectively arranged on the two tracks (21) in a rolling way, a hydraulic system control unit integrated with a hydraulic oil tank (19), a hydraulic pump (18) and a hydraulic valve group (17) is arranged on a workbench (6), and the hydraulic system control unit and a lifting arm (8) are arranged in opposite directions to form a lifting counterweight of the system, and the operation mode is as follows:
(1) manually rolling the large wirecord fabric roll (16) to a preparation station of the cord fabric roll stock station (2), detecting the large wirecord fabric roll (16) by a sensor arranged beside the preparation station, and extending a limit stop block and a group of pneumatic small baffles on the track (21) to limit the large wirecord fabric roll (16) so as to prevent the large wirecord fabric roll from arbitrarily rolling on the track (21);
(2) the curtain cloth roll grabbing and discharging robot (1) returns to zero, the hydraulic motor (5) drives the workbench (6) to rotate towards the curtain cloth roll storage station (2), the rotation target is that the curtain cloth roll storage station (2) waits for a large steel wire curtain cloth roll (16) on a station, a camera sensor and a proximity sensor arranged on the cantilever arm (9) enter a working state, the accurate position of the large steel wire curtain cloth roll (16) is fed back to an upper computer, the hydraulic motor (5), the amplitude changing hydraulic cylinder (7), the distance changing hydraulic cylinder (10) and the servo motor (25) are controlled to move mutually through program judgment and comparison, meanwhile, the left material roll clamp (14) and the right material roll clamp (14) are opened and lowered to the large steel wire curtain cloth roll (16), and the left material roll clamp (14) and the right material roll clamp (15) are driven to clamp the large steel wire curtain cloth roll (16) in a surrounding mode;
(3) after the sensors detect that the large steel wire cord fabric roll (16) is in place in the left material roll clamp (14) and the right material roll clamp (14), the amplitude changing hydraulic cylinder (7) pushes the lifting arm (8) to lift, the camera sensor and the proximity sensor search specific positions of the cord fabric roll unwinding device (3), the program controls the hydraulic motor (5), the amplitude changing hydraulic cylinder (7), the variable-pitch hydraulic cylinder (10) and the servo motor (25) to move mutually again, the large steel wire cord fabric roll (16) is accurately placed in the bearing position of the cord fabric roll unwinding device (3) through the left material roll clamp (14) and the right material roll clamp (14) after being opened, the large steel wire cord fabric roll is lifted out of the unwinding device (3), automatic feeding work is completed, and the cord fabric roll grabbing and unwinding robot (1) returns to zero to wait for the next loading cycle.
2. The automatic wirecord fabric cutting and feeding method according to claim 1, wherein: the workbench (6) is arranged on the chassis (4) through a turntable bearing (22), and the hydraulic motor (5) drives the workbench (6) to rotate through a first gear transmission pair (27) in the turntable bearing (22).
3. The automatic wirecord fabric cutting and feeding method according to claim 1, wherein: the rear lower end of the lifting arm (8) is hinged on the workbench (6), the amplitude changing hydraulic cylinder (7) is obliquely arranged between the workbench (6) and the lifting arm (8), the rear lower end of the cylinder body of the amplitude changing hydraulic cylinder (7) is hinged on the workbench (6), and the front upper end of the cylinder rod of the amplitude changing hydraulic cylinder (7) is hinged at the bottom of the lifting arm (8).
4. The automatic wirecord fabric cutting and feeding method according to claim 1, wherein: the cantilever arm (9) is inserted into the lifting arm (8), the rear end of the cylinder body of the variable-pitch hydraulic cylinder (10) is fixedly arranged in the lifting arm (8), and the front end of the cylinder rod of the variable-pitch hydraulic cylinder (10) is connected with the cantilever arm (9).
5. The automatic wirecord fabric cutting and feeding method according to claim 1, wherein: the upper end of the vertical boom (12) is hinged to the cantilever arm (9), the back pressure hydraulic cylinder (11) is obliquely arranged between the vertical boom (12) and the cantilever arm (9), the rear upper end of the cylinder body of the back pressure hydraulic cylinder (11) is hinged to the cantilever arm (9), and the front lower end of the cylinder rod of the back pressure hydraulic cylinder (11) is hinged to the rod body of the vertical boom (12) through the clamping mechanism (23).
6. The automatic wirecord fabric cutting and feeding method according to claim 5, wherein: the support frame (13) is arranged at the lower end of the vertical boom (12) through a bearing assembly (24), and the servo motor (25) is arranged on the clamping mechanism (23) and drives the support frame (13) to rotate through a second gear transmission pair (26) on the bearing assembly (24).
7. The automatic wirecord fabric cutting and feeding method as claimed in claim 6, wherein: the upper ends of the left and right coil clamps (14) are hinged on the supporting frame (13), the left and right opening and closing hydraulic cylinders (15) are respectively arranged between the left and right coil clamps (14) and the supporting frame (13), the lower ends of the outer cylinder rods of the opening and closing hydraulic cylinders (15) are hinged on the corresponding coil clamps (14), and the upper ends of the inner cylinder bodies of the opening and closing hydraulic cylinders (15) are hinged on the corresponding positions of the bearing assemblies (24) or the supporting frame (13).
8. The automatic feeding method for cutting wirecord fabric according to any one of claims 1 to 7, characterized in that: the cord fabric roll storage station (2) and the cord fabric roll unwinding device (3) are positioned in the working range of 15-75 degrees of the cord fabric roll grabbing and unwinding robot (1).
CN201811360146.1A 2018-11-15 2018-11-15 Automatic feeding method for cutting wirecord fabric Active CN109279513B (en)

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Application Number Priority Date Filing Date Title
CN201811360146.1A CN109279513B (en) 2018-11-15 2018-11-15 Automatic feeding method for cutting wirecord fabric

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Application Number Priority Date Filing Date Title
CN201811360146.1A CN109279513B (en) 2018-11-15 2018-11-15 Automatic feeding method for cutting wirecord fabric

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CN109279513B true CN109279513B (en) 2024-03-01

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US11945104B2 (en) * 2021-01-08 2024-04-02 International Business Machines Corporation Jib crane mechanism
CN114043571B (en) * 2021-12-15 2024-06-11 桂林中昊力创机电设备有限公司 Take carcass curtain cloth of safety protection link gear to decide licker-in device

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CN106275116A (en) * 2016-09-08 2017-01-04 深圳前海默克智能科技有限公司 Crawler-type multifunctional agricultural equipment
CN209242522U (en) * 2018-11-15 2019-08-13 桂林中昊力创机电设备有限公司 Steel wire cord fabric cutting automatical feeding system

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JPH06262699A (en) * 1993-03-12 1994-09-20 Yokohama Rubber Co Ltd:The Method and device for gripping and transferring green tire
CN201317633Y (en) * 2008-12-17 2009-09-30 三角轮胎股份有限公司 Special-purpose electric vehicle for loading and unloading tire molding drum
KR101076205B1 (en) * 2011-03-11 2011-10-24 주식회사 경한 Continuous feed unit
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CN106275116A (en) * 2016-09-08 2017-01-04 深圳前海默克智能科技有限公司 Crawler-type multifunctional agricultural equipment
CN209242522U (en) * 2018-11-15 2019-08-13 桂林中昊力创机电设备有限公司 Steel wire cord fabric cutting automatical feeding system

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