CN111876980B - Automatic turn-over device for long-roll sock leg and control method - Google Patents
Automatic turn-over device for long-roll sock leg and control method Download PDFInfo
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- CN111876980B CN111876980B CN202010687697.XA CN202010687697A CN111876980B CN 111876980 B CN111876980 B CN 111876980B CN 202010687697 A CN202010687697 A CN 202010687697A CN 111876980 B CN111876980 B CN 111876980B
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06G—MECHANICAL OR PRESSURE CLEANING OF CARPETS, RUGS, SACKS, HIDES, OR OTHER SKIN OR TEXTILE ARTICLES OR FABRICS; TURNING INSIDE-OUT FLEXIBLE TUBULAR OR OTHER HOLLOW ARTICLES
- D06G3/00—Turning inside-out flexible tubular or other hollow articles
- D06G3/04—Turning inside-out flexible tubular or other hollow articles pneumatically
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Abstract
An automatic turn-over device for a stocking leg and a control method thereof comprise a stocking tube fixed on a frame, a feeding compression mechanism, a chain driving mechanism, a lifting air suction mechanism, a material receiving roller mechanism, a manipulator mechanism, a stocking head clamping mechanism, a detection sensor group, an automatic binding machine and a control cabinet; in the feeding process, the return speed of the feeding compression mechanism and the running speed of the conveyor belt are controlled in a variable mode through the load torque of the servo motor, so that the quality of the sock materials is guaranteed, and meanwhile long-rolled sock legs with different thicknesses and lengths can be stacked on the sock tube; in the material turning process, the automatic identification and automatic bundling of the sock heads and the sock tails are realized by combining the detection of the detection sensor group, the matching actions of the lifting air suction mechanism, the material collecting roller mechanism, the sock head clamping mechanism and the automatic bundling machine. The automatic sock sleeving machine can realize the processes of automatic feeding, automatic turnover, automatic head and tail identification and bundling after manual sock sleeving and accurate conveying of a manipulator, reduces labor intensity, effectively ensures the quality of sock products, and improves reliability and production efficiency.
Description
Technical Field
The invention relates to the technical field of textile machinery, in particular to an automatic turn-over device for a long-roll sock cylinder and a control method.
Background
In the textile industry, the turn-over treatment of cylindrical cloth is a necessary procedure in the production process, and the purpose is to ensure the treatment of the inner surface of the cloth. The long-roll sock leg needs to be turned over for more than 100 meters before napping and dyeing processes, and dozens of turned long-roll sock legs are connected end to form a whole, so that subsequent production and processing are facilitated. At present, most textile enterprises adopt manual long sleeves to turn over and connect, the labor intensity is very high, and the production efficiency is seriously influenced.
The invention discloses an automatic cloth turning machine with application number 201510126746.1, which realizes feeding through a turning rod, an automatic feeding mechanism and a compression pushing mechanism, moves cloth to an outlet of the turning rod through positive pressure blowing of a fan and reverse feeding of a supporting wheel, and pulls a pulling mechanism to press the cloth and continuously pull out the rest cloth to realize turning. In the automatic feeding mechanism, the riding wheel is supported at the lower end of the material turning rod and bears a large positive pressure, and single-side friction feeding is adopted, so that the cloth is abraded, pulled and deformed to a certain degree; the contact area between a compression wheel of the compression pushing mechanism and the material turning rod is small, and the material is also abraded when the material is compressed and stacked at a high speed; the positive pressure blowing has a poor effect on the cloth with good air permeability or the thick cloth, and the cloth is difficult to move to the other end of the material turning rod quickly. In addition, the cloth needs to be manually cut off after the feeding is finished every time, and the cloth is manually stuffed into the material turning rod, so that the production efficiency is reduced.
The utility model discloses an application number is 201920973427.8 utility model discloses a "turn-over machine of cylindric knitting grey cloth", embolias a turn-over section of thick bamboo through manual with the cloth until piling up the saturation, and blowing, the cloth roller of failing of rethread fan pulls and accomplishes the turn-over. The utility model with application number 201420326618.2 discloses a cloth turning machine, which utilizes strong airflow from an air blowing port to reversely spray along the outer surface of a cloth turning cylinder at high speed so as to drive cylindrical gray cloth to be continuously hung on the outer surface of the cloth turning cylinder, thereby realizing the cloth feeding function; and the air path is switched, so that strong air flow is sprayed into the inner barrel of the cloth turning barrel to drive the grey cloth to be sprayed out from the cloth outlet, and cloth turning and cloth discharging are realized. Both of the two patents utilize positive pressure blowing of a fan to realize cloth turning, and the effect of the mode on cloth with good air permeability or thick cloth is not ideal.
Disclosure of Invention
The automatic turn-over device for the long-roll sock leg provided by the invention can solve the technical defects, effectively reduce the labor intensity and labor cost, ensure the quality of sock products and improve the reliability and production efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic turn-over device for a long-roll sock cylinder comprises a frame and a sock tube, wherein one end of the sock tube is fixed on the frame, and the other end of the sock tube is suspended in the air;
the frame comprises two end parts, namely a frame end part I and a frame end part II, the frame end part I and the frame end part II are connected through a support frame, one end of the hose is fixed on the frame end part I, and the free end of the hose extends towards the frame end part II;
the free end of the sock tube is used as a feed inlet, and the end of the sock tube fixed with the frame is used as a discharge outlet; the feed port is described below as the front and the discharge port as the rear;
the sock feeding device also comprises a feeding compression mechanism, wherein the feeding compression mechanism is fixed on the support frame and can move back and forth on the support frame to realize feeding and stacking of sock materials;
the feeding compression mechanism comprises two groups of longitudinally arranged conveying structures, the two groups of conveying structures are symmetrically arranged on two sides of the sock tube respectively, each group of conveying structures comprises a conveying belt and a belt wheel, the conveying belt is arranged on the belt wheel, and the belt wheel is driven by a servo motor to rotate so as to drive the conveying belt to transmit;
the two groups of conveying structures are respectively fixed on a sliding block of the first linear guide rail, and can do linear motion along the first linear guide rail by driving the sliding block through the floating cylinder, namely the two groups of conveying structures can do opposite or opposite motion along the first linear guide rail;
the chain driving mechanism is fixed on the rack, the steel rail is arranged on the support frame, and the chain driving mechanism provides power for the feeding compression mechanism to drive the feeding compression mechanism to move back and forth between the support frames along the steel rail; namely, after the two groups of conveying structures can clamp the socks on the sock tube, the conveying belts can simultaneously operate to drive the socks to be stretched or piled forwards;
the lifting air suction mechanism is arranged on the frame and is arranged at the discharge port end of the sock tube, so that the lifting air suction mechanism can be in sealed butt joint with the discharge port of the sock tube, generates negative pressure suction force and can suck out sock materials from the sock tube;
the sock material collecting and feeding mechanism is arranged on the frame, is positioned below the lifting air suction mechanism and is close to the material outlet of the sock tube, the lifting air suction mechanism pulls out the sock material from the material outlet of the sock tube and then the lifting air suction mechanism is separated, the sock material just falls into the material collecting and feeding roller mechanism, and the material collecting and feeding roller mechanism can compress the sock material and pull out the sock material from the sock tube;
the sock tube detection device is characterized by further comprising a detection sensor group, wherein the detection sensor group comprises a front end sensor and a rear end sensor, the front end sensor is arranged at a fixed position between the sock tube and the rack, and the rear end sensor is fixed at a discharge port of the sock tube end;
the servo motor, the floating cylinder, the chain driving mechanism, the lifting air suction mechanism, the material collecting roll mechanism, the front end sensor and the rear end sensor are respectively in communication connection with the control module;
the control module is arranged in the control cabinet.
Further, the automatic binding machine is arranged on the rack and behind the material collecting roller mechanism, and socks can pass through the material collecting roller mechanism from the sock tube discharge port to the automatic binding machine.
The sock head clamping mechanism is arranged on the automatic binding machine, is close to the material collecting roller mechanism and is used for clamping the sock head of the sock material when the material collection is finished so as to prevent the sock head from falling into the material collecting device;
the sock head clamping mechanism comprises a sock head clamping cylinder and a sock clamping plate; the sock head clamping mechanism is used for clamping the sock head of the previous sock roll, and the lifting air suction mechanism is used for drawing the sock tail of the next sock roll to the outlet and then binding and connecting the sock tail and the outlet together.
The mechanical arm mechanism is arranged on one side of the control cabinet, is arranged at the outlet end of the sock tube and is used for grabbing the sock materials to a specified position;
the manipulator mechanism comprises a rotary cylinder, a rotating shaft, a mechanical arm, a roller, a paw lifting cylinder, a paw clamping cylinder, a guide shaft, a linear guide rail and a paw;
a piston rod of the rotary cylinder is hinged with the rotating shaft to drive the mechanical arm to rotate and swing; a roller is arranged below the mechanical arm and rolls on a supporting plate arranged on the frame;
the paw lifting cylinder drives the paw to lift up and down along the guide shaft;
and the paw clamping cylinder drives the paw to clamp the sock material along the linear guide rail.
Further, the servo motor is connected with a wheel shaft of the belt wheel through a coupler so as to drive the conveying belt to run;
the wheel shaft of the belt wheel is arranged on a bearing seat, the bearing seat is fixed on a bottom plate, and the bottom plate is connected with a sliding block of the linear guide rail I through a connecting piece;
a piston rod of the floating cylinder is connected with the bottom plate through a floating joint so as to drive the conveyor belt to move along the linear guide rail, so that the sock tube is clamped and separated;
four track wheels are arranged at the bottom of the feeding compression mechanism and move back and forth on the rack along the steel rail, so that the feeding and accumulation of the sock materials are realized.
Furthermore, a layer of thickened soft rubber is bonded on the outer surface of the conveying belt, so that the socks are prevented from being worn.
Further, the chain driving mechanism comprises a motor, a speed reducer, a chain wheel and a steel rail fixed on the rack;
the motor is directly connected with the speed reducer, and an output shaft of the speed reducer is connected with a wheel shaft of the chain wheel through a coupler so as to drive the chain to run;
the chain is provided with a bent plate joint which is connected with the feeding compression mechanism to drive the feeding compression mechanism to move back and forth along the steel rail.
Furthermore, the lifting air suction mechanism comprises a supporting frame, a lifting air cylinder, a guide shaft, a transverse moving air cylinder, a linear guide rail II, a fixing ring, a sealing ring, an air suction pipe, an air suction hose, an oil pressure buffer and a high-pressure fan;
the supporting frame is fixed on the rack, the guide shaft is longitudinally arranged in the supporting frame, and the lifting air cylinder drives the whole air suction mechanism to lift up and down along the guide shaft;
the air suction pipe is arranged at the bottom of the support frame, two ends of the air suction pipe are respectively connected with the air suction hose and the fixing ring, and the other end of the air suction hose is connected with an air suction opening of the high-pressure fan;
the air suction pipe is arranged on the linear guide rail II, and the transverse moving cylinder drives the air suction pipe to move back and forth, so that the fixed ring is in sealed butt joint with the sock pipe;
a groove is arranged in the fixing ring, and a sealing ring is arranged in the groove;
the oil pressure buffer is arranged between the supporting frame and the air suction pipe, and plays a role in buffering.
Further, the material receiving winding roller mechanism comprises a driving motor, a driving roller, a driven roller and a lifting cylinder;
the driving motor is connected with the driving roller through a coupling;
the driving roller and the driven roller are positioned behind the sock discharge port, the driving roller and the driven roller are arranged up and down correspondingly, and the sock material can penetrate between the driving roller and the driven roller after being pulled out from the sock discharge port and is finally clamped and pulled out by the driving roller and the driven roller;
the two lifting cylinders are used for respectively driving the driving roller and the driven roller to lift up and down along the guide shaft.
On the other hand, the invention also discloses a control method for automatically turning over the long-rolled sock leg, which is based on the automatic turning over device for the long-rolled sock leg and comprises the following steps:
s1, sleeving the sock head of the long-rolling sock leg on a sock tube feeding opening, and sleeving the sock head on a belt wheel close to the inlet end of the sock tube;
s2, the floating cylinder acts to close and clamp the sock material; starting a servo motor, and adopting fuzzy control to enable the sock material to move forwards along the outer wall of the sock tube under the driving of the conveyor belt and to cross the whole conveyor belt area; stopping the conveyor belt, and rotating the chain to enable the feeding compression mechanism to rapidly move to a set position at the outlet end of the sock tube;
s3, in the feeding process, the conveyer belt rotates at a high speed to feed, and the feeding compression mechanism returns to the initial position at a speed of 1-5 gears according to the stocking rate;
s4, in each sampling period, when the load torque of the servo motor is detected to exceed the set value for 1 time, the return speed of the feeding compression mechanism is increased by 1 gear; if no torque excess is detected, reducing the return speed to the lowest gear;
s5, if the torque excess is not detected in several continuous using periods, the running speed of the conveyor belt is increased, and the sock materials are stacked on the sock tube at the maximum stacking rate;
the control method can ensure that the long-rolled sock legs with different thicknesses and lengths can be stacked on the sock tube;
s6, automatically drawing the sock tail from the inlet to the outlet of the sock tube under the action of negative pressure suction of the high-pressure fan and reverse conveying of the conveyor belt; after the rear end sensor detects that the tail end of the sock material reaches the outlet, the transverse moving cylinder moves, and the negative pressure air suction opening moves backwards; in the process, under the action of negative pressure, the tail end of the sock material is absorbed in the air suction pipe, moves along with the air suction opening and passes through a belt frame of the automatic binding machine, and then the sock material is automatically bound;
s7, under the common driving of a driving roller and a conveyor belt, the sock materials are ejected into a material receiving device from the sock tube outlet at a high speed; the front end sensor detects the socks material of piling up on the outer wall of hose fixed end department and is levelled, and drive roll and conveyer belt begin to slow down, stop rotating after the rear end sensor detects the socks stub bar and comes out, and the action of socks head die clamping cylinder is cliied the head end of socks material, waits for the socks tail of next roll of socks material to tie up together.
According to the technical scheme, in the feeding process of the automatic turn-over device for the long-rolled sock leg, the return speed of the feeding compression mechanism and the running speed of the conveyor belt are controlled in a variable mode through the load torque of the servo motor, so that the quality of the sock material is guaranteed, and the long-rolled sock legs with different thicknesses and lengths can be stacked on the sock tube; and in the material turning process, the automatic identification and automatic bundling of the toe and the sock tail are realized by combining the detection of the detection sensor group, the lifting air suction mechanism, the material collecting roller mechanism, the sock head clamping mechanism and the matching action of the automatic bundling machine.
The automatic sock sleeving machine can realize the processes of automatic feeding, automatic turnover, automatic head and tail identification and bundling after manual sock sleeving and accurate conveying of a manipulator, reduces labor intensity, effectively ensures the quality of sock products, and improves reliability and production efficiency.
Specifically, the automatic turn-over device for the long-rolling sock leg and the control method thereof have the following beneficial effects:
1) the conveyer belt of the soft rubber of one deck thickening and the cantilever structure of socks pipe are bonded to the surface that arranges through the left and right sides for the socks material is difficult by wearing and tearing at the material loading in-process.
2) The floating clamping through the floating cylinder ensures that the friction traction force of the conveyor belts on the two sides to the sock material is the same, so that the sock material is not easy to deform or knot due to pulling or rotation caused by unbalanced stress in the feeding process.
3) By the control method provided by the invention, the long-roll sock legs with different thicknesses and lengths can be automatically stacked on the sock tube, incomplete sock materials are prevented from being cut off manually, and the production efficiency is improved.
4) The lifting air suction mechanism automatically and reliably moves the sock tail from the inlet of the sock tube to the outlet along the inner cavity by utilizing the negative pressure suction force of the high-pressure fan and the reverse conveying of the conveying belt, so that the reliability and the production efficiency are improved;
5) the automatic identification and automatic bundling of the sock heads and the sock tails are realized by combining the detection of the detection sensor group, the matching actions of the lifting air suction mechanism, the material collecting roller mechanism, the sock head clamping mechanism and the automatic bundling machine;
6) the manipulator mechanism automatically grabs and places the bundled connectors at specific positions, so that the material receiving device can be conveniently and intensively treated after being filled with the bundled connectors.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the feed compression mechanism of the present invention;
FIG. 3 is a schematic structural view of the lift suction mechanism of the present invention;
FIG. 4 is a schematic structural view of the robot mechanism of the present invention;
FIG. 5 is a schematic view of a partial structure of the receiving end of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1 to 5, the automatic turn-over device for the long-rolling sock leg according to the embodiment of the present invention includes a frame 10, a sock tube 20, a feeding compression mechanism 30, a chain driving mechanism 40, a lifting suction mechanism 50, a receiving winding roller mechanism 60, a manipulator mechanism 70, a sock head clamping mechanism 80, a detection sensor group 90, a high pressure fan 100, an automatic bundling machine 110, and a control cabinet 120.
The following is a detailed description:
the sock comprises a frame 10 and a sock tube 20, wherein one end of the sock tube 20 is fixed on the frame 10, and the other end of the sock tube 20 is suspended in the air, and the sock tube 20 is a hollow rigid sock tube; the sock tube 20 is a stainless steel seamless steel tube with an outer diameter of 60mm and a length of 4.5m, one end of the sock tube is fixed on the frame 10, and the other end of the sock tube is suspended.
The frame 10 comprises two end parts, namely a frame end part I and a frame end part II, the frame end part I and the frame end part II are connected through a support frame, one end of the hose 20 is fixed on the frame end part I, and the free end of the hose 20 extends towards the frame end part II;
the free end of the sock tube 20 is used as a feed inlet, and the end of the sock tube 20 fixed with the frame 20 is used as a discharge outlet; the feed port is described below as the front and the discharge port as the rear;
as shown in fig. 2, the sock feeding device further comprises a feeding compression mechanism 30, wherein the feeding compression mechanism 30 is fixed on the support frame and can move back and forth on the support frame to realize feeding and stacking of sock materials;
namely, the feeding compression mechanism 30 comprises two sets of longitudinally arranged conveying structures, the two sets of conveying structures are respectively and symmetrically arranged on two sides of the sock tube 20, each set of conveying structure comprises a conveying belt 302 and a belt wheel 303, the conveying belt 302 is arranged on the belt wheel 303, and the belt wheel 303 is driven by a servo motor 301 to rotate so as to drive the conveying belt 302 to transmit;
the two groups of conveying structures are respectively fixed on the sliding blocks of the first linear guide rail 304, the sliding blocks are driven by the floating air cylinders 305, and the two groups of conveying structures can do linear motion along the first linear guide rail 304, namely the two groups of conveying structures can do opposite or opposite motion along the first linear guide rail 304; the outer surface of the conveying belt 302 is bonded with a layer of thickened soft rubber to prevent the socks from being worn.
Namely, 2 floating cylinders 305 share the same air path, and a rodless cavity air inlet loop of the floating cylinders is provided with a pressure reducing valve to adjust air inlet pressure, and after the floating cylinders 305 drive the conveyor belt 302 to close and press the sock tube 20, the stroke margin can still float left and right along with the sock tube 20, so that the feeding compression mechanism 30 can simulate the flexible feeding of a human palm;
specifically, the method comprises the following steps:
the servo motor 301 is connected with a wheel shaft of a belt wheel 303 through a coupler so as to drive the conveying belt 302 to run;
the wheel shaft of the belt wheel 303 is arranged on a bearing seat, the bearing seat is fixed on a bottom plate, and the bottom plate is connected with a sliding block of the linear guide rail I304 through a connecting piece;
the piston rod of the floating cylinder 305 is connected to the base plate through a floating joint, thereby driving the conveyor belt 302 to move along the linear guide rails one 304, thereby clamping and moving away the sock tube 20;
four track wheels 306 are arranged at the bottom of the feeding compression mechanism 30, and the track wheels 306 move back and forth on the machine frame 10 along the steel rail 405 to realize feeding and stacking of socks.
The chain driving mechanism 40 is fixed on the rack 10, a steel rail 405 is arranged on the support frame, and the chain driving mechanism 40 provides power for the feeding compression mechanism 30 to drive the feeding compression mechanism 30 to move back and forth between the support frames along the steel rail 405; namely, after the two groups of conveying structures can clamp the socks on the sock tube 20, the conveying belts can simultaneously operate to drive the socks to be stretched or piled forwards;
as shown in fig. 3, the sock drying machine further comprises an elevating air suction mechanism 50, wherein the elevating air suction mechanism 50 is installed on the frame 10 and arranged at the discharge port end of the sock tube 20, so as to realize sealed butt joint with the discharge port of the sock tube 20 and generate negative pressure suction force, and can suck out sock materials from the sock tube 20, that is, the elevating air suction mechanism 50 automatically draws the sock tail from the inlet to the outlet of the sock tube 20 by using the negative pressure suction force of the high pressure fan 100 and the reverse conveying of the conveyor belt 302;
specifically, the lifting air suction mechanism 50 comprises a support frame, a lifting air cylinder 501, a guide shaft 502, a traversing air cylinder 503, a linear guide rail II 504, a fixing ring 505, a sealing ring 506, an air suction pipe 507, an air suction hose 508, an oil pressure buffer 509 and a high pressure fan 100;
the supporting frame is fixed on the frame 10, the guide shaft 502 is longitudinally arranged in the supporting frame, and the lifting cylinder 501 drives the whole air suction mechanism to lift up and down along the guide shaft 502;
the air suction pipe 507 is arranged at the bottom of the support frame, two ends of the air suction pipe 507 are respectively connected with the air suction hose 508 and the fixing ring 505, and the other end of the air suction hose 508 is connected with an air suction port of the high pressure fan 100;
the air suction pipe 507 is arranged on the linear guide rail 504, and the transverse moving cylinder 503 drives the air suction pipe 507 to move back and forth, so that the fixed ring 505 is in sealed butt joint with the sock tube 20;
a groove is arranged in the fixing ring 505, and a sealing ring 506 is arranged in the groove;
the hydraulic buffer 509 is arranged between the supporting frame and the air suction pipe 507 for buffering.
The sock material taking device further comprises a sock material taking roller mechanism 60, wherein the sock material taking roller mechanism 60 is arranged on the frame 10, is positioned below the lifting air suction mechanism 50 and is close to the discharge hole of the sock tube 20, the lifting air suction mechanism 50 pulls out sock materials from the discharge hole of the sock tube 20 and then the lifting air suction mechanism 50 is separated, the sock materials just fall into the sock material taking roller mechanism 60, and the sock material taking roller mechanism 60 can compress the sock materials and pull out the sock materials from the sock tube 20;
the sock tube type automatic feeding device further comprises a detection sensor group 90, wherein the detection sensor group 90 comprises a front end sensor 901 and a rear end sensor 902, the front end sensor 901 is arranged at a fixed position between the sock tube 20 and the frame 10, and the rear end sensor 902 is fixed at a discharge port at the end of the sock tube 20;
the servo motor 301, the floating cylinder 305, the chain driving mechanism 40, the lifting air suction mechanism 50, the material receiving winding roller mechanism 60, the front end sensor 901 and the rear end sensor 902 are respectively in communication connection with the control module;
the control module is disposed in the control cabinet 120.
Wherein, also include the automatic binding machine 110, the said automatic binding machine 110 is installed on framework 110, arrange behind the roller mechanism 60 of the material receiving, the stocking will be from the discharge port of the stocking 20 to the automatic binding machine 110 through the roller mechanism 60 of the material receiving.
The sock head clamping mechanism 80 is arranged on the automatic binding machine 110, is close to the material collecting roller mechanism 60, and is used for clamping the sock head of the sock material when the material collection is finished so as to prevent the sock head from falling into the material collecting device;
the sock head clamping mechanism 80 comprises a sock head clamping cylinder 801 and a sock clamping plate 802; the toe clamping mechanism 80 is used for clamping the toe of the previous roll of sock material, and waiting for the lifting air suction mechanism 50 to draw the tail of the next roll of sock to the outlet and then tie up and connect together.
As shown in fig. 4, the device further comprises a manipulator mechanism 70, wherein the manipulator mechanism 70 is installed at one side of the control cabinet 120 and is arranged at the outlet end of the sock tube 20 for grabbing the sock material to a designated position;
the automatic binding machine 110 binds and connects the heads and the tails of different sock rolls, and the manipulator mechanism 70 grabs and places the bound joints at specific positions;
the manipulator mechanism 70 comprises a rotary cylinder 701, a rotating shaft 702, a mechanical arm 703, a roller 704, a paw lifting cylinder 705, a paw clamping cylinder 706, a guide shaft 707, a linear guide rail 708 and a paw 709;
a piston rod of the rotary cylinder 701 is hinged with the rotating shaft 702 to drive the mechanical arm 703 to rotate and swing; a roller 704 is arranged below the mechanical arm 703, and the roller 704 rolls on a support pallet arranged on the frame 10;
the paw lifting cylinder 705 drives the paw 709 to lift up and down along the guide shaft 707;
the gripper cylinder 706 drives the gripper 709 to grip the stock along the linear guide 708.
The chain driving mechanism 40 includes a motor 401, a speed reducer 402, a chain 403, a sprocket 404, and a rail 405 fixed to the frame 10;
the motor 401 is directly connected with the speed reducer 402, and the output shaft of the speed reducer 402 is connected with the wheel shaft of the chain wheel 404 through a coupler, so that the driving chain 403 runs;
the chain 403 is provided with a bent plate joint, which is connected to the feeding compression mechanism 30 to drive the feeding compression mechanism 30 to move back and forth along the steel rail 405.
The material collecting roller mechanism 60 comprises a driving motor 601, a driving roller 602, a driven roller 603 and a lifting cylinder 604;
the driving motor 601 is connected with the driving roller 602 through a coupler;
the driving roller 602 and the driven roller 603 are positioned at the rear of the material outlet of the sock tube 20, the driving roller 602 and the driven roller 603 are arranged up and down correspondingly, and the sock material is pulled out from the material outlet of the sock tube 20, passes through between the driving roller 602 and the driven roller 603 and is finally clamped and pulled out by the driving roller 602 and the driven roller 603;
two lifting cylinders 604 are provided for driving the driving roller 602 and the driven roller 603 to lift up and down along the guide shaft.
Meanwhile, according to the automatic turn-over control method of the long-roll sock leg, based on the automatic turn-over device of the long-roll sock leg, in the feeding process, the return speed of the feeding compression mechanism 30 and the running speed of the conveyor belt 302 are controlled in a variable mode through the load torque of the servo motor 301, so that the quality of the sock material is guaranteed, and meanwhile, the long-roll sock legs with different thicknesses and lengths can be stacked on the sock tube 20; in the material turning process, the detection of the detection sensor group 90, the matching actions of the lifting air suction mechanism 50, the material receiving roller mechanism 60, the sock head clamping mechanism 80 and the automatic bundling machine 110 are combined to realize the automatic identification and automatic bundling of the sock head and the sock tail;
the method specifically comprises the following steps:
s1, sleeving the toe of the long-rolling sock leg on the feeding port of the sock tube 20, and sleeving the toe to the position close to the belt wheel 303 at the inlet end of the sock tube;
s2, the floating cylinder 305 acts to close and clamp the sock material; the servo motor 301 is started, fuzzy control is adopted, and the sock materials move forward along the outer wall of the sock tube 20 under the driving of the conveyor belt 302 and pass through the whole area of the conveyor belt 302; the conveyor belt 302 stops rotating, and the chain 403 rotates, so that the feeding compression mechanism 30 rapidly moves to the set position at the outlet end of the sock tube 20;
s3, in the feeding process, the feeding compression mechanism 30 returns to the initial position at a speed of 1-5 grades according to the stocking rate while the conveyor belt 302 runs at a high speed for feeding;
s4, in 1 sampling period, when the load torque of the servo motor 301 is detected to exceed the set value for 1 time, the return speed of the feeding compression mechanism 30 is increased by 1 gear; if no torque excess is detected, reducing the return speed to the lowest gear;
s5, if the torque excess is not detected in several continuous using periods, the running speed of the conveyor belt 302 is increased, and the sock materials are stacked on the sock tube at the maximum stacking rate;
the loading by the above-mentioned control method ensures that the long-rolled sock legs with different thicknesses and lengths can be stacked on the sock tube 20.
S6, automatically drawing the sock tail from the inlet to the outlet of the sock tube 20 under the action of the negative pressure suction force of the high pressure fan 100 and the reverse conveying action of the conveying belt 302; after the rear end sensor 902 detects that the tail end of the sock material reaches the outlet, the transverse moving cylinder 503 moves, and the negative pressure suction inlet moves backwards; in the process, under the action of negative pressure, the tail end of the sock material is absorbed in the air suction pipe 507 and moves along with the air suction opening to pass through the belt frame of the automatic binding machine 110, so that the sock material is automatically bound;
s7, under the driving of the driving roller 602 and the conveyor belt 302, the sock material is ejected into the material receiving device from the outlet of the sock tube 20 at a high speed; after the front end sensor 901 detects that the stockings piled on the outer wall of the fixed end of the sock tube 20 are leveled, the driving roller 602 and the conveyor belt 302 start to decelerate until the rear end sensor 902 detects that the sock head comes out and stops rotating, the sock head clamping cylinder 801 acts to clamp the head end of the sock, and the sock tail of the next coil of sock is bound together.
The following illustrates the operation steps of the embodiment of the present invention as follows:
1) manually sleeving the sock head of the 1 st long-rolling sock leg on the sock tube 20 to a belt wheel 303 close to the inlet end of the sock tube;
2) the floating cylinder 305 acts to close and clamp the sock material; the servo motor 301 is started to make the sock material move forward along the outer wall of the sock tube 20 under the drive of the conveyor belt 302 and cross the whole area of the conveyor belt 302; the conveyor belt 302 stops rotating, and the chain 403 rotates, so that the feeding compression mechanism 30 rapidly moves to the set position at the outlet end of the sock tube 20;
3) the conveyer belt 302 runs at a high speed for feeding, and simultaneously the feeding compression mechanism 30 returns to the initial position at a variable speed by the control method provided by the invention, and the sock materials are stacked on the sock tube 20;
4) after the system detects that the tail end of the sock material is completely lifted at the inlet of the sock tube 20 through the sensor, the system controls the conveyor belt 302 to reversely drive and drives the tail end of the sock material to reversely move to the inlet of the hollow sock tube 20;
5) starting the fan 100, actuating the lifting cylinder 501 of the lifting air suction mechanism 50, descending the negative pressure air suction inlet and actuating the transverse cylinder 503 to move the air suction pipe 507 forward to be in butt joint with the sock tube for sealing; the tail end of the sock material moves rapidly along the inner cavity of the sock tube under the action of negative pressure suction and the conveyor belt 302, and the conveyor belt 302 is driven reversely all the time in the process;
6) after the rear end sensor 902 on the sock tube 20 detects that the tail end of the sock material reaches the outlet of the sock tube 20, the traversing cylinder 503 moves, and the negative pressure suction inlet moves backwards. In the process, under the action of negative pressure, the tail end of the sock material is absorbed in the air suction pipe 507 and moves along with the air suction opening to pass through the material collecting roller mechanism 60 and the belt frame of the automatic binding machine 110;
7) the air path of the negative pressure air suction opening is disconnected, the lifting cylinder 501 acts, and the air suction opening rises to the initial position; the lifting cylinder 604 in the material collecting roller mechanism 60 acts to drive the driving roller 602 and the driven roller 603 to compress the sock material, and the conveyor belt 302 stops driving;
8) the rotating cylinder 701 operates to drive the manipulator mechanism 70 to rotate from the edge of the receiving device to the binding machine 110; the paw lifting cylinder 705 acts, and the paw 709 descends; the gripper clamping cylinder 706 acts to clamp the tail end of the sock material;
9) the rotating cylinder 701 acts again to send the tail end of the 1 st sock rolling material to the edge of the receiving device; in this process, the drive roller 602 and the conveyor belt 302 are driven all the time;
10) the sock is ejected into the receiving device from the outlet of the sock tube 20 at a high speed under the driving of the driving roller 602 and the conveyor belt 302;
11) after the front end sensor 901 detects that the stockings accumulated on the outer wall of the fixed end of the sock tube 20 are leveled, the driving roller 602 and the conveyor belt 302 start to decelerate until the rear end sensor 902 detects that the sock head comes out, and the sock head clamping cylinder 801 acts to clamp the head end of the stockings;
12) the driving roller 602 and the conveyor belt 302 stop rotating, the lifting cylinder 604 acts, and the driving roller 602 and the driven roller 603 are opened up and down;
13) manually sleeving a toe of a 2 nd stockings tray on a stocking tube 20; repeating the step 2-8;
14) the automatic binding machine 110 operates to bind the head end of the 1 st coil and the tail end of the 2 nd coil;
15) the rotating cylinder 701 operates to drive the manipulator mechanism 70 to rotate from the edge of the receiving device to the binding machine 110; the paw lifting cylinder 705 acts, and the paw 709 descends; the gripper clamping cylinder 706 acts to clamp the bundled sock material;
16) the rotating cylinder 701 acts again to send the bound sock materials to the edge of the material receiving device;
17) and repeating the steps until the material receiving device is full.
According to the technical scheme, the automatic loading, automatic turning, automatic head and tail identification and bundling and accurate manipulator conveying processes after manual sock sleeving can be realized, the labor intensity is reduced, the quality of sock products is effectively guaranteed, and the reliability and the production efficiency are improved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An automatic turn-over device for a long-roll sock leg comprises a frame (10) and a sock tube (20) with one end fixed on the frame (10) and the other end suspended in the air, wherein the sock tube (20) is a hollow rigid sock tube;
the frame (10) comprises two end parts, namely a frame end part I and a frame end part II, the frame end part I and the frame end part II are connected through a support frame, one end of the hose (20) is fixed on the frame end part I, and the free end of the hose (20) extends towards the frame end part II;
the free end of the sock tube (20) is used as a feed inlet, and the end of the sock tube (20) fixed with the frame (10) is used as a discharge outlet; the feed port is described below as the front and the discharge port as the rear;
the method is characterized in that:
the sock feeding device also comprises a feeding compression mechanism (30), wherein the feeding compression mechanism (30) is fixed on the support frame and can move back and forth on the support frame to realize feeding and accumulation of sock materials;
the feeding compression mechanism (30) comprises two groups of longitudinally arranged conveying structures, the two groups of conveying structures are symmetrically arranged on two sides of the sock tube (20) respectively, each group of conveying structures comprises a conveying belt (302) and a belt wheel (303), the conveying belt (302) is arranged on the belt wheel (303), and the belt wheel (303) is driven by a servo motor (301) to rotate so as to drive the conveying belt (302) to transmit;
the two groups of conveying structures are respectively fixed on a sliding block of the first linear guide rail (304), and can do linear motion along the first linear guide rail (304) by driving the sliding block through a floating cylinder (305), namely the two groups of conveying structures can do opposite or opposite motion along the first linear guide rail (304);
the chain driving mechanism (40) is fixed on the rack (10), the steel rail (405) is arranged on the supporting frame, the chain driving mechanism (40) provides power for the feeding compression mechanism (30) and drives the feeding compression mechanism (30) to move back and forth between the supporting frames along the steel rail (405); namely, after the two groups of conveying structures can clamp the socks on the sock tube (20), the conveying belts can simultaneously operate to drive the socks to stretch or pile forwards;
the automatic sock tail dragging machine is characterized by further comprising a lifting air suction mechanism (50), wherein the lifting air suction mechanism (50) is installed on the rack (10) and arranged at the discharge port end of the sock tube (20) to realize sealing butt joint with the discharge port of the sock tube (20), and the lifting air suction mechanism (50) can generate negative pressure suction and reverse conveying of the conveying belt (302) to automatically drag the sock tail from the inlet to the outlet of the sock tube (20);
the sock material taking device is characterized by further comprising a material taking roller mechanism (60), wherein the material taking roller mechanism (60) comprises a driving roller (602), the material taking roller mechanism (60) is installed on the rack (10) and is located below the lifting air suction mechanism (50) and close to a material outlet of the sock tube (20), the lifting air suction mechanism (50) pulls out sock materials from the material outlet of the sock tube (20), then the lifting air suction mechanism (50) is separated from the sock tube, the sock materials just fall into the material taking roller mechanism (60), and the material taking roller mechanism (60) can compress the sock materials and pull out the sock materials from the sock tube (20);
the automatic binding machine (110) is arranged on the rack (10) and is arranged behind the material receiving roll mechanism (60), and socks can pass through the material receiving roll mechanism (60) from the discharge hole of the sock tube (20) to the automatic binding machine (110);
the sock head clamping mechanism (80) is arranged on the automatic binding machine (110), is close to the material collecting roller mechanism (60), and is used for clamping the sock head of the sock material when the material collection is finished so as to prevent the sock head from falling into the material collecting device;
wherein the sock head clamping mechanism (80) comprises a sock head clamping cylinder (801) and a sock clamping plate (802); the sock head clamping mechanism (80) is used for clamping the sock head of the previous sock roll, and binding and connecting the sock head and the sock tail of the next sock roll after the lifting air suction mechanism (50) draws the sock tail to the outlet;
the automatic sock taking device is characterized by further comprising a manipulator mechanism (70), wherein the manipulator mechanism (70) is installed on one side of the control cabinet (120), arranged at the outlet end of the sock tube (20) and used for grabbing sock materials to a designated position;
the manipulator mechanism (70) comprises a rotating cylinder (701), a rotating shaft (702), a mechanical arm (703), a roller (704), a paw lifting cylinder (705), a paw clamping cylinder (706), a first guide shaft (707), a linear guide rail (708) and a paw (709);
a piston rod of the rotary cylinder (701) is hinged with the rotating shaft (702) to drive the mechanical arm (703) to rotate and swing; a roller (704) is arranged below the mechanical arm (703), and the roller (704) rolls on a supporting pallet arranged on the rack (10);
the paw lifting cylinder (705) drives the paw (709) to lift up and down along the guide shaft I (707);
the paw clamping cylinder (706) drives the paw (709) to clamp the sock material along the linear guide rail (708);
the lifting air suction mechanism (50) comprises a supporting frame, a lifting cylinder I (501), a guide shaft II (502), a transverse moving cylinder (503), a linear guide rail II (504), a fixing ring (505), a sealing ring (506), an air suction pipe (507), an air suction hose (508), an oil pressure buffer (509) and a high-pressure fan (100);
the supporting frame is fixed on the rack (10), the second guide shaft (502) is longitudinally arranged in the supporting frame, and the first lifting cylinder (501) drives the whole air suction mechanism to lift up and down along the second guide shaft (502);
the air suction pipe (507) is arranged at the bottom of the supporting frame, two ends of the air suction pipe (507) are respectively connected with the air suction hose (508) and the fixing ring (505), and the other end of the air suction hose (508) is connected with an air suction port of the high-pressure fan (100);
an air suction pipe (507) is arranged on a linear guide rail II (504), and a traversing cylinder (503) drives the air suction pipe (507) to move back and forth, so that the fixed ring (505) is in sealed butt joint with the hose (20);
a groove is arranged in the fixing ring (505), and a sealing ring (506) is arranged in the groove;
the oil pressure buffer (509) is arranged between the supporting frame and the air suction pipe (507) and plays a role in buffering;
the automatic sock feeding device is characterized by further comprising a detection sensor group (90), wherein the detection sensor group (90) comprises a front end sensor (901) and a rear end sensor (902), the front end sensor (901) is arranged at a fixed position between the sock tube (20) and the rack (10), the rear end sensor (902) is fixed at a discharge port at the end of the sock tube (20), the front end sensor (901) detects that socks accumulated on the outer wall of the fixed end of the sock tube (20) are leveled, the driving roller (602) and the conveyor belt (302) start to decelerate until the rear end sensor (902) detects that the sock heads come out, and the sock head clamping cylinder (801) acts to clamp the head ends of the socks;
the servo motor (301), the floating cylinder (305), the chain driving mechanism (40), the lifting air suction mechanism (50), the material receiving roller mechanism (60), the front end sensor (901) and the rear end sensor (902) are respectively in communication connection with the control module;
the control module is arranged in the control cabinet (120) and used for executing the following steps:
s1, sleeving the sock head of the long-roll sock leg on a sock tube feeding opening, and sleeving the sock head on a belt wheel close to the inlet end of the sock tube;
s2, the floating cylinder acts to close and clamp the sock material; starting a servo motor, and adopting fuzzy control to enable the sock material to move forwards along the outer wall of the sock tube under the driving of the conveyor belt and to cross the whole conveyor belt area; stopping the conveyor belt, and rotating the chain to enable the feeding compression mechanism to rapidly move to a set position at the outlet end of the sock tube;
s3, in the feeding process, the conveyer belt rotates at a high speed to feed, and the feeding compression mechanism returns to the initial position at a speed of 1-5 gears according to the stocking rate;
s4, in each sampling period, when the load torque of the servo motor is detected to exceed the set value for 1 time, the return speed of the feeding compression mechanism is increased by 1 gear; if no torque excess is detected, reducing the return speed to the lowest gear;
and S5, if the torque excess is not detected in the continuous use periods, the running speed of the conveyor belt is increased, and the sock materials are stacked on the sock tube at the maximum stacking rate.
2. The automatic turn-over device of the stocking leg according to claim 1, characterized in that: the servo motor (301) is connected with a wheel shaft of the belt wheel (303) through a coupler so as to drive the conveying belt (302) to run;
the wheel shaft of the belt wheel (303) is arranged on a bearing seat, the bearing seat is fixed on a bottom plate, and the bottom plate is connected with a sliding block of a linear guide rail I (304) through a connecting piece;
the piston rod of the floating cylinder (305) is connected with the bottom plate through a floating joint so as to drive the conveyor belt (302) to move along a first linear guide rail (304) and clamp and move away from the sock tube (20);
four track wheels (306) are arranged at the bottom of the feeding compression mechanism (30), and the track wheels (306) move back and forth on the rack (10) along the steel rail (405) to realize feeding and stacking of socks.
3. The automatic turn-over device of the stocking leg according to claim 1, characterized in that:
the outer surface of the conveying belt (302) is bonded with a layer of thickened soft rubber to prevent the socks from being worn.
4. The automatic turn-over device of the stocking leg according to claim 1, characterized in that: the chain driving mechanism (40) comprises a motor (401), a speed reducer (402), a chain (403), a chain wheel (404) and a steel rail (405) fixed on the rack (10);
the motor (401) is directly connected with the speed reducer (402), and an output shaft of the speed reducer (402) is connected with a wheel shaft of the chain wheel (404) through a coupler so as to drive the chain (403) to run;
the chain (403) is provided with a bent plate joint which is connected with the feeding compression mechanism (30) and drives the feeding compression mechanism (30) to move back and forth along the steel rail (405).
5. The automatic turn-over device of the stocking leg according to claim 1, characterized in that: the material collecting roller mechanism (60) comprises a driving motor (601), a driving roller (602), a driven roller (603) and a second lifting cylinder (604);
the driving motor (601) is connected with the driving roller (602) through a coupler;
the driving roller (602) and the driven roller (603) are positioned behind the discharge hole of the sock tube (20), the driving roller (602) and the driven roller (603) are arranged up and down correspondingly, and the sock material is pulled out from the discharge hole of the sock tube (20), passes through the space between the driving roller (602) and the driven roller (603) and is finally clamped and pulled out by the driving roller (602) and the driven roller (603);
and two lifting cylinders (604) are arranged and respectively drive the driving roller (602) and the driven roller (603) to lift up and down along the guide shaft III.
6. An automatic turn-over control method of a long-roll sock leg based on the automatic turn-over device of the long-roll sock leg of any one of claims 1 to 5, characterized in that:
the method comprises the following steps:
s1, sleeving the toe of the long-rolling sock leg on a feeding port of a sock tube (20), and sleeving the toe of the long-rolling sock leg on a belt wheel (303) close to the inlet end of the sock tube;
s2, the floating cylinder (305) acts to close and clamp the sock material; the servo motor (301) is started, fuzzy control is adopted, and the sock materials move forward along the outer wall of the sock tube (20) under the driving of the conveyor belt (302) and cross the whole area of the conveyor belt (302); the conveyor belt (302) stops rotating, and the chain (403) rotates to enable the feeding compression mechanism (30) to rapidly move to a set position at the outlet end of the sock tube (20);
s3, in the feeding process, the feeding compression mechanism (30) returns to the initial position at a speed of 1-5 gears according to the stocking stacking rate while the conveyor belt (302) runs at a high speed for feeding;
s4, in 1 sampling period, when the load torque of the servo motor (301) is detected to exceed the set value for 1 time, the return speed of the feeding compression mechanism (30) is increased by 1 gear; if no torque excess is detected, reducing the return speed to the lowest gear;
s5, if the torque excess is not detected in the continuous use periods, the running speed of the conveyor belt (302) is increased, and the sock materials are stacked on the sock tube at the maximum stacking rate;
s6, automatically drawing the sock tail from the inlet to the outlet of the sock tube (20) under the action of negative pressure suction of the high pressure fan (100) and reverse conveying of the conveyor belt (302); after a rear end sensor (902) detects that the tail end of the sock material reaches an outlet, a transverse moving cylinder (503) acts, and a negative pressure air suction opening moves backwards; in the process, under the action of negative pressure, the tail end of the sock material is adsorbed in the air suction pipe (507), moves along with the air suction opening and passes through a belt frame of the automatic binding machine (110), and then the automatic binding of the sock material is realized;
s7, under the common driving of a driving roller (602) and a conveyor belt (302), the sock materials are ejected into a material receiving device from the outlet of the sock tube (20) at a high speed; after the front end sensor (901) detects that the stockings piled on the outer wall of the fixed end of the sock tube (20) are leveled, the driving roller (602) and the conveyor belt (302) start to decelerate until the rear end sensor (902) detects that the sock head comes out and stops rotating, the sock head clamping cylinder (801) acts to clamp the head end of the sock, and the sock tail of the next coil of sock is bound together.
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| CN112918823A (en) * | 2021-01-25 | 2021-06-08 | 孙世杰 | Automatic folding equipment used before clothing embroidering |
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| IT1236086B (en) * | 1989-11-03 | 1992-12-22 | Conti Florentia Srl | METHOD AND DEVICE FOR REVERSING MEN'S SOCKS OUT OF THE RELEVANT OPERATING MACHINE |
| ITFI20010163A1 (en) * | 2001-08-28 | 2003-02-28 | Metalworking And Finance Group | DEVICE AND METHOD TO OPEN THE EDGE OF A TUBULAR KNITTED OR SIMILAR MANUFACT |
| JP2005097803A (en) * | 2003-09-26 | 2005-04-14 | Okamoto Kk | Device for turning surface side of stocking out |
| CN204455679U (en) * | 2015-02-11 | 2015-07-08 | 卢锡义 | One turns over hosiery machine |
| CN104727128B (en) * | 2015-03-23 | 2017-05-24 | 苏州海仑士科技有限公司 | Automatic fabric turnover machine |
| CN106263908B (en) * | 2016-08-09 | 2017-10-13 | 绍兴柯桥科强化纤有限公司 | A kind of preparation method of the pillowcase of wear-resistant antibacterial |
| CN210194286U (en) * | 2019-06-25 | 2020-03-27 | 福建优丝纺织有限公司 | Noise-proof sock turning machine with dustproof function |
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