Automatic feeding and discharging system of winding reel, feeding and discharging method thereof and winding production line

Abstract

The application discloses a winding reel automatic feeding and discharging system, a feeding and discharging method thereof and a winding production line. The feeding and discharging system comprises a winding reel conveying trolley, a winding reel feeding and discharging trolley and a winding reel feeding and discharging station. The winding reel conveying trolley has a platform for placing at least two winding reels and can be moved to at least one processing equipment. The winding reel feeding and discharging trolley has a structure for transferring the winding reels between the winding reel conveying trolley and the processing equipment and can be moved between the processing equipment and the winding reel feeding and discharging station. The winding reel feeding and discharging station is fixed in position and has a winding reel taking and transferring mechanism placing table and a transferring mechanism for transferring the winding reels between the winding reel conveying trolley and the winding reel placing table. The present scheme can effectively reduce the weight of each trolley, thereby reducing the power requirement, and effectively avoid the problem that the existing structure cannot simultaneously perform the trolley feeding and discharging and the winding machine feeding and discharging operation, which is beneficial to save the time loss caused by parking feeding and discharging, improve the processing tempo and thereby improve the processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of winding equipment, and in particular to an automatic loading and unloading system for winding reels, its loading and unloading method, and a winding production line. Background Technology

[0002] For various silk and thread products, it is often necessary to wind the silk and thread onto a winding spool to form the final product. Existing winding machines can effectively wind silk and thread, but before winding, it is often necessary to manually place the winding spool onto the winding machine or remove the winding spool from the winding machine. The manual loading and unloading of the winding spool requires dedicated personnel, which increases the labor costs of enterprises and is labor-intensive, which goes against the current trend of industrial development towards automation and intelligence.

[0003] In order to automatically supply empty winding spools to each winding machine and remove fully wound winding spools from the winding machine, the applicant developed a fully automatic loading and unloading device for winding machines, as disclosed in Chinese Patent Application No. 201821745290.2.

[0004] The problem with this structure is that the transfer structure above the trolley is complex and needs to move with the trolley at all times, so the power required for the trolley to move is very large.

[0005] At the same time, the number of winding reels that the AGV can carry is limited. Therefore, after the AGV is filled with fully wound reels, it needs to be moved to a specific position to unload the fully wound reels and place the empty winding reels on the AGV. This increases the time loss. At this time, if there is a feeding machine, it cannot be achieved, which is not conducive to improving the processing cycle.

[0006] In addition, in this structure, the gripping component can only place the empty winding spool on the receiving plate of the winding device, and cannot be installed on the rotating shaft of the winding device. Summary of the Invention

[0007] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide an automatic loading and unloading system for winding reels, its loading and unloading method, and a winding production line.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] Automatic loading and unloading system for winding reels, including

[0010] A winding reel transport trolley has a platform for placing at least two winding reels, and the winding reel transport trolley can move along a designated path to at least one processing equipment;

[0011] The winding reel loading and unloading trolley has a structure for transferring the winding reel between the winding reel transport trolley and the processing equipment, and can move along a specified path between the processing equipment and the winding reel loading and unloading station.

[0012] The winding reel loading and unloading station has a fixed position and includes a winding reel placement platform and a transfer mechanism for transferring the winding reel between the winding reel transport trolley and the winding reel placement platform.

[0013] Preferably, in the automatic loading and unloading system for the winding reels, the winding reel transport trolley and the winding reel loading and unloading trolley are respectively movably mounted on guide rails extending through the winding reel loading and unloading stations.

[0014] Preferably, in the automatic winding reel loading and unloading system, the winding reel loading and unloading trolley includes...

[0015] The frame is movably mounted on the guide rail;

[0016] A drive unit is mounted on the vehicle frame and can drive the vehicle frame to reciprocate along the guide rail;

[0017] A winding reel picking and moving mechanism is mounted on the vehicle frame, and it has at least a structure for picking up the winding reel and driving the winding reel to move and rotate along the X, Y, and Z axes.

[0018] Preferably, in the automatic loading and unloading system for the winding reel, the winding reel handling mechanism includes a connecting seat, which is mounted on a moving device that drives its movement. A bearing plate, a base plate, and a cylinder are provided at the front end face of the connecting seat. The cylinder is fixed on the base plate and its cylinder shaft is connected to a transmission plate. The transmission plate is connected to at least three claws via a linkage transmission mechanism fixed on the bearing plate. One end of each claw is pivotally connected to the base plate, and the other end extends to the front end of the bearing plate. Each claw is pivotally connected to the same-direction ends of the first and second drive rods of the linkage transmission mechanism and is driven by the cylinder to rotate around its pivot connected to the base plate.

[0019] Preferably, in the automatic loading and unloading system for the winding reel, the winding reel picking and moving mechanism further includes a wire end gripping device disposed on the carrier plate, the wire end gripping device including a structure for tossing and gripping wire-like objects.

[0020] Preferably, in the automatic loading and unloading system for the winding reel, the winding reel placement platform is a conveyor line, with its input end connected to the loading conveyor line and its output end connected to the unloading conveyor line.

[0021] Preferably, in the automatic loading and unloading system for the winding reel, the transfer mechanism includes a bracket, on which a first translation mechanism movable along the X-axis is provided, on which a second translation mechanism movable along the Y-axis is provided, on which a lifting mechanism movable along the Z-axis is provided, and at the bottom of the lifting mechanism a winding reel holder is provided.

[0022] Preferably, in the automatic loading and unloading system for the winding reel, the winding reel holder uses an electromagnet to attract the winding reel.

[0023] A winding production line includes at least one winding machine and a wire feeder, and includes an automatic loading and unloading system for any of the above-mentioned winding reels.

[0024] The loading and unloading method of the automatic winding reel loading and unloading system includes the following steps:

[0025] S1000, the winding reel loading and unloading trolley moves to the winding machine to be unloaded and removes the full winding reel from the winding machine;

[0026] S2000, the winding reel transport trolley carries an empty winding reel obtained from the winding reel loading / unloading station to the winding reel loading / unloading trolley at step S1000.

[0027] The S3000 winding reel loading and unloading trolley places a full winding reel on the winding reel transport trolley, and then grabs an empty winding reel from the winding reel transport trolley and installs it on the winding machine.

[0028] S4000, the winding reel transport trolley moves to the winding reel loading / unloading station, the transfer mechanism picks up an empty winding reel from the winding reel placement platform and places it on the winding reel transport trolley, and then moves the full winding reel on the winding reel transport trolley to the winding reel placement platform.

[0029] S5000, repeat steps S1000-S4000 to continuously complete the loading and unloading of different winding machines.

[0030] Preferably, the loading and unloading method of the automatic winding reel loading and unloading system also includes...

[0031] S0, When the equipment is started, the winding reel loading and unloading trolley installs empty winding reels for the winding machine one by one in a specified order, and after each empty winding reel is placed on the winding machine, the end of the wire is wound onto the winding reel.

[0032] The empty winding spools are moved in batches from the winding spool loading / unloading station to the winding spool unloading / loading trolley. Each time the winding spool unloading / loading trolley picks up one or two winding spools at the winding spool loading / unloading station, and after all the winding spools on it have been removed, it immediately moves to the winding spool loading / unloading station to pick up more spools.

[0033] The advantages of the technical solution of this invention are mainly reflected in:

[0034] This solution features an ingenious design and simple structure. By setting up separately movable winding reel transport trolleys, winding reel loading / unloading trolleys, and fixed winding reel loading / unloading stations, the winding reel storage structure and installation structure are effectively separated. This significantly reduces the weight of each trolley, thereby lowering the power requirements. Furthermore, the winding reels are stored at the loading / unloading stations and transported by the winding reel transport trolleys. Simultaneously, loading and unloading can be performed on other winding machines that require loading and unloading, effectively avoiding the problem of existing structures being unable to simultaneously perform trolley loading / unloading and winding machine loading / unloading operations. This saves time and damage caused by downtime during loading / unloading, increases processing cycle time, and ultimately improves processing efficiency.

[0035] The winding reel transfer mechanism of this solution can perform multi-axis movement and rotation, thereby effectively fixing the winding reel on the winding machine and removing it from the winding machine. Its degree of automation is higher, creating favorable conditions for fully automatic winding.

[0036] The winding reel handling mechanism of this solution uses a set of claws that can retract and open synchronously to clamp a baffle at one end of the winding reel, effectively avoiding the interference problem between the claws and the winding reel placement platform caused by clamping baffles at both ends in the existing technology. At the same time, it adopts a linkage transmission structure and uses double linkages to connect the claws, which effectively increases the rigidity of the claws and improves the load-bearing capacity, thus ensuring the horizontal placement of the winding reel.

[0037] The winding reel transfer mechanism of this solution has a floating first magnet. Before the gripper clamps the winding reel, the first magnet ensures that the relative position between the winding reel and the gripper is fixed, thus ensuring stable clamping. At the same time, the floating structure can effectively adapt to the gripper's clamping action, which helps to increase the reliability of clamping. In addition, it can effectively avoid hard contact between the baffle, the gripper body, and the magnet, ensuring the safety of the structure.

[0038] The winding reel transfer mechanism of this solution integrates an inflation / deflation connector, which can effectively cooperate with the air expansion shaft to achieve inflation. This avoids the problem of configuring an inflation structure for each air expansion shaft in the existing technology, which helps to reduce equipment costs, improve the flexibility of inflation / deflation, and enrich the performance of the grippers.

[0039] The design of the claw groove in the winding reel picking mechanism of this solution can effectively meet the gripping requirements of winding reels with baffles of different thicknesses, and has a wide range of applications and high application flexibility.

[0040] The winding reel handling mechanism of this solution integrates a wire end gripping device, which can wind the wire end onto the winding reel, thus creating a prerequisite for fully automatic winding, further enriching the performance of the gripper, and making it possible to simulate manual wire end fixing on the winding reel.

[0041] The limiting groove on the outer circumference of the sleeve can limit the movement of the wire when it is moved, thus ensuring the stability of the movement.

[0042] The hook is equipped with a magnet, which can effectively attract metal wires and other objects, thus ensuring that the hook can stably hook up linear objects. Attached Figure Description

[0043] Figure 1 This is a perspective view of the winding production line of the present invention;

[0044] Figure 2 This is a top view of the winding production line of the present invention;

[0045] Figure 3 yes Figure 1 Enlarged view of region A in the middle;

[0046] Figure 4 yes Figure 1 Enlarged view of region B in the middle;

[0047] Figure 5 This is a front view of the winding reel transfer mechanism of the present invention;

[0048] Figure 6 This is a perspective view of the winding disc transfer mechanism (movement mechanism omitted) of the present invention;

[0049] Figure 7 This is a cross-sectional view of the winding reel transfer mechanism (moving mechanism omitted) of the present invention;

[0050] Figure 8 This is a cross-sectional view of the inflation / deflation connector of the present invention;

[0051] Figure 9 This is a partial perspective view of the winding disc transfer mechanism (movement mechanism omitted) of the present invention;

[0052] Figure 10 This is a partial front view of the winding disc picking and moving mechanism (moving mechanism omitted) of the present invention;

[0053] Figure 11 yes Figure 9 Enlarged view of region C in the middle;

[0054] Figure 12 This is a perspective view of the upper and lower workstations of the winding reel of the present invention. Detailed Implementation

[0055] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0056] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Also, in the description of the solution, with the operator as a reference, the direction closer to the operator is the proximal end, and the direction farther from the operator is the distal end.

[0057] The automatic loading and unloading system for winding reels disclosed in this invention will be described below with reference to the accompanying drawings. It can be applied to the loading and unloading of various processing equipment requiring loading and unloading operations, such as loading and unloading machined parts. The following description uses the removal and loading of winding reels from the winding machine as an example. (See attached drawings.) Figure 1 Appendix Figure 2 As shown, it includes

[0058] A winding reel transport trolley 1000 has a platform 1001 for placing at least two winding reels, and the winding reel transport trolley 1000 can move along a designated path to at least one processing equipment.

[0059] The winding reel loading and unloading trolley 2000 has a structure for transferring the winding reel between the winding reel transport trolley 1000 and the processing equipment, and can move along a specified path between the processing equipment and the winding reel loading and unloading station 3000.

[0060] The winding reel loading and unloading station 3000 is fixed in position and has a winding reel placement platform 3001 and a transfer mechanism 3002 for transferring the winding reel between the winding reel transport trolley 1000 and the winding reel placement platform 3001.

[0061] The winding reel transport trolley 1000 is used to move empty and full winding reels between various processing equipment (winding machines) and winding reels 3000. It can be any known AGV trolley with autonomous navigation (magnetic strip navigation, laser navigation, visual navigation, etc.), or it can be a tram or electric trolley that can move along a set track.

[0062] In the preferred embodiment, as shown in the appendix Figure 1 Appendix Figure 2 As shown, the winding reel transport trolley 1000 can move along the guide rail 4000, which extends through the winding reel loading and unloading station 3000. The guide rail 4000 can be a straight guide rail, a curved guide rail, or a ring guide rail, etc. The processing equipment (winding machine) is distributed on both sides of the guide rail, so that multiple processing equipment can be loaded and unloaded by a set of winding reel transport trolley 1000 and winding reel loading and unloading trolley 2000.

[0063] The winding reel transport trolley 1000 is movably mounted on the guide rail 4000 and is limited by the guide rail, as detailed in the attached document. Figure 3 As shown, the winding reel transport trolley 1000 includes a frame 1002. The frame 1002 can be slidably connected to and limited by the guide rail 4000 via a slider, or the frame 1002 can be rollably connected to and limited by the guide rail 4000 via rollers.

[0064] The frame 1002 is equipped with a power device (not shown in the figure) that drives it to move along the guide rail 4000. The power device includes a motor, which is connected to a friction wheel or gear (not shown in the figure) through a gear transmission mechanism or a belt and pulley transmission mechanism or a reducer. The circumferential surface of the roller is in contact with the side wall of the rail 4000, or the gear is in contact with the side wall of the guide rail 4000. Figure 4 The rack 40001 at the side wall of the track 4000 shown engages, so that when the roller or gear is driven to rotate by the motor, the frame 2001 can slide or roll along the track 4000.

[0065] As attached Figure 3 As shown, the platform 1001 is provided on the frame 1002. The platform 1001 includes a base frame 10011 and two adjacent limiting plates 10012 located on the base frame 10011. Each limiting plate 10012 has a countersunk hole 10013. The diameter of the large diameter portion of the countersunk hole 10013 is the same as the diameter of the retainer of the winding spool. The diameter of the small diameter portion of the countersunk hole 10013 is smaller than the diameter of the retainer of the winding spool. That is, the retainer of the winding spool can be embedded in the large diameter portion of the countersunk hole 10013 and confined within the countersunk hole 10013.

[0066] The winding reel loading and unloading trolley 2000 can also be various AGV trolleys, or it can be a tram or electric trolley that can move along a set track. Preferably, it is also movably mounted on the guide rail 4000, and the winding reel loading and unloading trolley 2000 and the winding reel loading and unloading station 3000 are located on both sides of the winding reel transport trolley 1000.

[0067] Details are attached. Figure 1 As shown, the winding reel unloading trolley 2000 includes...

[0068] The frame 2001 is movably mounted on the guide rail 4000;

[0069] A drive unit 2002 is mounted on the frame 2001 and can drive the frame 2001 to reciprocate along the guide rail 4000.

[0070] The winding reel picking and moving mechanism 2003 is disposed on the vehicle frame 2001, and has at least a structure for picking up the winding reel and driving the winding reel to move and rotate in the X, Y and Z axes.

[0071] The frame 2001 and drive device 2002 are similar in structure and principle to the frame and power device of the winding reel transport trolley 1000 mentioned above, and will not be described in detail here.

[0072] The winding reel handling mechanism 2003 can be any known gripper and structure for driving the gripper to move, such as the structure of the automatic loading and unloading robot for the winding reel disclosed in the applicant's application 201811552218.2, or it can be the structure disclosed in the background art.

[0073] Preferred options are listed below. Figure 5 As shown, the winding reel transfer mechanism 2003 includes a connecting base 1, which is connected to a moving device 20 that drives its movement, as shown in the attached figure. Figure 6 As shown, a support plate 2, a base plate 3, and a cylinder 4 are provided at the front end of the connecting seat 1. The cylinder 4 is fixed on the base plate 3 and its cylinder shaft is connected to a transmission plate 5. The transmission plate 5 is connected to at least three claw bodies 7 through a linkage transmission mechanism 6 fixed on the support plate 2. One end of each claw body 7 is pivotally connected to the base plate 3, and the other end extends to the front end of the support plate 2. Each claw body 7 is pivotally connected to the same-direction end of the first drive rod 61 and the second drive rod 62 of the linkage transmission mechanism 6 and is driven by the cylinder 4 to rotate around the pivot connected to the base plate 3.

[0074] Among them, as attached Figure 6 As shown, the connecting seat 1 includes a main body 11 and flanges 12 and 13 located at both ends of the main body 11. Connecting holes are formed on the flanges 12 and 13 located outside the main body 11.

[0075] As attached Figure 6 As shown, the front end face of the flange 12 is connected to the bearing plate 2 by a set of columns 14. The bearing plate 2 is disc-shaped, coaxial with the flange 12, and has a set of notches 22 on its circumference that are opposite to the position of each claw body 7.

[0076] As attached Figure 7 As shown, the front end face of the support plate 2 has a set of mounting holes 23 forming a circle. The circle formed by the mounting holes 23 is coaxial with the support plate 2. Each mounting hole 23 is provided with a first magnet 8, which can be a magnet or an electromagnet, etc., and they can be fixed in the mounting hole 23 by glue or bolts. Preferably, each first magnet 8 can float up and down relative to the support plate 2.

[0077] As attached Figure 7 As shown, the mounting hole 23 is a countersunk hole, and its front opening is smaller than its rear opening. Each magnet is bolt-shaped and movably confined in one of the countersunk holes. A back panel 24 covering the mounting hole 23 is screwed to the rear end face of the support plate 2. A spring (not shown in the figure) is provided between the bottom of the first magnet 8 and the back panel 24. One end of the spring abuts against the bottom surface of the first magnet 8, and the other end abuts against the back panel 24. Thus, when the first magnet 8 is subjected to downward pressure, it can move downward relative to the support plate 2. When there is no pressure, it returns to its original position under the reaction force of the spring.

[0078] Further details are attached. Figure 7 As shown, coaxial through holes 21 are formed at the centers of the support plate 2 and the back panel 24, respectively. Each through hole 21 is a circular hole with a diameter smaller than the diameter of the circle formed by the mounting holes 23, meaning the circular hole is located within the space enclosed by the magnet. The rear end face of the support plate 2 is provided with an inflation / deflation connector 9 facing the through hole 21. The inflation / deflation connector 9 is used in conjunction with structures requiring inflation or deflation, such as for inflating or deflating an air shaft, as shown in the attached diagram. Figure 7 Appendix Figure 8 As shown, it includes a base 91 fixed on the back panel 23, an air nozzle 92 is provided on the base 91, and an air filling / discharging channel 93 is formed on the base 91 that communicates with the air passage of the air nozzle 92. The air inlet and outlet of the air filling / discharging channel 93 are located on the side wall of the base 91, so as to facilitate the connection of the air source and avoid interference with the linkage transmission mechanism 6.

[0079] As attached Figure 7 Appendix Figure 9As shown, a set of support columns 25 are also vertically provided on the rear end face of the bearing plate 2. The support columns 25 are distributed around the periphery of the back panel 24 and are fixedly connected to the base plate 3. The base plate 3 is preferably a square plate. The cylinder 4 is fixed at the center of the rear end face of the base plate 3 and its cylinder shaft is inserted into the through hole 31 in the center of the base plate 3. The transmission plate 5 includes a flat plate 51 parallel to the base plate 3 and a connector 52 located at the center of the flat plate 51 and embedded in the through hole 31 and screwed to the cylinder shaft 41 of the cylinder 4. Four pivot connection portions 53 are formed on the transmission plate 5, which are evenly distributed on the outer periphery of the transmission plate 5. The pivot connection portions 53 are connected to the linkage transmission mechanism 6.

[0080] Specifically, as shown in the attached document Figure 9 Appendix Figure 10 As shown, the linkage transmission mechanism 6 includes a connecting rod 63 corresponding to each of the claw bodies 7 and pivotally connected at one end to a transmission plate 5 via a pivot connection portion 53. The connecting rod 63 is connected to the transmission plate 5 via a first connecting shaft 65, and the connecting rod 63 is preferably H-shaped. Two short arms 631 with one open end of the connecting rod 63 are located outside the two protrusions 531, 532 of the pivot connection portion 53. A second connecting shaft 66 is provided between the two short arms 632 at the other end of the connecting rod 63. The second connecting shaft 66 is slidable. A first waist-shaped hole 641 is inserted through a base 64, which is fixed to the back panel 24, and the length direction of the first waist-shaped hole 641 is the same as the extension direction of the support column 25; a first connecting shaft 65 connecting the connecting rod 63 and the transmission plate 5 is pivotally connected to a round hole (not shown in the figure) at one end of the first drive rod 61, and one end of the first drive rod 61 connected to the first connecting shaft 65 is located between the two bosses of the pivot connection part 53, and the other end of the first drive rod 61 is pivotally connected to the claw body 7.

[0081] The second connecting shaft 66 connecting the connecting rod 63 and the base 64 is pivotally connected to the waist-shaped hole 621 of the second driving rod 62. The other end of the second driving rod 62 is pivotally connected to the claw body 7, and the connection point of the second driving rod 62 and the claw body 7 is located at the front end of the connection point of the first driving rod 61 and the claw body 7, so that the first driving rod 61 and the second driving rod 62 are in a parallel or approximately parallel state.

[0082] The number of claws 7 can be set as needed, such as 3, 4 or more. Preferably, there are 4 claws 7, and they are distributed in a square. This arrangement can ensure uniform clamping of the winding reel and avoid uneven force during gripping, which would cause excessive load on some claws 7. At the same time, it can minimize the space occupied by the linkage transmission mechanism 6 and avoid interference with other structures.

[0083] As attached Figure 10 As shown, each claw body 7 includes a swing arm 71, one end of which is pivotally connected to a connecting portion 31 on the side of the base plate 3. The front end of the swing arm 71 extends to the front of the support plate 2 and is positioned opposite a notch 22 on the side of the support plate 2. When in a retracted state, the swing arm 71 can be partially or completely embedded in the notch 22. A limiting block 72 is provided at the front end of the swing arm 71, and the limiting block 72 and the front end of the swing arm 71 form a groove 73. The width of the groove 73 is greater than the thickness of the retaining plate at one end of the winding reel, so that the claw body can clamp winding reels with different retaining plate thicknesses.

[0084] Furthermore, after fixing the winding reel onto the winding machine, the wire end needs to be wound onto the central shaft of the reel. Conventional equipment requires manual winding for this purpose. Therefore, as shown in the attached... Figure 7 As shown, the winding reel transfer mechanism of this solution also includes a wire end gripping device 10, which includes a structure for agitating and gripping wire-like objects.

[0085] Details are attached. Figure 9 Appendix Figure 11 As shown, the wire end gripping device 10 includes a sleeve 101 fixed to the circumferential surface of the bearing plate 2. A gripping rod 102 with its front end protruding from the sleeve 101 is slidably disposed inside the sleeve 101. A limiting groove 1011 is formed on the circumferential surface of the sleeve 101 near its front end, so that the wire can be limited by the limiting groove 1011 to prevent the wire from sliding on the sleeve 101.

[0086] As attached Figure 11 As shown, the front end of the gripping rod 102 has a hook 1021 and its rear end is connected to a push-pull device 103 that drives it to slide back and forth in the sleeve 101. The hook 1021 is specifically formed by forming a notch 1022 at the front end of the gripping rod 102. The bottom surface of the notch 1022 has a mounting groove 1023. A second magnet (not shown in the figure) is provided in the mounting groove 1023. When gripping the metal wire, the metal wire can be attracted and fixed by the second magnet, thereby ensuring that the gripping rod can effectively grip.

[0087] The push-pull device 103 can be a cylinder or other device or mechanism that can drive the gripping rod 102 to move back and forth in a straight line, such as an electric cylinder or a hydraulic cylinder, which will not be described in detail here.

[0088] As attached Figure 5As shown, the flange 13 of the connecting seat 1 is connected to a moving device 20 that drives it to move and rotate along the XYZ axes. The moving device 20 can be a 6-axis robot or other feasible moving mechanism, which will not be described in detail here.

[0089] Of course, the connecting seat 1 may also have the image acquisition, tape application and wire cutting structures disclosed in application number 201811552218.2.

[0090] The winding reel placement platform 3001 in the winding reel loading and unloading station 3000 is used to place empty winding reels and full winding reels. The transfer device 3002 is used to place empty winding reels on the winding reel transport trolley 1000 that moves to its side and to move full winding reels on the winding reel trolley 1000 to the winding reel placement platform 3001.

[0091] Preferred options are listed below. Figure 1 Appendix Figure 2 As shown, to facilitate a continuous supply of empty winding reels and the movement of multiple full winding reels from the winding reel placement platform 3001, the winding reel placement platform 3001 is preferably a conveyor line, such as a belt conveyor, roller conveyor, or chain conveyor, preferably a roller conveyor. Furthermore, the input end of the winding reel placement platform 3001 is connected to the feeding conveyor line 5000, and its output end is connected to the unloading conveyor line 6000. Empty winding reels are placed on the tray 7. At point 000, pallet 7000 is transported from the loading conveyor line 5000 to the winding reel placement platform 3001 and stops. Transfer mechanism 3002 performs transfer. At the same time, when all empty winding reels on pallet 7000 are removed and it is full of winding reels, the winding reel placement platform 3001 starts to move pallet 700 to the unloading conveyor line 6000. Meanwhile, the loading conveyor line 5000 carries another empty winding reel.

[0092] As attached Figure 12 As shown, the transfer mechanism 3002 includes a bracket 30021, on which a first translation mechanism 30022 movable along the X-axis is provided, on which a second translation mechanism 30023 movable along the Y-axis is provided, on which a lifting mechanism 30024 movable along the Z-axis is provided, and at the bottom of the lifting mechanism 30024 a winding reel holder 30025 is provided.

[0093] As attached Figure 12As shown, the first translation mechanism 30022 includes two guide rails 300221 extending along the X-axis direction and disposed on the top of the bracket 30021. A movable frame 300222 is slidably disposed on the guide rails. A motor 300223 is disposed on the movable frame 300222. The motor 300223 is connected to a gear (not shown in the figure) through a reducer. The gear meshes with a locking tooth 300224 on the side wall of one of the guide rails 300221. The second translation mechanism 30022 is disposed on the movable frame 300222. The second translation mechanism 30023 drives the winding reel holder 30025 to move along the Y-axis direction. The lifting mechanism 30024 drives the winding reel holder 30025 to move along the Z-axis direction. The structure and principle of the second translation mechanism 30023 and the lifting mechanism 30024 are similar to those of the first translation mechanism 30022, and will not be described in detail here.

[0094] As attached Figure 12 As shown, the winding reel holder 30025 includes a support fixed to the end of the lifting mechanism 30024. An electromagnet (not shown in the figure) is provided at the bottom of the support. The electromagnet, the circuit structure that powers it, and the technology for controlling the on / off state of the control circuit are all existing technologies and will not be described in detail. Thus, the winding reel can be attracted by the electromagnet.

[0095] This solution also further discloses a winding production line, as shown in the attached diagram. Figure 1 Appendix Figure 2 As shown, the system includes a set of winding machines 8000 and a wire feeder 9000 corresponding to each winding machine. The winding machines 8000 and the wire feeder 9000 are known technologies and are not the inventive points of this solution, so they will not be described in detail here. The winding production line also includes the above-mentioned automatic loading and unloading system for winding reels. The winding machines 8000 are distributed on both sides of the track 4000.

[0096] Finally, when the winding production line is working, it can use various known control devices, such as control devices composed of PLC and industrial computers, combined with various sensors, such as proximity sensors and laser rangefinders, to control the start-up, shutdown and working status of various electrical equipment such as cylinders, motors, and electric cylinders. These are known technologies and will not be elaborated here.

[0097] When using the above-mentioned winding production line for winding operations, the following steps are included:

[0098] S0000, when the equipment is started, the winding spool loading and unloading trolley 2000 installs empty winding spools for the winding machine one by one in a specified order, and after each empty winding spool is placed on the winding machine, the end of the wire on the winding machine is wound onto the winding spool.

[0099] The empty winding spools are moved in batches from the winding spool loading / unloading station 3000 to the winding spool unloading / unloading trolley 2000 by the winding spool transport trolley 1000. The winding spool unloading / unloading trolley 2000 picks up one or two winding spools at the winding spool loading / unloading station 3000 each time, and immediately moves to the winding spool loading / unloading station 3000 to pick up materials again after all the winding spools on it have been removed.

[0100] Specifically, for example, the winding reel loading and unloading trolley 2000 loads materials in a manner that proceeds from far to near or from near to far. Here, we take the method of loading from near to far as an example. The motor of the winding reel loading and unloading trolley 2000 is started, driving it to move to the winding machine closest to the winding reel loading and unloading station 3000 and stop. At the same time, the transfer mechanism of the winding reel loading and unloading station 3000 places one or two empty winding reels on the winding reel transport trolley 1000. The following description uses the example of placing two empty winding reels on the winding reel transport trolley 1000. Subsequently, the power unit of the winding reel transport trolley 1000 is started, causing it to move along the track to the winding reel loading and unloading trolley 2000.

[0101] At this time, the winding reel loading and unloading trolley 2000 loads materials according to the following steps S1-S4:

[0102] S1, the connecting seat 1 is driven by the moving device 20, so that the carrier plate 2 is parallel to and directly opposite the baffle at one end of the winding disc, thereby attracting the first magnet 8 on the carrier plate 2 to the end face of the baffle of the winding disc.

[0103] S2, Next, the cylinder 4 is activated to retract the cylinder shaft. The retraction of the cylinder shaft causes the transmission plate 5 to move toward the cylinder 4, thereby driving the connecting rod 63 connected to it to move toward the cylinder 4. This, in turn, drives the second drive rod 62 connected to the connecting rod 63 to move toward the base plate 3. At the same time, the end of the first drive rod 4 connected to the transmission plate 5 moves toward the base plate 3. As a result, the first drive rod 61 and the second drive rod 62 will apply a pulling force to the claw body 7, causing the four claw bodies 7 to rotate and retract around their pivot connection points with the base plate 3. Thus, the four claw bodies clamp the baffle attracted by the first magnet 8 between the claw body and the first magnet 8 or the support plate 2. Meanwhile, due to the clamping force on the baffle, the first magnet 8 is pressed down.

[0104] S3, then the moving device 20 drives the connecting seat 1 to move the winding reel gripped on it to a state where its center hole is coaxial with the air expansion shaft on the winding machine, and then mounts the winding reel on the air expansion shaft.

[0105] S4. Finally, start the cylinder 4 to open the four claws 7, and at the same time connect the air inlet / outlet connector on the bearing plate 2 with the air nozzle of the air expansion shaft to open the air source and inflate the air expansion shaft to fix the winding reel.

[0106] Next, the wire end of the wire feeder can be manually wound onto the winding shaft, or the wire end can be placed at a fixed position that the wire end gripping device 10 can grip (for example, by fixing the wire end at a certain position with a clamp), and then gripped by the wire end gripping device 10.

[0107] Specifically, taking automatic gripping as an example, the moving device 20 drives the wire end gripping device 10 to move to below or above the wire between the gripper and the wire feeder. At this time, the gripping rod 102 of the wire end gripping device 10 remains extended, with its notch facing the wire and the gripping rod abutting against the wire or the wire being located in the notch of the gripping rod 102. When the gripping rod 102 retracts, it drives the wire to move into the sleeve and cooperates with the sleeve to clamp the wire. At this time, the gripper releases the wire end, and the moving device 20 can drive the wire end gripping device 10 to wind the wire it has gripped onto the winding reel on the winding machine 2-3 times in the winding direction of the wire and fix it. Of course, more turns can also be wound.

[0108] After the winding is completed, the winding machine can be started to wind the wire.

[0109] Subsequently, the winding reel loading / unloading trolley 2000 grabs another empty winding reel from the winding reel transport trolley 1000 and installs it onto the winding machine on the other side of the track 4000. While the winding reel loading / unloading trolley 2000 is installing the winding reel onto the winding machine, the winding reel transport trolley 1000 starts and returns to the winding reel loading / unloading station 3000 to pick up two more empty winding reels and move them back to the winding reel loading / unloading trolley 2000. If the winding reel loading / unloading trolley 2000 has not yet completed the installation of the current winding reel, the winding reel transport trolley 1000 waits for the winding reel loading / unloading trolley 2000 to complete the installation before moving together to the next nearby winding machine. If the winding reel loading / unloading trolley 2000 completes the installation of the current winding reel first and moves to the next winding machine, the winding reel transport trolley 1000 moves directly to the next winding machine.

[0110] After the installation of all the winding reels of the winding machine is completed, the winding reel transport trolley 1000 and the winding reel loading and unloading trolley 2000 are moved to the side of the winding reel loading and unloading station 3000, and the transfer device places an empty winding reel on the winding reel transport trolley 1000.

[0111] S1000: When the winding reel on a winding machine is full, the wire between the winding reel and the winding machine can be cut and fixed on the winding reel by manual or automated equipment (such as the positioning, cutting, and pasting scheme disclosed in the applicant's Chinese patent application 201811552218.2). The winding reel unloading trolley 2000 moves to the winding machine to be unloaded and removes the full-wire winding reel from the winding machine.

[0112] The specific process for removing the fully wound reel is as follows:

[0113] S5, the mobile device 20 drives the support plate 2 to connect the air inlet / outlet connector on it with the air nozzle on the air expansion shaft of the winding machine to release air.

[0114] S6, the moving device 20 drives the support plate 2 to be parallel to and directly opposite the baffle at one end of the winding disc, so that the first magnet 8 on the support plate 2 is attracted to the end face of the baffle of the winding disc.

[0115] S7, Next, start cylinder 4 to retract the cylinder shaft, thereby causing the four claws to retract and clamp the outer end of the winding shaft and move it out of the air expansion shaft.

[0116] S2000, the winding reel transport trolley 1000 carries an empty winding reel obtained from the winding reel loading / unloading station 3000 and moves it to the side of the winding reel loading / unloading trolley 2000 located at the unloading position. It can move synchronously with the winding reel loading / unloading trolley 2000 or move separately.

[0117] S3000, the winding reel loading and unloading trolley 2000's winding reel taking and moving mechanism 2003 starts, placing the fully loaded winding reel it has grabbed onto the winding reel transport trolley 1000. The winding reel taking and moving mechanism 2003 then grabs the empty winding reel on the winding reel transport trolley 1000 and installs the empty winding reel onto the winding machine according to the steps S1-S4 above. After replacing the empty winding reel, the wire end from the wire feeder can be manually wound onto the winding reel, or the wire end gripping device 10 can be used to grip the wire end held by the claw and then wound onto the winding shaft according to the winding steps above. This will not be elaborated here. Then the winding machine can be restarted to perform winding.

[0118] The winding reel loading / unloading trolley 2000 then executes step S1000, which moves again to another winding machine that needs to unload materials, or stops in place or moves closer to the winding reel loading / unloading station 3000.

[0119] S4000, while the winding reel loading and unloading trolley 2000 is loading, the winding reel transport trolley 1000 moves to the winding reel loading and unloading station 3000. Before, simultaneously or after this, the lifting mechanism 30024 of the transfer mechanism 3002 is activated, causing the winding reel holder 30025 to move above an empty winding reel on the winding reel placement platform 3001 and energizing the electromagnet. Thus, the electromagnet attracts the winding reel through magnetic force. Subsequently, the lifting mechanism 30024 drives the winding reel holder 30025 to move upward.

[0120] Next, the first translation mechanism 30022 drives the winding reel holder 30025 to move to the right above the winding reel loading / unloading trolley 2000. Then, the lifting mechanism 30024 drives the winding reel holder 30025 to move down into the countersunk hole on the platform 1001, and simultaneously, the electromagnet is de-energized. Next, the lifting mechanism 30024 drives the winding reel holder 30025 to move up. Then, the second translation mechanism 30023 drives the winding reel holder 30025 to move onto the fully loaded winding reel on the winding reel placement platform 3001. Subsequently, the lifting mechanism drives the winding reel holder to move down and uses the electromagnet to attract the fully loaded winding reel. The lifting mechanism and the first translation mechanism drive the winding reel holder to move the attracted fully loaded winding reel to the winding reel placement platform 3001.

[0121] The winding spool loading / unloading trolley 2000 stays in place and waits for the next loading / unloading, or the winding spool loading / unloading trolley 2000 executes step S2000.

[0122] S5000, repeat steps S1000-S4000 to continuously complete the loading and unloading of different winding machines.

[0123] This invention has many other embodiments, and all technical solutions formed by equivalent transformations or equivalent transformations fall within the protection scope of this invention.

Claims

1. An automatic loading and unloading system for winding reels, characterized in that, include: A winding reel transport trolley (1000) has a platform (1001) for placing at least two winding reels, and the winding reel transport trolley (1000) can move along a designated path to at least one processing equipment; The winding reel loading and unloading trolley (2000) has a structure for transferring the winding reel between the winding reel transport trolley (1000) and the processing equipment, and can move along a specified path between the processing equipment and the winding reel loading and unloading station (3000); The winding reel loading and unloading station (3000) is fixed in position and has a winding reel placement platform (3001) and a transfer mechanism (3002) for transferring the winding reel between the winding reel transport trolley (1000) and the winding reel placement platform (3001). The winding reel unloading trolley (2000) includes: The frame (2001) is movably mounted on the guide rail (4000); A drive unit (2002) is mounted on the frame (2001) and can drive the frame (2001) to reciprocate along the guide rail (4000); A winding reel picking and moving mechanism (2003) is disposed on the vehicle frame (2001), and has at least a structure for picking up the winding reel and driving the winding reel to move and rotate along the X, Y, and Z axes; The winding reel taking and moving mechanism (2003) also includes a wire end gripping device (10), which includes a structure for moving and gripping wire-like objects; The thread end gripping device (10) includes a sleeve (101) fixed to the circumferential surface of the support plate (2). A gripping rod (102) with its front end protruding from the sleeve (101) is slidably provided inside the sleeve (101). The front end of the gripping rod (102) has a hook (1021) and its rear end is connected to a push-pull device (103) that drives it to slide back and forth in the sleeve (101). The winding reel taking and moving mechanism (2003) includes a connecting seat (1), which is disposed on a moving device (20) that drives it to move. A bearing plate (2), a base plate (3) and a cylinder (4) are disposed at the front end face of the connecting seat (1). The cylinder (4) is fixed on the base plate (3) and its cylinder shaft is connected to a transmission plate (5). The transmission plate (5) is connected to at least three claws (7) through a linkage transmission mechanism (6) fixed on the bearing plate (2). One end of each claw (7) is pivotally connected to the base plate (3), and the other end extends to the front end of the bearing plate (2). Each claw (7) is pivotally connected to the same end of the first drive rod (61) and the second drive rod (62) of the linkage transmission mechanism (6) and is driven by the cylinder (4) to rotate around the pivot connected to the base plate (3). A coaxial first through hole (21) is formed at the center of the support plate (2) and the back panel (24). The rear end face of the support plate (2) is provided with an inflation / deflation connector (9) facing the first through hole (21). The inflation / deflation connector (9) is used in conjunction with the structure that needs to be inflated or deflated. It includes a base (91) fixed on the back panel (24). An air nozzle (92) is provided on the base (91). An inflation / deflation channel (93) is formed on the base (91) and communicates with the air passage of the air nozzle (92). The air inlet and outlet of the inflation / deflation channel (93) are located on the side wall of the base (91), so as to facilitate the connection of the air source and avoid interference with the linkage transmission mechanism (6). A set of support columns (25) is also vertically provided on the rear end face of the support plate (2). The support column (25) is distributed around the back panel (24) and is fixedly connected to the base plate (3). The base plate (3) is a square plate. The cylinder (4) is fixed at the center of the rear end face of the base plate (3) and its cylinder shaft is inserted into the second through hole (31) at the center of the base plate (3). The transmission plate (5) includes a flat plate (51) parallel to the base plate (3) and a connector (52) located at the center of the flat plate (51) and embedded in the second through hole (31) and screwed to the cylinder shaft (41) of the cylinder (4). Four pivot connection portions (53) are formed on the transmission plate (5) that evenly divide the outer periphery of the transmission plate (5). The pivot connection portions (53) are connected to the linkage transmission mechanism (6).

2. The automatic winding reel loading and unloading system according to claim 1, characterized in that: The winding reel transport trolley (1000) and the winding reel loading / unloading trolley (2000) are respectively movably mounted on the guide rail (4000) extending through the winding reel loading / unloading station (3000).

3. The automatic loading and unloading system for winding reels according to any one of claims 1-2, characterized in that: The winding reel placement platform (3001) is a conveyor line, with its input end connected to the feeding conveyor line (5000) and its output end connected to the unloading conveyor line (6000).

4. The automatic loading and unloading system for winding reels according to any one of claims 1-2, characterized in that: The transfer mechanism (3002) includes a bracket (30021), on which a first translation mechanism (30022) movable along the X-axis is provided, on which a second translation mechanism (30023) movable along the Y-axis is provided, on which a lifting mechanism (30024) movable along the Z-axis is provided, and at the bottom of the lifting mechanism (30024) a winding reel holder (30025) is provided.

5. The automatic loading and unloading system for winding reels according to claim 4, characterized in that: The winding reel holder (30025) uses an electromagnet to attract the winding reel.

6. A winding production line, comprising at least one winding machine (7000) and a wire feeder (8000), characterized in that: The automatic loading and unloading system for winding reels as described in any one of claims 1-5.

7. The loading and unloading method of the automatic loading and unloading system for winding reels according to claim 1, characterized in that: Includes the following steps: S1000, the winding reel unloading trolley (2000) moves to the winding machine to be unloaded and removes the full winding reel from the winding machine; S2000, the winding reel transport trolley (1000) carries an empty winding reel obtained from the winding reel loading / unloading station (3000) to the side of the winding reel loading / unloading trolley (2000) at step S1000. S3000, the winding reel loading and unloading trolley (2000) places the full winding reel on the winding reel transport trolley (1000), and then grabs the empty winding reel from the winding reel transport trolley (1000) and installs it on the winding machine. S4000, the winding reel transport trolley (1000) moves to the winding reel loading / unloading station (3000), and the transfer mechanism (3002) places an empty winding reel picked up from the winding reel placement platform (3001) onto the winding reel transport trolley (1000). Then, the fully loaded winding reel on the winding reel transport trolley (1000) is moved to the winding reel placement platform (3001). S5000, repeat steps S1000-S4000 to continuously complete the loading and unloading of different winding machines.

8. The loading and unloading method of the automatic loading and unloading system for winding reels according to claim 7, characterized in that: Also includes S0000, when the equipment is started, the winding spool loading and unloading trolley (2000) installs empty winding spools for the winding machine one by one in a specified order, and after each empty winding spool is placed on the winding machine, the end of the wire is wound onto the winding spool. Empty winding spools are transported in batches from the winding spool loading / unloading station (3000) to the winding spool unloading / loading trolley (2000) by the winding spool transport trolley (1000). The winding spool unloading / loading trolley (2000) picks up one or two winding spools at the winding spool loading / unloading station (3000) each time, and immediately moves to the winding spool loading / unloading station (3000) to pick up materials again after all the winding spools on it have been taken away.

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