A loading and depalletizing device for paper tubes

Abstract

The present invention provides a loading and depalletizing device for paper tubes, comprising a transmission line, a tube cutting machine, a coding machine, a transporter, a demoulding machine, and a palletizing machine; the transporter comprises a linear slide rail and a clamping manipulator, the demoulding machine is provided with an air-expanding shaft and an air path mechanism for inflating and deflating the air-expanding shaft, the clamping manipulator is provided with a glue spraying head, the palletizing machine and the clamping manipulator are opposite to each other on the linear slide rail, the transporter, the palletizing machine and the logistics vehicle cooperate with each other to carry out blanking production on the air-expanding shaft with adjusted paper tube spacing, and the finished paper tubes wrapped with non-woven fabrics are chopped and cut from the air-expanding shaft, stacked and screened, and then placed on a weighing tray; from automatic tube cutting, grinding and coding operations, to paper tube cutting, paper tube finished product transporting and loading, until finally the paper tube finished products are disassembled, cut, stacked and placed, the production and manufacturing of the paper tube finished products on the transmission line and the process implementation are significantly improved, full-automatic operation is achieved, labor input is reduced and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of depalletizing and stacking, and in particular to a feeding and depalletizing device for paper tubes. Background Art

[0002] As the global population continues to grow, the demand for non-woven fabrics is increasing. Non-woven fabrics are an important component in the production of common products such as diapers and masks.

[0003] Traditional production of non-woven fabrics requires manual labor using trailers to inkjet code the paper tubes, assemble the paper tubes, separate the gaps between the paper tubes, gluing the paper tubes, unloading the finished rolls, stacking and transporting the finished products, laminating the finished products, and recycling the pallets. Each process requires a lot of manpower, which greatly increases the investment in labor costs.

[0004] In particular, the traditional manual pairing and loading of paper tubes, the transportation of paper tubes and the insertion of paper tubes into air expansion shafts require frequent adjustment of the paper tube spacing, making the tube sleeve efficiency extremely low. In addition, the traditional finished non-woven fabrics are manually destackered in sequence during unloading. Finished products and defective products need to be distinguished and stacked to the required height and quantity. The degree of automation is low and the labor input is increased, which greatly reduces production efficiency and greatly affects the manufacturing process. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a loading and depalletizing device for paper tubes to solve the above-mentioned problems.

[0006] The present invention adopts the following scheme:

[0007] The present application provides a feeding and depalletizing device for paper tubes, comprising a transmission line and a tube cutting machine, an inkjet printer, a transporter, a die stripper and a palletizer arranged on the transmission line; the transmission line is provided with a logistics vehicle for transfer; the tube cutting machine is provided with a tube cutting station and a grinding station; the inkjet printer is provided with a coding station at the front end for performing coding operations on paper tubes transferred from the grinding station, and a buffer station at the rear end for temporarily storing paper tubes fed from the coding station; the transporter comprises a linear slide rail and a clamping manipulator arranged on the linear slide rail, the clamping manipulator is used to grab the paper tubes on the buffer station and further transfer them to the die stripper; the die stripper The molding machine is equipped with an inflatable shaft compressed by a hydraulic cylinder and an air path mechanism for inflating and deflating the inflatable shaft. The inflatable shaft expands outward after inflation to confine multiple paper tubes sleeved on the inflatable shaft to their respective positions; the clamping manipulator is equipped with a glue spraying head to spray glue on each paper tube on the inflatable shaft; the stacking machine and the clamping manipulator are arranged opposite to each other on a linear slide rail, and the transporter, stacking machine and logistics vehicle cooperate with each other to carry out blanking production of the inflatable shaft with the paper tube spacing adjusted, and the finished paper tubes wrapped with non-woven fabric are removed from the inflatable shaft, cut and stacked, and then screened and placed on a weighing tray;

[0008] Among them, based on the loading and depalletizing device, the following steps are included:

[0009] S1: Input the paper tube raw material into the tube cutting machine for automatic tube cutting and grinding, and transfer the processed paper tube to the inkjet printer;

[0010] S2: Print each paper tube with the inkjet printer and temporarily store it in the cache station at the back end;

[0011] S3: The paper tube is further grasped and transferred to the air-expansion shaft of the ejector by the clamping robot. After adjusting the relative distance between the paper tubes, the air-expansion shaft filled with paper tubes is inflated.

[0012] S4: Align the glue spray head on the gripper robot with the paper tube for glue spraying. The inflatable shaft covered with paper tube is then transported to the non-woven fabric winding station by a logistics vehicle.

[0013] S5: The finished paper tubes are transported back to the stripper and placed on the demoulding machine. The finished paper tubes are then screened and stacked by the palletizer onto the weighing tray.

[0014] As a further improvement, the inkjet printer includes an L-shaped transfer table, the inkjet coding station includes a inkjet terminal located on the short side conveying path of the transfer table, and the cache station includes a storage rack for receiving paper tubes pushed from the short side conveying path to the long side conveying path, and a plurality of photoelectric sensors are provided on the storage rack.

[0015] As a further improvement, the clamping manipulator includes a base arranged on a linear slide rail and a clamping body arranged on the base, the clamping body is provided with a plurality of spaced lower grab plates and an upper grab plate opposite to the lower grab plates, the lower grab plates and an upper grab plate located in the middle are fixed on the clamping body, and the upper grab plates located on both sides can be raised and lowered on the clamping body for clamping and limiting the end portions of the paper tube.

[0016] As a further improvement, the linear slide rail and the transmission line are extended in the same direction, and the glue spraying head is provided on the inner side of the clamping body, and the glue spraying head and each grab plate are arranged on the same side.

[0017] As a further improvement, the length of the inflatable shaft is configured to be able to accommodate at least ten paper tubes. After the air path mechanism is connected to the shaft of the inflatable shaft and air is supplied, the outer diameter of the shaft is expanded outward to flexibly abut against the inner ring of the paper tube. After the air path mechanism is away from the inflatable shaft and air is released, the outer diameter of the shaft is shrunk inward to be smaller than the inner ring of the paper tube.

[0018] As a further improvement, the air circuit mechanism includes a cylinder, an air nozzle and an air supply source, the air supply source is connected to the air nozzle, and the cylinder is transmission-connected to the air nozzle for controlling the engagement of the air nozzle with the air expansion shaft.

[0019] As a further improvement, the ejector is arranged in front of the linear slide and is adjacent to the conveyor side; multiple weighing trays are provided in front of the linear slide on the side of the palletizer, and multiple material trays are provided at the rear, and seals, cardboard and paper rings are placed on the material trays respectively.

[0020] As a further improvement, the logistics vehicle is moved near the area of ​​the weighing pallet and the drafting machine, and is used to transport the paper tubes and their air-expanding shafts after spraying with glue to the winding station; and the logistics vehicle is used to return the finished paper tubes wrapped with non-woven fabric to the drafting machine again.

[0021] As a further improvement, the palletizer includes a suction cup for picking up and placing materials, a clamping part for socketing the finished paper tube products, a visual light source mechanism for identifying the objects to be grasped, and a fork mechanism for pushing the finished paper tube products out of the shaft when the paper tube products are released from the restriction after the inflation shaft is deflated; the clamping part is used to palletize the finished paper tube products after unloading onto a weighing pallet.

[0022] As a further improvement, a film winding machine is also included, which is used to further laminate and label the paper tube products delivered from the palletizer, and the paper tube products after lamination and labeling are directly transported to storage.

[0023] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0024] The loading and depalletizing device for paper tubes of the present application can realize the automated depalletizing and loading and unloading operations of finished paper tubes. In particular, from the automatic tube cutting, grinding and coding operations, to the paper tube unloading, paper tube finished product transportation and loading, and finally the depalletizing and stacking of the finished paper tubes, it significantly improves the production and manufacturing of finished paper tubes on the transmission line and the implementation of the process, achieving fully automatic operation, reducing labor input and improving efficiency. Among them, the linear slide rails of the conveyor are respectively equipped with a clamping manipulator and a palletizer, which more compactly arranges the conveyor and palletizer in the transfer area of ​​the logistics vehicle, and the clamping manipulator is used for grabbing and loading paper tubes, and the palletizer is suitable for depalletizing and stacking finished paper tubes, which can improve the operating performance of the entire automation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 2 is a schematic structural diagram of a paper tube loading and depalletizing device according to an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 The structural diagram of the inkjet printer in FIG;

[0027] Figure 3 yes Figure 1 Structural diagram of the transporter and palletizer in the figure;

[0028] Figure 4 yes Figure 3 Schematic diagram of the structure of the clamping manipulator in FIG;

[0029] Figure 5 yes Figure 3 Schematic diagram of the structure of the draft machine;

[0030] Figure 6 yes Figure 3 The structural diagram of the palletizer in FIG;

[0031] Figure 7 2. It is a structural schematic diagram of a fork mechanism for a paper tube loading and depalletizing device according to an embodiment of the present invention;

[0032] Figure 8 This is a flow chart of a device for loading and depalletizing paper tubes according to an embodiment of the present invention.

[0033] icon:

[0034] 1-transmission line; 11-logistics vehicle; 12-forklift AGV;

[0035] 2-pipe cutting machine; 21-pipe cutting station; 22-grinding station;

[0036] 3-Inkjet printer; 31-Transfer platform; 311-Inkjet terminal; 312-Storage rack; 313-Photoelectric sensor;

[0037] 4-transporter; 41-linear slide; 42-clamping manipulator; 421-clamping body; 422-lower gripper; 423-upper gripper; 424-glue spray head;

[0038] 5-Ejector; 51-Pneumatic shaft; 52-Cylinder; 53-Air nozzle;

[0039] 6-palletizer; 61-weighing tray; 62-material tray; 63-suction cup; 64-clamping piece; 65-visual light source mechanism; 66-fork mechanism; 661-mounting frame; 662-telescopic plate;

[0040] 7-Film winding machine; 8-Disk removing machine; A-Paper tube. DETAILED DESCRIPTION

[0041] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] Example

[0043] Combine Figures 1 to 8This embodiment provides a device for loading and depalletizing paper tubes, comprising a transmission line 1 and a tube cutter 2, an inkjet printer 3, a conveyor 4, a stripper 5, and a palletizer 6 arranged on the transmission line 1. The transmission line 1 is provided with a logistics vehicle 11 for transfer. The tube cutter 2 is provided with a tube cutting station 21 and a polishing station 22. The inkjet printer 3 is provided with a coding station at the front end for performing coding operations on the paper tubes A transferred from the polishing station 22, and a buffer station at the rear end for temporarily storing the paper tubes A from the coding station. The conveyor 4 includes a linear slide 41 and a clamping manipulator 42 arranged on the linear slide 41. The clamping manipulator 42 is used to grab the paper tubes A on the buffer station and further transfer them to the stripper 5. The drafting machine 5 is equipped with an inflatable shaft 51 compressed by a hydraulic cylinder and an air circuit mechanism for inflating and deflating the inflatable shaft 51. After inflation, the inflatable shaft 51 expands outward to confine the multiple paper tubes A sleeved on the inflatable shaft 51 to their respective positions. The clamping manipulator 42 is equipped with a glue spraying head 424, which is used to spray glue on each paper tube A on the inflatable shaft 51. The palletizer 6 and the clamping manipulator 42 are positioned opposite each other on the linear slide 41. The transporter 4, the palletizer 6, and the logistics vehicle 11 cooperate with each other to cut the inflatable shaft 51 after the spacing between the paper tubes A is adjusted. The finished paper tubes, wrapped with non-woven fabric, are removed from the inflatable shaft 51, cut and stacked, and then placed on the weighing tray 61 after screening.

[0044] Among them, based on the loading and depalletizing device, the following steps are included:

[0045] S1: Paper tube A is fed into tube cutting machine 2 for automatic tube cutting and polishing. The processed paper tube A is then transferred to inkjet printer 3.

[0046] S2: Printing operation is performed on each paper tube A at the inkjet printer 3, and the printed data is temporarily stored in the buffer station at the back stage;

[0047] S3: The paper tubes A are further grasped and transferred to the air-expansion shaft 51 of the stripper 5 by the gripper manipulator 42. After adjusting the relative spacing between the paper tubes A, the air-expansion shaft 51 covered with the paper tubes A is inflated.

[0048] S4: Align the glue spraying head 424 on the clamping manipulator 42 with the paper tube A to perform glue spraying. The inflatable shaft 51 covered with the paper tube is then transported to the non-woven fabric winding station by the logistics vehicle 11.

[0049] S5: The finished paper tubes after winding are transported back to the stripper 5 and placed on the stripper 5. The finished paper tubes are then screened and stacked by the palletizer 6 onto the weighing tray 61.

[0050] The above-mentioned device for loading and unstacking paper tubes can realize the automated unstacking and loading and unloading operations of finished paper tubes. In particular, from the automatic tube cutting, grinding and coding operations, to the unloading of paper tubes, the transportation and loading of finished paper tubes, and finally the unloading and stacking, the production and manufacturing of finished paper tubes on the transmission line 1 and the implementation of the process are significantly improved, achieving fully automatic operation, reducing labor input and improving efficiency. Among them, the linear slide rail 41 of the conveyor 4 is respectively equipped with a clamping manipulator 42 and a palletizer 6, which more compactly arranges the conveyor 4 and the palletizer 6 in the transfer area of ​​the logistics vehicle 11, and the clamping manipulator 42 is used for grabbing and loading paper tubes, and the palletizer 6 is suitable for unstacking and stacking finished paper tubes, which can improve the operating performance of the entire automation device.

[0051] It should be mentioned that the tube cutting machine is a direct use of existing technology in this case, which can realize automatic tube cutting and grinding, and is not limited here. In addition, the paper tube after glue coating is specifically made by releasing the hydraulic cylinder from the air shaft 51, and then removing the entire air shaft 51 and transporting it to an external winding machine (not shown) for strip winding of non-woven fabric. It will not be described in detail here. The finished paper tube after winding is sent back to the drafting machine 5 together with the air shaft 51, and is further pressed and limited by the hydraulic cylinder, so as to facilitate the further unloading and stacking of the paper tube products from the air shaft 51 of the drafting machine through the stacker 6.

[0052] After step S5, the process also includes transferring the palletized paper tubes to a laminating machine 7 for product packaging and laminating. After laminating, the materials are labeled. After labeling and laminating, a forklift AGV 12 transports the finished materials to a designated location for storage. Before palletizing begins, a palletizer 8 removes the pallets, which are then transferred to a weighing station by a forklift AGV 12 for the next cycle.

[0053] like Figure 2 As shown, in this embodiment, the inkjet printer 3 includes an L-shaped transfer platform 31, the inkjet station includes a jetting station 311 located on the short-side conveying path of the transfer platform 31, and the buffer station includes a storage rack 312 for receiving paper tubes pushed from the short-side conveying path to the long-side conveying path, and the storage rack 312 is provided with multiple photoelectric sensors 313. Among them, the photoelectric sensors 313 are preferably photoelectric beam sensors. At least four groups of photoelectric beam sensors are provided along the long-side conveying path to determine whether the first and last paper tube materials are in place. When the last photoelectric beam sensor senses that the paper tube is in place, it stops pushing the paper tube to the storage rack 312. At this time, the buffer station is full of paper tubes, and preferably at least ten paper tubes are placed.

[0054] like Figure 3 and Figure 4As shown, in this embodiment, the clamping manipulator 42 includes a base disposed on a linear slide 41 and a clamping body 421 disposed on the base. The clamping body 421 is provided with a plurality of spaced lower gripping plates 422 and an upper gripping plate 423 opposite the lower gripping plates 422. The lower gripping plates 422 and a central upper gripping plate 423 are fixed to the clamping body 421. The upper gripping plates 423 on both sides are movable and configured on the clamping body 421 for clamping and limiting the end portions of the paper tube. There are three sets of upper and lower plates, with the lower plates and the central upper plate being fixed. The two upper plates on the left and right sides are linked to the clamping body 421 via synchronous belts. Driven by a servo motor, the synchronous belts drive the two outer clamping bodies 421 to move left and right to adjust their positions, and then move the upper plates up and down, correspondingly cooperating with the other plates to simultaneously grasp and place paper tubes.

[0055] Furthermore, the linear slide 41 is arranged to extend in the same direction as the transmission line 1, and the glue spraying head 424 is provided on the inner side of the clamping body 421, and the glue spraying head 424 is arranged on the same side as each grab plate. Obviously, the glue spraying head 424 is set separately relative to each grab plate. First, through the cooperation between the plates, the paper tubes are pressed and removed along the storage rack 312, and are successively sleeved on the air expansion shaft 51 of the demolding machine 5. The spacing between each paper tube is automatically adjusted by the clamping manipulator 42, and the spacing is set to 2mm to 5mm, which is convenient for the subsequent non-woven fabric winding and preparation for the unpacking and stacking of the finished product. The glue spraying head 424 further performs a glue spraying operation of at least 120° on each paper tube fixed on the air expansion shaft 51, which is used to provide it for the non-woven fabric winding implementation.

[0056] like Figure 5 As shown, in this embodiment, the length of the pneumatic shaft 51 is configured to accommodate at least ten paper tubes. When the air path mechanism is connected to the shaft body of the pneumatic shaft 51 and air is supplied, the outer diameter of the shaft body expands outward to flexibly abut the inner ring of the paper tube. When the air path mechanism is separated from the pneumatic shaft 51 and air is released, the outer diameter of the shaft body contracts inward to a size smaller than the inner ring of the paper tube. Clearly, the pneumatic shaft structure is a specialized flexible tensioning shaft, such as a winding, expansion shaft, inflation shaft, inflation roller, inflating shaft, or pressure shaft. It expands outward when inflated and contracts inward when deflated, making it suitable for connecting hollow products such as paper tubes and for securing them in place after expansion.

[0057] Specifically, the air circuit mechanism includes a cylinder 52, an air nozzle 53, and an air supply source (not shown). The air supply source is connected to the air nozzle 53, and the cylinder 52 and the air nozzle 53 are transmission-connected to control the engagement of the air nozzle 53 with the air shaft 51. Thus, the air nozzle 53 is docked to the air shaft 51 by the cylinder 52 for air supply operation. When deflation is required, the air nozzle 53 is reset by the cylinder 52 to achieve the deflation operation. It should be noted that the air nozzle is pressed against the air shaft to inflate. If it is not inflated, it will deflate. This is a valve structure, similar to the air nozzle of a car wheel. Pressing to inflate the air will inflate the entire air shaft. The air shaft has an inner liner and a tightening block. When the air shaft is inflated, the inner liner expands and squeezes the tightening block outward, thereby fixing the paper tube to the air shaft. When deflated, the inner liner of the air shaft shrinks, causing the tightening block to retract inward.

[0058] like Figure 3 As shown, in this embodiment, the stripper 5 is positioned in front of the linear slide 41 and adjacent to the transporter 4. Multiple weighing trays 61 are located in front of the linear slide 41 on the side of the palletizer 6, and multiple material trays 62 are located behind the linear slide 41. These trays hold seals, cardboard, and paper rings. The gripper 42 is responsible for gripping and transporting paper tubes between the inkjet printer 3 and the stripper 5, while the palletizer 6 performs further processing on the finished paper tubes from the stripper 5 and the materials on the material trays 62.

[0059] In this embodiment, the logistics vehicle 11 is positioned near the weighing tray 61 and the die stripper 5. It is used to transport the glue-sprayed paper tubes to the winding station. Furthermore, the logistics vehicle 11 is used to return the finished paper tubes wrapped with non-woven fabric to the pneumatic shaft 51. The logistics vehicle is preferably a lifting AGV, allowing for flexible operation within the logistics park.

[0060] like Figure 6 and Figure 7 As shown, the palletizer 6 includes a suction cup 63 for placing and picking up materials, a clamp 64 for sleeve-mounting finished paper tubes, a visual light source 65 for identifying objects to be grasped, and a fork mechanism for pushing the finished paper tubes outward from the pneumatic shaft 51 when the pneumatic shaft 51 is deflated and the finished paper tubes are released. The clamp 64 is used to palletize the unloaded paper tubes onto the weighing tray 61.

[0061] Specifically, before starting to palletize the finished paper tubes, the logistics vehicle 11 transfers the weighing tray 61 to the palletizing station. The palletizer 6 then uses a suction cup 63 to suck up the square cardboard and place it on the bottom layer of the weighing tray 61, thereby protecting the finished material from moisture and dust. The fork mechanism 66 then pushes the finished paper tubes on the pneumatic shaft 51 to unload them. At this time, the clamping member 64 immediately clamps the unloaded paper tubes and finally stacks them on the weighing tray 61. The clamping member 64 can be a pneumatic shaft structure with a length suitable for at least one finished paper tube. And when the palletizer 6 is working, the visual light source mechanism 65 performs visual sensing and feedback throughout the process to achieve precise clamping operations. The fork mechanism 66 is separately arranged on its mounting frame 661. The fork mechanism 66 is provided with a telescopic plate 662 which can be horizontally moved and formed on the mounting frame 661. A contoured groove is formed on the telescopic plate 662 which is conducive to being inserted into the gap between the finished paper tube products to be unloaded. When the contoured groove extends into the gap and onto the air shaft 51, the plate is moved laterally, thereby pushing the finished paper tube products out of the air shaft 51.

[0062] Among them, the unqualified paper tube products are automatically transported to the unqualified buffer station by the stacking robot before being depalletized, and finally manually pulled away for re-melting.

[0063] During the palletizing process, circular paper rings on the material tray 62 are used to separate the third, sixth, and ninth layers. Before palletizing the fourth, seventh, and tenth layers, the palletizer 6 uses suction cups 63 to grab the circular paper rings from the material tray 62 and stack them on top of the finished product to separate the layers. After palletizing the top layer, the palletizer 6 moves to another material tray 62 to pick up a circular cardboard ring and place it on the top layer of the finished product to protect it from dust. Furthermore, the palletizer 6 moves to the material tray 62 with the seal, suctioning it with suction cups 63. After flipping it 180°, the glue sprayer 424 applies glue to the flipped seal. The palletizer 6 then applies the seal to the side of the finished product to prevent scratching the non-woven fabric during unpacking. This completes the palletizing operation on a weighing tray 61. The weighing tray 61 displays the total weight of the palletized finished product and records it for storage on the terminal.

[0064] In addition, it should be mentioned that the loading and depalletizing device also includes a film winding machine 7 (which can be used as a winding machine for the above-mentioned non-woven fabrics), and the film winding machine 7 is used to further laminate and label the finished paper tubes delivered by the forklift AGV12 from the palletizer 6, and the forklift AGV12 directly transports the laminated and labeled paper tubes to storage. Thus, the palletized finished materials are transported by the forklift AGV to the film winding machine 7 for lamination, and further automatic labeling, and the weight information label is pasted on the finished material by the labeling head until the lamination and labeling are completed and the finished material is transported to the warehouse for storage. More preferably, the entire transmission line 1 can meet the mixed production of paper tubes of different specifications, and the transmission line 1 is provided with corresponding cache stations of different specifications to meet the requirements of mixed production.

[0065] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

Claims

1. A device for loading and unstacking paper tubes, characterized in that: Including the transmission line and the pipe cutting machine, inkjet printer, transporter, demoulding machine, and palletizer configured on the transmission line; The transmission line is provided with a logistics vehicle for transfer; The pipe cutting machine is provided with a pipe cutting station and a grinding station; The inkjet printer is provided with an inkjet station at the front end for performing inkjet printing on the paper tubes transferred from the grinding station, and a buffer station at the rear end for temporarily storing the paper tubes fed from the inkjet station. The transport machine includes a linear slide and a clamping manipulator configured on the linear slide. The clamping manipulator is used to grab the paper tube on the buffer station and further transfer it to the drafting machine. The drafting machine is equipped with an inflatable shaft compressed by a hydraulic cylinder and an air path mechanism for inflating and deflating the inflatable shaft. The inflatable shaft expands outward after inflation to confine multiple paper tubes sleeved on the inflatable shaft in their respective positions. The clamping manipulator is equipped with a glue spraying head for spraying glue on each paper tube on the inflatable shaft. The palletizer and the clamping manipulator are opposite to each other on the linear slide rail. The transporter, palletizer and logistics vehicle cooperate with each other to carry out blanking production on the air-expanding shaft with the paper tube spacing adjusted. The finished paper tubes wrapped with non-woven fabrics are removed from the air-expanding shaft, cut and stacked, and then screened and placed on the weighing tray. in, Based on the loading and depalletizing device, the following steps are included: Input the paper tube raw materials into the tube cutting machine for automatic tube cutting and grinding, and transfer the processed paper tubes to the inkjet printer; The inkjet printer prints the code on each paper tube and temporarily stores it in the cache station at the back end. The paper tube is further grasped and transferred to the air-expansion shaft of the die-pulling machine by the clamping manipulator. After adjusting the relative distance between the paper tubes, the air-expansion shaft filled with paper tubes is inflated. Align the glue spray head on the gripper robot to the paper tube for glue spraying, and then use the logistics vehicle to transport the air-expanding shaft covered with paper tube to the non-woven fabric winding station; The finished paper tube products and their inflatable shafts that have completed winding are transported back to the demolding machine for placement, and then the palletizer is used to screen and stack the finished paper tube products onto the weighing tray; the inkjet printer includes an L-shaped transfer table, the inkjet station includes a inkjet terminal located on the short side transmission path of the transfer table, and the cache station includes a storage rack for receiving paper tubes pushed from the short side transmission path to the long side transmission path, and a plurality of photoelectric sensors are provided on the storage rack; the photoelectric sensors are photoelectric beam sensors, and at least four groups of photoelectric beam sensors are provided along the long side transmission path.

2. The device for loading and unstacking paper tubes according to claim 1, characterized in that: The clamping manipulator includes a base arranged on a linear slide rail and a clamping body arranged on the base. The clamping body is provided with a plurality of lower grab plates arranged at intervals and an upper grab plate opposite to the lower grab plates. The lower grab plates and an upper grab plate located in the middle are fixed on the clamping body. The upper grab plates located on both sides can be raised and lowered on the clamping body for clamping and limiting the end portions of the paper tube.

3. The device for loading and unstacking paper tubes according to claim 2, characterized in that: The linear slide rail and the transmission line are extended in the same direction, and the glue spraying head is provided on the inner side of the clamping body. The glue spraying head and the gripping plates are arranged on the same side.

4. The device for loading and unstacking paper tubes according to claim 1, characterized in that: The length of the inflatable shaft is configured to be able to fit at least ten paper tubes. After the air path mechanism is connected to the shaft body of the inflatable shaft and air is supplied, the outer diameter of the shaft body expands outward to flexibly abut against the inner ring of the paper tube. After the air path mechanism is away from the inflatable shaft and air is released, the outer diameter of the shaft body shrinks inward to be smaller than the inner ring of the paper tube.

5. The device for loading and unstacking paper tubes according to claim 4, characterized in that: The air circuit mechanism includes a cylinder, an air nozzle and an air supply source. The air supply source is connected to the air nozzle. The cylinder is in transmission connection with the air nozzle to control the engagement of the air nozzle and the air expansion shaft.

6. The device for loading and unstacking paper tubes according to claim 1, characterized in that: The draft machine is arranged in front of the linear slide and is adjacent to the side of the transporter; a plurality of weighing trays are provided in front of the linear slide on the side of the palletizer, and a plurality of material trays are provided at the rear, on which seals, cardboards and paper rings are placed respectively.

7. The device for loading and unstacking paper tubes according to claim 6, characterized in that: The logistics vehicle moves near the area of ​​the weighing pallet and the demoulding machine. The logistics vehicle is used to transport the paper tube after spraying with glue and its air-inflated shaft to the winding station; and the logistics vehicle is used to return the finished paper tube wrapped with non-woven fabric to the demoulding machine again.

8. The device for loading and unstacking paper tubes according to claim 6, characterized in that: The palletizer includes a suction cup for picking up and placing materials, a clamping part for socketing the finished paper tube products, a visual light source mechanism for identifying the objects to be grasped, and a fork mechanism for pushing the finished paper tube products out of the shaft when the paper tube products are released from the air shaft after deflation; the clamping part is used to palletize the finished paper tube products after unloading onto a weighing pallet.

9. The device for loading and unstacking paper tubes according to claim 1, characterized in that: It also includes a film winding machine, which is used to further laminate and label the paper tube products delivered from the palletizer, and the paper tube products after lamination and labeling are directly transported to storage.

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