Coil threading and pulling mandrel system and coil storage system

Abstract

The present invention belongs to the field of warehousing, and in particular relates to a coil threading and pulling out mandrel system and a coil storage system. The coil threading and pulling out mandrel system includes a mandrel threading station, a mandrel pulling out station, a mandrel buffer device, and a mandrel threading and pulling out device. The mandrel threading and pulling out device includes a motion adjustment mechanism and a clamping jaw arranged at the execution end of the motion adjustment mechanism and capable of clamping the end of the mandrel. The clamping jaw can move between the mandrel threading station, the mandrel buffer device, and the mandrel pulling out station under the drive of the motion adjustment mechanism. The coil to be threaded with the mandrel and the coil to be pulled out of the mandrel are respectively located at two different stations. The mandrel threading and pulling out device cooperates with the mandrel buffer device to perform mandrel threading operations on the coil to be threaded with the mandrel and mandrel pulling out operations on the coil to be pulled out of the mandrel. The coil threading and pulling out mandrel system can realize the insertion of mandrels into the coils on the inbound conveyor line and the extraction of mandrels from the coils on the outbound conveyor line.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to a coil threading and pulling mandrel system and a coil storage system. Background Art

[0002] When coils (such as paper, film, and fabric) are being stored, they cannot be placed directly on a three-dimensional warehouse. Instead, a core shaft is inserted into the middle of the coil for support. However, when the coils are being shipped out to be used on the production line, the core shaft inserted into the coil is no longer needed and must be removed from the coil.

[0003] The traditional operation of inserting and removing the mandrel of the coil is done manually, which is labor-intensive and inefficient, reducing the degree of automation of the automated production line and making it difficult to meet the use requirements. For this reason, an automatic mandrel removal and insertion device for coils has appeared in the prior art. By setting an action mechanism for three-axis displacement on the gantry and fixing a clamp for grabbing the mandrel on the free end of the action mechanism, the mandrel in the coil can be automatically removed and inserted. However, the existing mandrel removal and insertion device performs the mandrel removal or insertion operation for the coil at the same workstation, and is not suitable for the coil storage system where the mandrel needs to be inserted into the coil on the incoming conveyor line and the mandrel needs to be removed from the coil on the outgoing conveyor line. Summary of the Invention

[0004] An embodiment of the present invention provides a coil inserting and extracting mandrel system and a coil storage system, which are used to solve the technical problem that the mandrel removal and insertion equipment in the prior art is not suitable for the coil storage system, where the mandrel needs to be inserted into the coil on the incoming conveyor line and the mandrel needs to be extracted from the coil on the outgoing conveyor line.

[0005] To this end, according to one aspect of the present invention, a coil threading and pulling mandrel system is provided, the coil threading and pulling mandrel system comprising:

[0006] The mandrel threading station is used to place the coiled material to be threaded with the mandrel;

[0007] The mandrel pulling station is used to place the coiled material to be pulled out of the mandrel;

[0008] a spindle buffer device for storing spindles; and

[0009] The core shaft threading and pulling device includes a motion adjustment mechanism and a clamping jaw arranged at the execution end of the motion adjustment mechanism and capable of clamping the end of the core shaft. The clamping jaw can move between the core shaft threading station, the core shaft buffer device and the core shaft pulling station under the drive of the motion adjustment mechanism.

[0010] According to another aspect of the present invention, there is provided a coil storage system, the coil storage system comprising:

[0011] Warehouse conveyor line;

[0012] Outbound conveyor lines; and

[0013] In the coil threading and pulling mandrel system as described above, the mandrel threading station is arranged on the inbound conveyor line, and the mandrel pulling station is arranged on the outbound conveyor line.

[0014] Optionally, the coil storage system further includes a stereoscopic warehouse, a stacker and a transport vehicle, and the transport vehicle moves between the unloading end of the inbound conveyor line, the stacker and the loading end of the outbound conveyor line.

[0015] The beneficial effects of the coil threading and pulling mandrel system and the coil storage system provided by the present invention are: compared with the prior art, the coil threading and pulling mandrel system of the present invention is provided with a mandrel threading station, a mandrel pulling station and a mandrel buffer device for storing mandrels, and by respectively arranging the coil to be threaded with the mandrel and the coil to be pulled out of the mandrel on two different stations, the mandrel threading device cooperates with the mandrel buffer device to perform mandrel threading operations on the coil to be threaded with the mandrel and mandrel pulling operations on the coil to be pulled out of the mandrel. The coil threading and pulling mandrel system is applied to the coil storage system, and the mandrel threading station and the mandrel pulling station can be respectively arranged on the inbound conveyor line and the outbound conveyor line. Through the coil threading and pulling mandrel system, it is possible to insert the mandrel into the coil on the inbound conveyor line, and to pull out the mandrel from the coil on the outbound conveyor line, so that the inbound and outbound of the coil do not affect each other, thereby improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] in:

[0018] Figure 1 1 is a schematic top view of a coil threading and pulling mandrel system according to an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 The main structural diagram of the coil threading and pulling mandrel system shown in FIG.

[0020] Figure 3 yes Figure 1 The left side structural diagram of the coil threading and pulling mandrel system shown;

[0021] Figure 4 1 is a schematic structural diagram of a mandrel buffer device in a coil threading and pulling mandrel system according to an embodiment of the present invention;

[0022] Figure 5 yes Figure 4 The main structural diagram of the core shaft buffer device shown;

[0023] Figure 6 yes Figure 4 A schematic diagram of the top view of the core shaft buffer device shown;

[0024] Figure 7 yes Figure 6 Partial schematic diagram of the cross-sectional structure along the AA direction;

[0025] Figure 8 1 is a schematic structural diagram of a mandrel storage device in a coil threading and pulling mandrel system according to an embodiment of the present invention;

[0026] Figure 9 yes Figure 8 A schematic structural diagram of a transfer device in the mandrel storage device shown;

[0027] Figure 10 yes Figure 8 A schematic diagram of a partial top view of the structure of a mandrel conveyor in the mandrel storage device shown;

[0028] Figure 11 The figure is a schematic top view of a coil storage system according to an embodiment of the present invention.

[0029] Description of main component symbols:

[0030] 1. Coil; 2. Mandrel;

[0031] 10. Inbound conveyor line; 11. First conveyor; 20. Outbound conveyor line; 21. Second conveyor; 30. Stereoscopic warehouse; 40. Stacker; 50. Transporter; 60. Transition conveyor; 70. Hoisting mechanism; 80. Mandrel inbound and outbound conveyor;

[0032] 100. Mandrel-threading station;

[0033] 200, core shaft pulling station;

[0034] 300, spindle buffer device; 310, bracket; 320, placement rack; 321, support rod; 3211, stop block; 330, speed reduction mechanism; 331, movable part; 332, telescopic drive member; 340, separation mechanism; 341, Y-shaped shift fork; 342, separation cylinder;

[0035] 400, mandrel threading and pulling device; 410, frame; 420, horizontal linear module; 430, longitudinal linear module; 440, vertical linear module; 450, clamping claw;

[0036] 500, spindle storage device; 510, flow rack; 511, upright frame; 512, top load rack; 513, temporary storage load rack; 520, transfer device; 521, lifting device; 5211, upright column; 5212, lifting frame; 5213, lifting mechanism; 522, turning device; 52201, supporting position; 5221, supporting frame; 5222, turning drive mechanism; 530, V-shaped roller conveyor; 531, frame; 532, conveyor roller;

[0037] 600. Centering mechanism; 610. Centering cylinder; 620. Centering block. DETAILED DESCRIPTION

[0038] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0039] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] As described in the background technology, the existing core shaft removal and insertion equipment is used to remove or insert the core shaft of the coil at the same workstation. It is not suitable for the coil storage system where the core shaft needs to be inserted into the coil on the incoming conveyor line and the core shaft needs to be pulled out from the coil on the outgoing conveyor line.

[0043] In order to solve the above problems, according to one aspect of the present invention, an embodiment of the present invention provides a coil threading and pulling mandrel system, such as Figure 1-Figure 3 As shown, the coil threading and pulling mandrel system includes a mandrel threading station 100, a mandrel pulling station 200, a mandrel buffer device 300, and a mandrel threading and pulling device 400. The mandrel threading station 100 is used to place the coil 1 to be threaded with the mandrel 2. The mandrel pulling station 200 is used to place the coil 1 to be pulled out of the mandrel 2. The mandrel buffer device 300 is used to store the mandrel 2. The mandrel threading and pulling device 400 includes a motion adjustment mechanism and a clamping jaw 450 disposed at the execution end of the motion adjustment mechanism and capable of clamping the end of the mandrel 2. The clamping jaw 450 can move between the mandrel threading station 100, the mandrel buffer device 300, and the mandrel pulling station 200 under the drive of the motion adjustment mechanism.

[0044] In an embodiment of the present invention, a coil threading and pulling mandrel system is provided with a mandrel threading station 100, a mandrel pulling station 200 and a mandrel buffer device 300, so that the coil 1 to be threaded with the mandrel 2 and the coil 1 to be pulled out of the mandrel 2 are respectively located at two different stations, and the mandrel threading and pulling device 400 cooperates with the mandrel buffer device 300 to perform mandrel threading operations on the coil 1 to be threaded with the mandrel 2 and mandrel pulling operations on the coil 1 to be pulled out of the mandrel 2. When applied to a coil storage system, the mandrel threading station 100 and the mandrel pulling station 200 are respectively provided on the incoming conveyor line and the outgoing conveyor line. Through the coil threading and pulling mandrel system, the mandrel 2 can be inserted into the coil 1 on the incoming conveyor line, and the mandrel 2 in the coil 1 on the outgoing conveyor line can be pulled out, so that the incoming and outgoing of the coil 1 do not affect each other.

[0045] It can be understood that the clamping jaws 450 are driven by the motion adjustment mechanism to move between the mandrel insertion station 100, the mandrel buffer device 300 and the mandrel extraction station 200, and can respectively realize the following three actions: First, the clamping jaws 450 move between the mandrel extraction station 200 and the mandrel buffer device 300 to extract the mandrel, that is, the mandrel in the coil 1 (located on the mandrel extraction station 200) to be extracted is clamped by the clamping jaws 450, and then the mandrel is extracted from the coil 1 and placed on the mandrel buffer device 300; Second, the clamping jaws 450 move between the mandrel buffer device 300 to extract the mandrel. The mandrel 2 is firstly clamped on the mandrel buffer device 300 by the clamping jaws 450, and then the mandrel 2 is inserted into the coil 1 to be inserted with the mandrel on the mandrel inserting station 100. The mandrel 2 is firstly clamped on the mandrel buffer device 300 by the clamping jaws 450, and then the mandrel 2 is inserted into the coil 1 to be inserted with the mandrel on the mandrel inserting station 100. The mandrel 2 is firstly clamped on the mandrel pulling station 200 and the mandrel inserting station 100, and then the mandrel is firstly clamped on the coil 1 to be pulled out (located on the mandrel pulling station 200), and then the mandrel is inserted into the coil 1 to be inserted with the mandrel on the mandrel inserting station 100. The specific operation to be performed depends on the actual situation on site.

[0046] In one embodiment, if Figure 1 and Figure 2 As shown, the mandrel inserting station 100 and the mandrel extracting station 200 are respectively located on opposite sides of the mandrel buffer device 300 .

[0047] By the above arrangement, in the coil threading and pulling mandrel system, both the mandrel threading station 100 and the mandrel pulling station 200 are close to the mandrel buffer device 300, which can shorten the movement path of the mandrel threading and pulling device 400 and improve the efficiency of threading and pulling out the mandrel.

[0048] In a specific embodiment, Figure 1 and Figure 2 As shown, it also includes a first conveyor 11 and a second conveyor 21. The first conveyor 11 and the second conveyor 21 are respectively arranged on opposite sides of the core shaft buffer device 300, and the conveying direction of the first conveyor 11 and the conveying direction of the second conveyor 21 are both parallel to the length direction of the core shaft 2 on the core shaft buffer device 300. The core shaft threading station 100 is located on the first conveyor 11, and the core shaft pulling station 200 is located on the second conveyor 21.

[0049] By setting up as above, utilizing the conveying functions of the first conveyor 11 and the second conveyor 21, it is convenient to connect the conveyor line to realize automatic conveying of the coil 1. Since the coil is in a horizontal state when being conveyed on the first conveyor 11 and the second conveyor 21, and the axial direction of the coil is along the conveying direction of the conveyor, the conveying direction of the first conveyor 11 and the conveying direction of the second conveyor 21 are designed to be parallel to the length direction of the core shaft 2 on the mandrel buffer device 300, so as to facilitate the transfer of the mandrel 2 in the coil 1 on the mandrel threading station 100 and the mandrel extraction station 200 and between the mandrel buffer device 300.

[0050] In one embodiment, if Figure 1-Figure 3 As shown, the motion adjustment mechanism includes a frame 410, a horizontal linear module 420, a longitudinal linear module 430 and a vertical linear module 440. The horizontal linear module 420 is arranged on the frame 410 and forms a three-axis linear module with the longitudinal linear module 430 and the vertical linear module 440. The clamp 450 is arranged on the vertical linear module 440 and can move along the height direction of the frame 410 under the action of the vertical linear module 440.

[0051] For ease of understanding, an XYZ space coordinate system is established in the figure, wherein the horizontal direction is along the direction of the X axis, the longitudinal direction is along the direction of the Y axis, and the vertical direction is along the direction of the Z axis.

[0052] The motion adjustment mechanism is arranged as above, with a simple structure and low cost. Since the core shaft 2 located on the core shaft buffer device 300 is parallel to the conveying direction of the first conveyor 11 and the conveying direction of the second conveyor 21, the core shaft 2 can be inserted and pulled out by driving the clamp 450 to move horizontally, longitudinally and vertically in space through the three-axis linear module. The core shaft 2 does not need to rotate, and the process is simpler.

[0053] It is understood that the motion adjustment mechanism in this embodiment adopts a truss-type motion adjustment mechanism, which has a simple structure and is easy to control. Of course, in other embodiments, the motion adjustment mechanism can also adopt a four-axis motion adjustment mechanism arm, a five-axis motion adjustment mechanism arm, or even a six-axis motion adjustment mechanism arm.

[0054] In one embodiment, if Figure 4-Figure 5As shown, the mandrel buffer device 300 includes a bracket 310, a placement rack 320, and a speed reduction mechanism 330. The placement rack 320 is tilted and arranged on the bracket 310. The placement rack 320 is used to place the mandrel 2. The speed reduction mechanism 330 is arranged on the bracket 310 and located above the placement rack 320. The speed reduction mechanism 330 includes a movable member 331 and a telescopic driving member 332 arranged on the bracket 310 and connected to the movable member 331. The telescopic driving member 332 is used to drive the movable member 331 to reciprocate between approaching and moving away from the placement rack 320, so that the movable member 331 switches between a pressing state close to the placement rack 320 and a disengaged state away from the placement rack 320. In the pressing state, the movable member 331 can press the mandrel 2 placed on the placement rack 320 against the placement rack 320; in the disengaged state, the movable member 331 is out of contact with the mandrel 2 on the placement rack 320.

[0055] In the embodiment of the present application, the core shaft caching device 300 is provided with a deceleration mechanism 330 above the placement rack 320, and the telescopic driving member 332 in the deceleration mechanism 330 drives the movable member 331 to reciprocate between approaching and moving away from the placement rack 320, so that the movable member 331 switches between a pressing state and a disengaging state. The movable member 331 continuously presses and releases the core shaft 2 located on the placement rack 320, thereby achieving a deceleration effect on the core shaft 2 in the process of rolling from the high end to the low end on the placement rack 320, reducing the impact force of the core shaft 2 placed later on the previously stored core shaft 2, and reducing the damage to the core shaft 2 and the noise generated.

[0056] It is understood that in the pressed state, the mandrel 2 on the rack 320 is pressed against the rack 320 by the movable member 331, and the mandrel 2 cannot roll toward the lower end under its own weight. In the disengaged state, the mandrel 2 can roll toward the lower end under its own weight, and the reduction mechanism 330 divides the originally long rolling stroke into multiple short rolling strokes, so that the speed of the mandrel 2 cannot increase during the rolling process from the upper end to the lower end on the rack 320, thereby reducing the impact force of the mandrel 2 placed later on the previously stored mandrel 2, reducing damage to the mandrel 2 and the noise generated. By controlling the extension and contraction frequency of the telescopic drive member 332, the switching frequency of the movable member 331 between the pressed state and the disengaged state can be changed, thereby adjusting the degree of deceleration.

[0057] It should be noted that the high end of the rack 320 refers to the end of the rack 320 that is higher in the height direction of the bracket 310, and the high end corresponds to the material discharge position ( Figure 5 The lower end of the rack 320 refers to the lower end of the rack 320 in the height direction of the bracket 310, and the lower end corresponds to the material taking position on the rack 320 ( Figure 5The mandrel 2 is placed on the material discharging position of the placing rack 320 and rolls to the material discharging position under the action of its own gravity. Figure 6 As shown, the entire rack 320 is filled.

[0058] Among them, the placement rack 320 includes two support rods 321 arranged at intervals. In the height direction of the bracket 310, the plane where the two support rods 321 are located is inclined from one end of the support rod 321 to the other end, and the lower ends of the two support rods 321 are fixed with stop blocks 3211 for preventing the core shaft 2 from falling off.

[0059] A separation mechanism 340 is also provided on the bracket 310 near the lower end of the placement rack 320, and the placement rack 320 has a separation position ( Figure 5 and Figure 7 As shown in FIG. 5 , the separation mechanism 340 is used to release the core shafts 2 placed between the separation position and the high end of the placement rack 320 to the low end of the placement rack 320 one by one.

[0060] By providing the separation mechanism 340 , the core shafts 2 stored on the placement rack 320 can be released one by one to the material removal position of the placement rack 320 , so as to facilitate subsequent material removal.

[0061] Specifically, if Figure 7 As shown, the separation mechanism 340 includes a Y-shaped fork 341 whose middle part is hinged to the bracket 310 and a separation cylinder 342 whose cylinder body is hinged to the bracket 310 and the piston rod is hinged to one end of the Y-shaped fork 341. The Y-shaped fork 341 is driven to swing back and forth by the separation cylinder 342 to achieve the purpose of separating the core shafts 2 one by one.

[0062] Among them, Figure 5-Figure 6 As shown, the movable member 331 includes a movable rod, the length of which is perpendicular to the length of the core shaft 2 on the mounting frame 320. The telescopic drive member 332 includes a linear cylinder, the cylinder body of which is hinged to the bracket 310, and the piston rod of which is hinged to one end of the movable rod, the other end of which is hinged to the bracket 310.

[0063] In one embodiment, if Figure 4 and Figure 6 As shown, a centering mechanism 600 is provided on the bracket 310 at the lower end of the placement rack 320 , and the centering mechanism 600 is used to clamp and center the core shaft 2 at the lower end of the placement rack 320 .

[0064] By providing the centering mechanism 600 , the position of the core shaft 2 at the material extraction position can be ensured to be accurate, so that the clamping claw 450 of the core shaft threading and pulling device 400 can accurately grasp the core shaft 2 at the material extraction position.

[0065] Specifically, the centering mechanism 600 includes two centering blocks 620 and two centering cylinders 610. The two centering cylinders 610 are respectively arranged at opposite ends of the axial direction of the core shaft 2 at the material extraction position of the bracket 310, and the piston rods of the two centering cylinders 610 move in opposite directions. The two centering blocks 620 are respectively fixed to the piston rods of the two centering cylinders 610. The two centering cylinders 610 respectively drive the two centering blocks 620 to open and close relative to the axial direction of the core shaft 2 at the material extraction position, thereby clamping or loosening the core shaft 2 at the material extraction position. With the above arrangement, the centering mechanism 600 has a simple structure, is easy to install, and saves costs.

[0066] In one embodiment, if Figure 1-Figure 2 and Figure 8 As shown, the coil threading and pulling mandrel system further includes a mandrel storage device 500 for storing mandrels, which includes a flow rack 510 and two transfer devices 520. The flow rack 510 includes a vertical frame 511 and multi-layered carriers inclined and spaced apart in the height direction of the vertical frame 511. The two transfer devices 520 are respectively disposed at opposite ends of the flow rack 510 and are used to transfer mandrels between different carriers.

[0067] By providing the spindle storage device 500 in conjunction with the spindle buffer device 300, the storage capacity of the spindles is greatly improved.

[0068] Among them, Figure 8 As shown, the multi-layered carriers are divided into a top-level carrier 512 and multiple temporary storage carriers 513. The multiple temporary storage carriers 513 are arranged parallel and spaced apart in the height direction of the vertical frame 511. The top-level carrier 512 is located above all the temporary storage carriers 513, and the lower end of the top-level carrier 512 is directly above the upper end of the temporary storage carriers 513. The multiple temporary storage carriers 513 are mainly used to store mandrels, and the top-level placement rack 2001 is mainly used for the mandrel insertion and extraction device 400 to remove and place mandrels. This arrangement can realize the recycling of a certain number of mandrels. During the core shaft pulling operation, the core shaft pulled out by the core shaft pulling device 400 is placed on the top-level carrier rack 512. After the top-level carrier rack 512 is full, the core shaft is transferred to the multiple temporary storage carrier racks 513 below for storage through the transfer device 520 on the right; during the core shaft threading operation, when there is a core shaft on the top-level carrier rack 512, the clamping claw 450 of the core shaft pulling device 400 can directly grab the core shaft from the top-level carrier rack 512. When there is no core shaft on the top-level carrier rack 512, the core shaft is transferred from the temporary storage carrier rack 513 below to the top-level carrier rack 512 through the transfer device 520 on the left.

[0069] It should be noted that the structures of the top-level carrier rack 512 and the temporary storage carrier rack 513 are similar to the placement rack 320 of the spindle buffer device 300 in the above embodiment, and are also equipped with a deceleration mechanism, a centering mechanism and a separation mechanism.

[0070] Specifically, if Figure 9 As shown, the transfer device 520 includes a lifting device 521 and a turning device 522. The lifting device 521 has a column 5211 and a lifting frame 5212 disposed on the column 5211. The lifting frame 5212 can move in the height direction of the column 5211. The column 5211 is provided with a lifting mechanism 5213, which is connected to the lifting frame 5212 and is used to drive the lifting frame 5212 to move in the height direction of the column 5211. The flipping device 522 is arranged on the lifting frame 5212, and the flipping device 522 includes a supporting frame 5221 for supporting the core shaft 2 and a flipping drive mechanism 5222 arranged on the lifting frame 5212 and connected to the supporting frame 5221. A supporting position 52201 is provided on the supporting frame 5221, and the supporting frame 5221 is rotatably arranged on the lifting frame 5212. The flipping drive mechanism 5222 is used to drive the supporting frame 5221 to flip relative to the lifting frame 5212, so that the supporting frame 5221 switches between a storage state and a unloading state; wherein, in the storage state, the height of the supporting frame 5221 gradually decreases from the end away from the lifting frame 5212 to the supporting position 52201; in the unloading state, the height of the supporting frame 5221 gradually decreases from the supporting position 52201 to the end away from the lifting frame 5212. The turning drive mechanism 5222 adopts a cylinder, which is hinged between the supporting frame 5221 and the lifting frame 5212 .

[0071] When the material is stored, the height of the support frame 5221 gradually decreases from the end away from the lifting frame 5212 to the supporting position 52201. At this time, the core shaft 2 can be rolled from the end of the support frame 5221 away from the lifting frame 5212 to the supporting position 52201 and stored on the supporting position 52201. After the support frame 5221 is adjusted to a suitable height by the lifting device 521, the flip drive mechanism 5222 drives the support frame 5221 to switch from the material storage state to the material unloading state. At this time, the height of the support frame 5221 gradually decreases from the supporting position 52201 to the end away from the lifting frame 5212. The core shaft 2 stored on the support frame 5221 can roll down from the support frame 5221 under the action of its own gravity to complete the unloading. The transfer device 520 can replace manual labor to realize the transfer of core shafts between the upper and lower storage layers, thereby improving the transfer efficiency of the core shafts.

[0072] In order to ensure that the core shaft is positioned accurately on the supporting position 52201, a centering mechanism 600 is also provided on the lifting frame 5212. The structure of the centering mechanism 600 is similar to that of the support Figure 6 It is similar to the above, so I will not go into details here.

[0073] For the convenience of workers, the mandrels are stored in the mandrel storage device 500. Figure 8 As shown, a V-shaped roller conveyor 530 is provided next to the transfer device 520 located on the high end side (i.e., the right side in the figure) of the multiple temporary storage carriers 513. Figure 10 As shown, the V-shaped roller conveyor 530 includes a frame 531, a plurality of conveying rollers 532 rotatably arranged in the length direction of the frame 531, and a driving mechanism (not shown in the figure) for driving the conveying rollers 532 to operate. A circle of V-shaped grooves is provided on the conveying rollers 532 along the circumference to facilitate stable conveying of the cylindrical core shaft.

[0074] According to another aspect of the present invention, an embodiment of the present invention further provides a coil storage system, such as Figure 11 As shown, the coil storage system includes an inbound conveyor line 10, an outbound conveyor line 20 and the coil threading and pulling mandrel system as described above. The mandrel threading station 100 in the coil threading and pulling mandrel system is set on the inbound conveyor line 10, and the mandrel pulling station 200 is set on the outbound conveyor line 20.

[0075] The core shaft inserting station 100 and the core shaft pulling station 200 are respectively arranged on the incoming conveyor line 10 and the outgoing conveyor line 20. Through the coil inserting and pulling core shaft system, the core shaft 2 can be inserted into the coil 1 on the incoming conveyor line 10, and the core shaft 2 in the coil 1 on the outgoing conveyor line 20 can be pulled out, so that the incoming and outgoing of the coil 1 do not affect each other.

[0076] In one embodiment, please see Figure 11 The coil storage system also includes a stereoscopic warehouse 30, a stacker 40 and a transport vehicle 50. The transport vehicle 50 moves between the unloading end of the inbound conveyor line 10, the stacker 40 and the loading end of the outbound conveyor line 20.

[0077] The three-dimensional warehouse 30 is used to store coils 1 with mandrels 2 inserted through them, and specifically, can be implemented as high-hanging racks. A transporter 50 moves between the unloading end of the inbound conveyor line 10 and the stacker 40 to transfer coils 1 to be stored. The transporter 50 moves between the stacker 40 and the loading end of the outbound conveyor line 20 to transfer coils 1 to be shipped out. The stacker 40 is used to move coils 1 to be stored in the three-dimensional warehouse 30 after being transported by the transporter 50, and to move coils 1 to be shipped out of the three-dimensional warehouse 30 to the transporter 50.

[0078] The transport vehicle 50 may be a rail-guided vehicle (RGV), an automated guided vehicle (AGV), an autonomous mobile robot (AMR), or the like.

[0079] Specifically, the coil storage system also includes a transition conveyor 60, which is located on one side of the stacker 40. The transport vehicle 50 is a rail-guided vehicle. The unloading end of the inbound conveyor line 10 and the loading end of the outbound conveyor line 20 are located on the same side of the guide rail of the rail-guided vehicle and can be docked with the trolley of the rail-guided vehicle. The transition conveyor 60 is located on the other side of the guide rail of the rail-guided vehicle and can be docked with the trolley of the rail-guided vehicle.

[0080] When in use, the specific workflow is as follows:

[0081] The coils without mandrels are transported to the first conveyor 11 via the inbound conveyor line 10; the motion adjustment mechanism in the mandrel insertion and extraction device 400 drives the gripper 450 to take the mandrel from the mandrel buffer device 300 or the mandrel storage device 500, and then insert the mandrel into the coils on the first conveyor 11; the coils with mandrels are transported to the transition conveyor 60 via the inbound conveyor line 10 and the rail-guided vehicle; the stacker 40 forks the coil 1 with mandrels 2 on the transition conveyor 60 and stores it in the vertical conveyor 11. The paper roll 1 is placed in the designated cargo location of the body warehouse 30; when the coil 1 is needed, the stacker 40 forks the coil 1 from the designated cargo location and sends it to the transition conveyor 60; the coil 1 with the core shaft 2 is sent to the second conveyor 21 through the rail-guided vehicle and the outbound conveyor line 20; the motion adjustment mechanism drives the clamping claw 450 to pull out the core shaft and place the core shaft into the core shaft buffer device 300 or the core shaft storage device 500; the paper roll without the core shaft continues to be transported backward through the outbound conveyor line 20 and is used in the docking production line.

[0082] The transition conveyor 60 may be a chain conveyor.

[0083] In some specific embodiments, Figure 11 As shown, the coil storage system further includes a core shaft in-and-out conveyor 80 and a hoisting mechanism 70 . The hoisting mechanism 70 is located on a side of the stacker 40 away from the transition conveyor 60 and can be docked with a trolley of a rail-guided vehicle.

[0084] Through the above arrangement, when the mandrel buffer device 300 and the mandrel storage device 500 are full of mandrels 2, the mandrel 2 pulled out by the mandrel insertion device 400 can be placed on the mandrel in-and-out conveyor 80, transported to the hoisting mechanism 70 by the rail-guided vehicle and hoisted, and then the mandrel 2 is put into the vertical warehouse for standby use by the stacker 40; when the number of mandrels 2 in the mandrel buffer device 300 is insufficient, the mandrels 2 stored in the three-dimensional warehouse 30 can supplement the mandrel buffer device 300.

[0085] It should be noted that the control method of the present invention is automatic control through a controller, and the control circuit of the controller can be implemented by simple programming by technicians in this field. The chain conveyor, transport vehicle 50, stacker 40, lifting mechanism 70 and stereoscopic warehouse 30 can all adopt the existing technology in this field and will not be described in detail.

[0086] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A coil threading and pulling mandrel system, characterized in that: include: The mandrel threading station is used to place the coiled material to be threaded with the mandrel; The mandrel pulling station is used to place the coiled material to be pulled out of the mandrel; a spindle buffer device for storing spindles; and The mandrel threading and pulling device includes a motion adjustment mechanism and a clamping jaw provided at the execution end of the motion adjustment mechanism and capable of clamping the end of the mandrel. The clamping jaw is driven by the motion adjustment mechanism to move between the mandrel threading station, the mandrel buffer device, and the mandrel pulling station. The mandrel threading station and the mandrel pulling station are respectively located on opposite sides of the mandrel buffer device. The spindle buffer device includes a bracket, a placement rack and a deceleration mechanism, the placement rack is tilted on the bracket, and the placement rack is used to place the spindle; the deceleration mechanism is arranged on the bracket and located above the placement rack, the deceleration mechanism includes a movable member and a telescopic driving member arranged on the bracket and connected to the movable member, the telescopic driving member is used to drive the movable member to reciprocate between approaching and moving away from the placement rack, so that the movable member switches between a pressing state approaching the placement rack and a disengaging state away from the placement rack; wherein, in the pressing state, the movable member can press the spindle placed on the placement rack against the placement rack; in the disengaging state, the movable member is out of contact with the spindle on the placement rack; The coil threading and pulling mandrel system also includes a mandrel storage device, which is used to store mandrels. The mandrel storage device includes a flow rack and two transfer devices. The flow rack includes a vertical frame and multi-layer load-bearing racks inclined in the height direction of the vertical frame and spaced apart on the vertical frame; the two transfer devices are respectively arranged at opposite ends of the flow rack, and the transfer device is used to transfer mandrels between different load-bearing racks.

2. The coil threading and pulling mandrel system according to claim 1, characterized in that: It also includes a first conveyor and a second conveyor, which are respectively arranged on opposite sides of the core shaft cache device, and the conveying direction of the first conveyor and the conveying direction of the second conveyor are parallel to the length direction of the core shaft on the core shaft cache device. The core shaft threading station is located on the first conveyor, and the core shaft pulling station is located on the second conveyor.

3. The coil threading and pulling mandrel system according to claim 1, characterized in that: The motion adjustment mechanism includes a frame, a horizontal linear module, a longitudinal linear module and a vertical linear module. The horizontal linear module is arranged on the frame and forms a three-axis linear module with the longitudinal linear module and the vertical linear module. The clamp is arranged on the vertical linear module and can move along the height direction of the frame under the action of the vertical linear module.

4. The coil threading and pulling mandrel system according to claim 1, characterized in that: The transfer device includes a lifting device and a turning device; The lifting device comprises a column and a lifting frame arranged on the column, and the lifting frame is movable in the height direction of the column; The flipping device is arranged on the lifting frame, and the flipping device includes a supporting frame for supporting the core shaft and a flipping drive mechanism arranged on the lifting frame and connected to the supporting frame, a supporting position is provided on the supporting frame, and the supporting frame is rotatably arranged on the lifting frame, and the flipping drive mechanism is used to drive the supporting frame to flip relative to the lifting frame so that the supporting frame switches between a storage state and a unloading state; wherein, in the storage state, the height of the supporting frame gradually decreases from one end away from the lifting frame to the supporting position; in the unloading state, the height of the supporting frame gradually decreases from the supporting position to one end away from the lifting frame.

5. The coil threading and pulling mandrel system according to claim 1, characterized in that: The multi-layer carrier racks include a top-level carrier rack and multiple temporary storage carrier racks. The multiple temporary storage carrier racks are arranged in parallel and at intervals in the height direction of the vertical frame. The top-level carrier rack is located above all the temporary storage carrier racks, and the lower end of the top-level carrier rack is located directly above the high end of the temporary storage carrier rack.

6. A coil storage system, characterized in that: include: Warehouse conveyor line; Outbound conveyor line; as well as The coil threading and pulling mandrel system according to any one of claims 1 to 5, wherein the mandrel threading station is arranged on the inbound conveyor line, and the mandrel pulling station is arranged on the outbound conveyor line.

7. The coil storage system according to claim 6, characterized in that The coil storage system further comprises a stereoscopic warehouse, a stacker and a transport vehicle, wherein the transport vehicle moves between the unloading end of the inbound conveyor line, the stacker and the loading end of the outbound conveyor line.

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