Automatic pre-preg roll shaft threading device and method

Abstract

The application discloses an automatic shaft penetrating device and method for a prepreg roll, which comprises a rack, wherein the rack is provided with a roll positioning platform, a gantry clamping jaw assembly, an air-expanded shaft buffer table and a roll shaft penetrating mechanism. The automatic shaft penetrating device can automatically perform shaft penetrating operation on raw material rolls, winding drums, semi-finished product rolls and finished product rolls, and the whole shaft penetrating process does not need manual participation. The automatic shaft penetrating device can be directly connected to production line levels, factory levels, supply chain levels and other different levels to realize cooperation between devices, thereby meeting the intelligent manufacturing requirements of enterprises. Meanwhile, the device can also automatically perform shaft withdrawing operation. The automatic shaft penetrating and withdrawing device replaces manual operation, can improve production efficiency, reduce labor consumption and use, ensures product quality by standardizing operation, improves work efficiency, reduces production cost and improves overall economic benefits.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of composite material shafting equipment, in particular to a raw material, paper tube and finished product type prepreg roll automatic shafting device and method. BACKGROUND

[0002] Carbon fiber composite materials are widely used in aerospace and other fields due to their lightweight and high strength advantages. Prepreg is one of the core links of carbon fiber composite materials, and its market size is expanding. Currently, the preparation method of composite material prepreg is to wind the finished product on the reel. Therefore, during the preparation of the prepreg, the raw materials and finished products need to be inserted into the gas expansion shaft at the center of the reel, and then the finished product is produced on a special machine. Due to the high surface performance requirements of carbon fiber composite materials, the end face of the roll needs to be flush during winding. The size of the raw material roll and semi-finished product roll is large, and the weight can reach 300 kg. Due to the special requirements of material performance, the raw material roll and finished product roll must be placed horizontally on the tooling, and cannot be placed vertically. In addition, there are many specifications for the outer diameter of the raw material, semi-finished product and finished product roll.

[0003] Currently, before the prepreg raw material and paper tube are wound, the raw material roll and paper tube are manually inserted into the gas expansion shaft. The gas expansion shaft is inflated manually to make it tight, and then the raw material roll is lifted to the unwinding position. After the winding shaft completes the winding of the semi-finished product and finished product, the semi-finished product and finished product roll need to be manually inflated with the gas expansion shaft, deflated with the gas expansion shaft, and then the roll is taken out. Then the paper tube is manually inserted into the gas expansion shaft, and the paper tube with the gas expansion shaft is transported to the winding station. The above method makes the operation labor intensity of workers relatively large, is easy to hurt the operator, has low work efficiency, high production cost, and has become a difficult problem that needs to be solved in the current composite material prepreg manufacturing process.

[0004] With the continuous deepening of the digital transformation of manufacturing enterprises, the new generation of information technology continues to empower the integration of production equipment. In order to make the production equipment run efficiently and produce good performance in the enterprise production task, the requirement for production equipment is no longer just a physical entity. Hardware entity, embedded software, data sensing and management platform have become essential components of current digital equipment. In addition, production equipment can effectively integrate and interact with supporting equipment and systems, comprehensively sense the running state of production equipment, process edge data, upload in real time and visually monitor, and then realize the running monitoring, performance monitoring, health management, scheduling and production of production equipment. Forecasting maintenance, production equipment can also be directly connected to the production line level, factory level, supply chain level and other different levels to realize the cooperation between equipment, and then meet the requirements of intelligent manufacturing of enterprises.

[0005] The utility model discloses a device for automatic drawing and penetrating of material roll of composite material, comprising a drawing mechanism, a material roll circulating conveying mechanism and a penetrating mechanism, the drawing mechanism and the penetrating mechanism are connected with the two ends of the material roll circulating conveying mechanism respectively, mainly used in the field of packaging and printing, the penetrating mechanism is simple, has special requirements for the penetrating object, the equipment cannot realize flexible production, and the penetrating object is single in type.

[0006] The application patent with the application number 202210997067.1 discloses an automatic roller penetrating device and method, belonging to the technical field of ceramic roller processing. The device has a simple structure and is single in application scenario. Moreover, the device does not have flexible requirements and cannot be connected with upstream and downstream intelligent devices to form an automatic production line. None of the above-mentioned patents relates to the penetration of carbon fiber composite materials. The penetration accuracy is not high, and the mode is fixed. The designed device does not meet the digital device design concept and the intelligent requirements of intelligent factories. SUMMARY

[0007] The technical problem to be solved by the present application is to provide an automatic penetrating device for roll material or paper tube roll material, as well as a method for penetrating and withdrawing the roll material or paper tube roll material, to solve the problems of high labor intensity, high labor input, low work efficiency and high production cost caused by manual penetration and withdrawal of the gas-expanded shaft.

[0008] The technical problem to be solved by the present application is solved by the following technical solution. An automatic penetrating device for prepreg roll material comprises a rack, which has:

[0009] A roll positioning platform for receiving roll material or paper tube;

[0010] A gantry jaw assembly arranged above the roll positioning platform, which is used to grab and transfer the roll material or paper tube on the roll positioning platform to a penetrating position / withdrawing position;

[0011] A gas-expanded shaft buffer table, which buffers the gas-expanded shafts used for penetration;

[0012] A roll penetrating mechanism arranged above the gas-expanded shaft buffer table, which is used to penetrate the gas-expanded shaft into the roll material or paper tube or withdraw the gas-expanded shaft in the roll material or paper tube when the roll material or paper tube reaches the penetrating position / withdrawing position.

[0013] Preferably, the roll positioning platform comprises a positioning platform support seat fixed on the rack, which is provided with a table plate, a side strip, a roller line, a guide positioning mechanism and a jacking blocking mechanism;

[0014] The table plate is fixed on the top surface of the positioning platform support seat;

[0015] The side bars are vertically fixed on the side walls of the top of the positioning platform support base, and are located below and parallel to the platform plate.

[0016] The cylinder line is installed between the side bars on both sides of the positioning platform support base, and a transmission motor is arranged on the positioning platform support base to provide power for the cylinder line.

[0017] The guide positioning mechanism is fixed on the top surface of the positioning platform support base through the connecting block, and is parallel to the platform plate and the side bars, and the guide positioning mechanism is provided with the reinforcing ribs.

[0018] The jacking blocking mechanism includes a jacking blocking cylinder and a blocking plate, the jacking blocking cylinder is vertically arranged on the positioning platform support base, and the blocking plate is vertically fixed on the telescopic end of the jacking blocking mechanism.

[0019] When the telescopic end of the jacking blocking mechanism is retracted, the blocking plate abuts against the top surface of the side bar, so as to block and limit the tray on the cylinder line for carrying the material roll or the paper tube.

[0020] Preferably, the portal jaw assembly includes a portal truss and a jaw assembly.

[0021] The portal truss includes a portal truss support column, a portal jaw fixing plate and a pair of portal jaw fixing strip plates; the portal truss support columns are arranged in a spaced manner to form a substantially square frame structure; the portal jaw fixing plate is horizontally fixed on the top end of the portal truss support column; and the pair of portal jaw fixing strip plates are fixed on the top end of the portal truss support column and symmetrically arranged on both sides of the portal jaw fixing plate.

[0022] The clamping jaw assembly comprises a clamping jaw vertical telescopic power mechanism, a gantry cantilever connecting sleeve, a positioning clamping jaw fixing plate, a gantry cantilever, a connecting plate, a pair of clamping jaw horizontal telescopic power mechanisms, a pair of positioning clamps and a line scanning device.

[0023] The clamping jaw horizontal telescopic power mechanism and the positioning clamps are provided with RFID readers for reading incoming material information.

[0024] Preferably, the air inflation shaft buffer station comprises air inflation shaft buffer station bases I, II and III arranged in sequence in the air inflation shaft conveying direction.

[0025] The air inflation shaft buffer station base I is composed of a plurality of base I vertical plates and a base I top plate, and the base I top plate is horizontally fixed on the top of the base I vertical plates.

[0026] The air inflation shaft buffer station base III is composed of a plurality of base III vertical plates and a base III top plate, and the base III top plate is horizontally fixed on the top of the base III vertical plates.

[0027] The air inflation shaft buffer support frames and air inflation shaft V-shaped limiting blocks are arranged on the base I top plate and the base III top plate; a plurality of rollers are rotatably arranged on the air inflation shaft buffer support frames, and the axis of the rollers is parallel to the axis of the air inflation shaft to be inserted or extracted; a plurality of V-shaped grooves for supporting and limiting the air inflation shaft to be inserted or extracted are arranged on the air inflation shaft V-shaped limiting blocks; and the flat end surface of each roller is opposite to one V-shaped groove.

[0028] The top surface of the air inflation shaft buffer platform base II is provided with an air inflation shaft carrying clamp jaw assembly, which comprises a sliding table, a sliding rail mechanism, a lifting plate and a supporting block. The sliding table is horizontally arranged on the air inflation shaft buffer platform base II. The sliding rail mechanism is arranged between the sliding table and the air inflation shaft buffer platform base II and allows the sliding table to move horizontally along the radial direction of the air inflation shaft to be inserted or extracted. The lifting plate is horizontally arranged above the sliding table. A lifting plate lifting power mechanism is arranged between the bottom surface of the lifting plate and the top surface of the sliding table to allow the lifting plate to move vertically. The supporting block is fixedly arranged on the top surface of the lifting plate. The supporting block is arranged in pairs, and at least two supporting blocks are arranged at intervals and have a side surface close to each other, which is provided with an air inflation shaft bottom outer peripheral surface that can abut on the V-shaped groove. The supporting block supports the air inflation shaft above the V-shaped groove as the lifting plate rises and falls.

[0029] Preferably, air inflation shaft sensing devices are arranged on the top surfaces of the air inflation shaft buffer platform base I and the air inflation shaft buffer platform base III to detect whether the air inflation shaft V-shaped limiting block has an air inflation shaft.

[0030] Preferably, the material roll shaft inserting mechanism comprises a displacement assembly and a shaft inserting clamp jaw assembly.

[0031] The displacement assembly comprises a displacement assembly base, a base cover plate, a jacking power mechanism, a supporting plate, a horizontal power mechanism, a bearing seat, a linear module and an air inflation shaft fixing support seat. The displacement assembly base is fixed on the rack above the air inflation shaft buffer platform. The base cover plate is fixed on the top of the displacement assembly base. The jacking power mechanism is vertically installed between the displacement assembly base and the base cover plate. The telescopic end of the jacking power mechanism penetrates through the base cover plate and can move vertically. The supporting plate is horizontally arranged above the base cover plate. The telescopic end of the jacking power mechanism is vertically fixed to the bottom surface of the supporting plate. The bearing seat is arranged above the supporting plate. The horizontal power mechanism is arranged between the top surface of the supporting plate and the bottom surface of the bearing seat to drive the bearing seat to move horizontally along the radial direction of the air inflation shaft to be inserted or extracted. The linear module is installed on the top of the bearing seat, and the installation direction of the linear module is parallel to the axial direction of the air inflation shaft to be inserted or extracted. The air inflation shaft fixing support seat is fixed on the side wall of the bearing seat and has a groove for supporting the air inflation shaft on the V-shaped groove.

[0032] Preferably, the shaft inserting clamp jaw assembly comprises a mounting connecting plate, a clamping power mechanism and a shaft inserting clamp jaw. The mounting connecting plate is mounted on the linear module. The shaft inserting clamp jaw is mounted on the clamping power mechanism and driven by the clamping power mechanism to clamp the outer peripheral surface of the air inflation shaft conveyed to the groove of the air inflation shaft fixing support seat from the V-shaped groove.

[0033] Preferably, the material roll positioning platform, the gantry clamping jaw assembly, the material roll shaft penetrating mechanism and the air inflation shaft buffer station are each provided with a plurality of sensors along the moving track of the material roll or the air inflation shaft. When the material is missing or the shaft penetration is abnormal, an abnormal alarm signal will be generated and sent to the control system, and the shaft penetration and material replenishment processes can be synchronized.

[0034] Preferably, an automatic shaft penetrating method for a prepreg material roll is provided, which uses the automatic shaft penetrating device for a prepreg material roll described above, and the steps are as follows:

[0035] (1) Feeding: the AGV car transports the material roll or paper tube to be penetrated / extracted into the air inflation shaft to the roller line of the material roll positioning platform, at this time the transmission motor drives the roller line to transport the material roll or paper tube until the material roll or paper tube is transported to the blocking plate, at this time the blocking plate is driven by the lifting blocking cylinder to go up and block the tray of the material roll or paper tube being transported, at this time the material roll or paper tube reaches the shaft penetrating position;

[0036] (2) Shaft penetrating operation:

[0037] (2.1) Moving the material roll or paper tube to the shaft penetrating position: the extension end of the vertical telescopic power mechanism of the clamping jaw goes down and drives the connecting plate to go down, during the downward movement of the connecting plate, the line scanning device on the bottom surface of the connecting plate locates the diameter and axis position of the material roll or paper tube, at the same time, the extension end of a pair of horizontal telescopic power mechanisms of the clamping jaw extends or retracts according to the data measured by the line scanning device in the axial direction of the material roll or paper tube, so that when the pair of positioning clamping jaws go down to the same height as the axis of the material roll or paper tube, the pair of positioning clamping jaws are just located on both sides of the axis of the material roll or paper tube, at this time the axis of the shaft penetrating hole on the positioning clamping jaw is collinear with the axis of the material roll or paper tube;

[0038] (2.2) Air inflation shaft feeding: the AGV car transports the air inflation shaft to be penetrated into the roller on the air inflation shaft buffer support frame, at this time the roller transports the air inflation shaft, so that each V-shaped groove on the V-shaped limiting block of the air inflation shaft has an air inflation shaft to be penetrated into, when the upper part of the supporting block on the air inflation shaft buffer station base II also has an air inflation shaft to be penetrated into, at this time the lifting plate lifting power mechanism drives the lifting plate to go up, so that the air inflation shaft above the supporting block is lifted by the supporting groove on the supporting block, during which the slide rail mechanism can drive the sliding table to move horizontally in the radial direction of the air inflation shaft, so that the air inflation shaft moves to the groove on the air inflation shaft fixing support seat behind it;

[0039] (2.3) threading: when the inflatable shaft is supported on the groove on the shaft fixing support seat, the threading jaw assembly can move along the linear module at this time, when the threading jaw is displaced to the upper side of the inflatable shaft to be threaded, the clamping power mechanism drives the threading jaw to shrink and clamp the inflatable shaft to be threaded, during which the jacking power mechanism and the linear power mechanism adjust the position of the linear module and the threading jaw assembly on the bearing seat, so that the axis of the inflatable shaft clamped by the threading jaw is collinear with the axis of the roll or paper tube, at this time the threading jaw assembly clamping the inflatable shaft threads the inflatable shaft into the roll or paper tube along the linear module, that is, the threading operation is completed; at this time, the inflatable shaft is inflated until the inflatable shaft is inflated tightly in the roll or paper tube, the threading jaw assembly returns to its original position, and steps (2.1)-(2.3) are repeated to perform the repeated threading operation;

[0040] (3) shaft withdrawing operation:

[0041] (3.1) moving the roll or paper tube to the shaft withdrawing position: as described in step (2.1), the roll or paper tube to be withdrawn is transported to the predetermined position, that is, the shaft withdrawing position, and then the inflatable shaft on the roll or paper tube to be withdrawn is deflated;

[0042] (3.2) shaft withdrawing: the jaw assembly moves to the shaft withdrawing position along the linear module, the clamping power mechanism drives the threading jaw to shrink and clamp the end of the inflatable shaft in the roll or paper tube, and then drives the clamping power mechanism to return to its original position, that is, the inflatable shaft in the roll or paper tube is extracted, when the extracted inflatable shaft moves along the linear module to the upper side of the inflatable shaft fixing support seat, the clamping power mechanism drives the threading jaw to no longer clamp the extracted inflatable shaft, at this time the extracted inflatable shaft naturally falls into the groove on the inflatable shaft fixing support seat, and the inflatable shaft on the groove can be collected in reverse according to the above (2.2) step, so that the extracted inflatable shaft is supported on the rollers on the inflatable shaft buffer support frame, that is, the shaft withdrawing operation is completed, and steps (3.1)-(3.2) are repeated to perform the repeated shaft withdrawing operation.

[0043] Compared with the prior art, the beneficial technical effects of the present application are:

[0044] (1) The automatic shaft threading device for the prepreg roll can automatically thread the raw material roll, the roll, the semi-finished product roll and the finished product roll, and the whole threading process does not require manual intervention, and can be directly connected to different levels such as production line level, factory level and supply chain level to realize cooperation between devices, thereby meeting the requirements of intelligent manufacturing of enterprises; at the same time, the device can also automatically withdraw the shaft, and the automatic threading and withdrawing device replaces manual operation, which can improve production efficiency, reduce labor consumption and use, standardize operation to ensure that the product quality meets the requirements, improve work efficiency, reduce production cost and improve overall economic benefit;

[0045] (2) The material roll positioning platform of the prepreg material roll automatic shaft penetrating device can automatically receive incoming materials, automatically read the material information through the RFID reader on the gripper assembly, automatically determine the material roll diameter and the material roll shaft center position through the line scanning device, and the positioning gripper with a shaft penetrating hole can position the material roll in the axial and radial directions, realize automatic shaft penetration of the material roll with special requirements for the surface performance of the material, have great compatibility for different specifications of material rolls, can realize mixed line production of different specifications of material rolls, meet the production line beat requirements, meet the high shaft penetration precision and high shaft penetration quality requirements;

[0046] (3) The material roll positioning platform, the gantry gripper assembly, the material roll shaft penetrating mechanism and the air expansion shaft buffer table are all provided with sensors, and the lack of materials or abnormal shaft penetration will automatically alarm and send the alarm information to the control system, the shaft penetration and material replenishment process can be synchronized, and the production process is truly digitized and intelligentized by cooperating with the production control system. The prepreg material roll automatic shaft penetrating device and the shaft penetrating method can accurately identify and record the model, order number and other accessory information of each incoming material roll through the cooperation of the RFID reader on the gripper assembly and the existing production control system, and accurately and automatically transmit the information to the shaft penetrating device. The control system of the automatic shaft penetrating device calls the automatic shaft penetrating program according to the model information and drives the automatic shaft penetrating device to complete the air expansion shaft penetration. When the material is lacking, the automatic shaft penetrating device automatically sends the material replenishment information to the production control system for material replenishment, and also sends the finished product information to the production control system, thereby improving the flexibility, digitization and intelligence of the production line, and effectively realizing cost reduction and efficiency improvement in the production process of enterprises;

[0047] (4) The prepreg material roll automatic shaft penetrating device is connected with the AGV logistics incoming material, and the material roll information is automatically identified and material information is automatically collected during the entire shaft penetration process. When the air expansion shaft buffer table is insufficient, the upper computer control system is automatically triggered to realize the distribution of the air expansion shaft. When the air expansion shaft buffer table is full, the upper system is automatically triggered to distribute the air expansion shaft to the buffer warehouse, and the operability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a whole structure schematic view of the prepreg material roll automatic shaft penetrating device of the present application.

[0049] Figure 2 It is a material roll positioning platform structure schematic view (I) of the prepreg material roll automatic shaft penetrating device of the present application.

[0050] Figure 3 It is a material roll positioning platform structure schematic view (II) of the prepreg material roll automatic shaft penetrating device of the present application.

[0051] Figure 4 It is a gantry gripper assembly structure schematic view of the prepreg material roll automatic shaft penetrating device of the present application.

[0052] Figure 5 Fig. 1 is a schematic diagram of the structure of the clamping jaw assembly of the gantry clamping jaw assembly of the present application;

[0053] Figure 6 Fig. 2 is a schematic diagram of the structure of the gantry truss of the gantry clamping jaw assembly of the present application;

[0054] Figure 7 Fig. 3 is a schematic diagram of the structure of the prepreg roll shafting mechanism of the automatic prepreg roll shafting device of the present application;

[0055] Figure 8 Fig. 4 is a schematic diagram of the structure of the shafting clamping jaw assembly of the prepreg roll shafting mechanism of the present application;

[0056] Figure 9 Fig. 5 is a schematic diagram of the structure of the air expansion shaft buffer station of the automatic prepreg roll shafting device of the present application;

[0057] Figure 10 Fig. 6 is a schematic diagram of the structure of the air expansion shaft carrying clamping jaw assembly of the air expansion shaft buffer station of the present application;

[0058] Figure 11 Fig. 7 is a schematic diagram of the working state of the automatic shafting device of the roll of the embodiment of the present application (1);

[0059] Figure 12 Fig. 8 is a schematic diagram of the working state of the automatic shafting device of the roll of the embodiment of the present application (2).

[0060] In the drawings:

[0061] 1. frame;

[0062] 2. roll positioning platform; 201, positioning platform support seat; 202, table plate; 203, edge strip; 204, roller line; 205, transmission motor; 206, guide positioning mechanism; 207, blocking plate;

[0063] 3. gantry clamping jaw assembly; 301, gantry truss support column; 302, gantry clamping jaw fixing plate; 303, gantry clamping jaw fixing strip plate; 304, clamping jaw vertical telescopic power mechanism; 305, gantry cantilever connecting sleeve; 306, gantry cantilever; 307, connecting plate; 308, clamping jaw horizontal telescopic power mechanism; 309, positioning clamping jaw; 310, line sweeping device; 311, positioning clamping jaw fixing plate; 312, positioning clamping jaw fixing rod; 313, shafting hole;

[0064] 4. air expansion shaft buffer station; 401, base I vertical plate; 402, base I top plate; 403, base III vertical plate; 404, base III top plate; 405, air expansion shaft buffer support frame; 406, air expansion shaft V-shaped limiting block; 407, air expansion shaft buffer station base II; 408, sliding table; 409, sliding rail mechanism; 410, lifting plate; 411, bearing block;

[0065] 5, roll shafting mechanism; 501, displacement assembly base; 502, base cover plate; 503, jacking power mechanism; 504, support plate; 505, linear power mechanism; 506, bearing seat; 507, linear module; 508, gas expansion shaft fixed support seat; 509, mounting connecting plate; 510, clamping power mechanism; 511, shafting clamping jaw. DETAILED DESCRIPTION

[0066] The specific technical solutions of the present application are further described below with reference to the accompanying drawings, so that those skilled in the art can further understand the present application without limiting its rights.

[0067] Example 1, refer to Figure 1 、 11 , 12, an automatic shafting device for prepreg roll, comprising a rack 1 which is welded by profiled materials, the size of which can be selected according to the use requirements, and which has:

[0068] a roll positioning platform 2 for receiving a roll or a paper tube;

[0069] a gantry jaw assembly 3 arranged above the roll positioning platform 2, which is used to grab the roll or paper tube on the roll positioning platform 2 and move it to the shafting position / retreating shaft position;

[0070] a gas expansion shaft buffer table 4, which buffers the gas expansion shaft used for shafting;

[0071] a roll shafting mechanism 5 arranged above the gas expansion shaft buffer table, which is used to insert the gas expansion shaft into the roll or paper tube or extract the gas expansion shaft in the roll or paper tube when the roll or paper tube reaches the shafting position / retreating shaft position.

[0072] In example 1, the automatic shafting device for prepreg roll has automatic shafting or automatic retreating shaft function, the whole shafting process does not need manual intervention, and can be directly connected to different levels such as production line level, factory level and supply chain level to realize cooperation between devices, thereby meeting the requirements of intelligent manufacturing of enterprises; at the same time, the device can also automatically retreat the shaft, and the automatic shafting and retreating shaft device replaces manual operation, which has strong practicality;

[0073] In addition, RFID readers for detecting the label information of the gas expansion shaft can be arranged on the roll positioning platform, the gantry jaw assembly, the gas expansion shaft buffer table and the roll shafting mechanism, the installation position and the specification and model of the RFID reader can be selected according to the use requirements, therefore, it is not described here.

[0074] Example 2, refer to Figure 2 、 3The automatic pre-impregnated fiber material roll shaft threading device of embodiment 1, the roll positioning platform 2 comprises a positioning platform support seat 201 fixed on the rack, the positioning platform support seat 201 is formed into a substantially square base, and a table plate 202, a side strip 203, a roller line 204, a guide positioning mechanism and a jacking blocking mechanism are arranged on the base;

[0075] The table plate 202 is fixed on the top surface of the positioning platform support seat 201, and the table plate 202 is formed into a substantially square plate structure;

[0076] The side strip 203 is vertically fixed on the top side wall of the positioning platform support seat 201, and the side strip 203 is located below the table plate 202 and parallel to the table plate 202, and the side strip 203 is formed into a substantially square plate structure;

[0077] The roller line 204 is installed between the side strips 203 on both sides of the positioning platform support seat 201, and the roller line 204 is a prior art which is composed of a plurality of freely rotating roller bodies, and a transmission motor 205 is arranged on the positioning platform support seat 201 to provide power for the roller line 204, and the transmission motor 205 drives the roller line 204 to transmit the roll;

[0078] The guide positioning mechanism 206 is fixed on the top surface of the positioning platform support seat 201 through a connecting block (not shown in the figure), the connecting block is formed into a substantially square block structure, the guide positioning mechanism 206 is parallel to the table plate 202 and the side strip 203, the guide positioning mechanism 206 has reinforcing ribs (not shown in the figure) thereon, the number and shape of the reinforcing ribs can be selected according to the use requirement, and the guide positioning mechanism 206 is formed into a substantially square plate structure;

[0079] The jacking blocking mechanism comprises a jacking blocking cylinder and a blocking plate 207, the jacking blocking cylinder is vertically arranged on the positioning platform support seat 201, and the blocking plate 207 is vertically fixed and installed on the telescopic end of the jacking blocking mechanism, and the blocking plate 207 is formed into a substantially square plate structure;

[0080] When the telescopic end of the jacking blocking mechanism is retracted, the blocking plate 207 abuts against the top surface of the side strip 203, so as to block and limit the tray on the roller line 204 for carrying the roll or the paper tube.

[0081] In embodiment 2, the roll positioning platform 2 mainly transmits the roll to be threaded or unthreaded, so as to realize automatic feeding.

[0082] In embodiment 3, referring to Figure 4 , 5 , 6, the automatic pre-impregnated fiber material roll shaft threading device of embodiment 1, the gantry jaw assembly 3 comprises a gantry truss and a jaw assembly;

[0083] The gantry truss comprises a gantry truss support column 301, a gantry clamping jaw fixing plate 302 and a pair of gantry clamping jaw fixing strip-shaped plates 303; the gantry truss support column 301 is arranged at intervals and forms a substantially square frame structure, and the gantry truss support column 301 is formed as a substantially square or cylindrical rod; the gantry clamping jaw fixing plate 302 is horizontally fixedly installed on the top end of the gantry truss support column 301, and the gantry clamping jaw fixing plate 302 is formed as a substantially square plate structure; the pair of gantry clamping jaw fixing strip-shaped plates 303 are fixedly installed on the top end of the gantry truss support column 301 and symmetrically arranged on the two sides of the gantry clamping jaw fixing plate 302, and the gantry clamping jaw fixing strip-shaped plate 303 is formed as a substantially square plate structure;

[0084] The clamping jaw assembly comprises a clamping jaw vertical telescopic power mechanism 304, a gantry cantilever connecting sleeve 305, a positioning clamping jaw fixing plate 311, a gantry cantilever 306, a connecting plate 307, a pair of clamping jaw horizontal telescopic power mechanisms 308, a pair of positioning clamping jaws 309 and a line scanning device 310; the gantry cantilever 306 has a wire passing hole in the middle, and the design purpose of the wire passing hole (not shown in the figure) is to facilitate the vertical movement of the telescopic end (mechanical hand) of the clamping jaw vertical telescopic power mechanism 304; the gantry cantilever 306 is vertically arranged, and the top thereof is fixedly connected with the bottom of the gantry cantilever connecting sleeve 305, and the bottom thereof is fixedly connected with the top of the positioning clamping jaw fixing plate 311 below; the gantry cantilever connecting sleeve 305 is formed as a substantially hollow cylindrical structure; the clamping jaw vertical telescopic power mechanism 304 is vertically installed on the top surface of the gantry cantilever connecting sleeve 305, and the telescopic end of the clamping jaw vertical telescopic power mechanism 304 can move vertically along the inside of the gantry cantilever connecting sleeve 305 and the gantry cantilever 306 and extend below the positioning clamping jaw fixing plate 311; the connecting plate 307 is horizontally arranged, and the connecting plate 307 is formed as a substantially square plate structure, and the top surface thereof is fixedly connected with the telescopic end of the clamping jaw vertical telescopic power mechanism 304 extending out of the gantry cantilever connecting sleeve 305 and the gantry cantilever 306 in the vertical direction, so as to drive the connecting plate 307 to move in the vertical direction during the telescopic movement of the telescopic end of the clamping jaw vertical telescopic power mechanism 304; the pair of clamping jaw horizontal telescopic power mechanisms 308 are installed on the bottom surface of the connecting plate 307 at both ends, and the clamping jaw can be formed as a substantially plate structure; the pair of positioning clamping jaws 309 are fixedly installed on the telescopic end of the clamping jaw horizontal telescopic power mechanism 308, and a shaft passing hole 313 is formed in the bottom of the positioning clamping jaw 309, which is used for the passing-in of the gas spring shaft during the shaft passing operation or the shaft alignment of the retraction of the gas spring shaft during the shaft retraction operation; the shaft passing hole 313 can be a circular hole, and the hole diameter can be selected according to the use requirement; the axes of the shaft passing holes 313 on the pair of positioning clamping jaws 309 are collinear; and the line scanning device 310 is fixedly installed on the middle bottom surface of the connecting plate 307, and the line scanning device 310 is located above the shaft passing hole 313 of the positioning clamping jaw 309;

[0085] The said clamping jaw horizontal telescopic power mechanism 308 and the positioning clamping jaw 309 are provided with RFID reader-writer for reading incoming material information. RFID reader-writer is prior art, and the purpose of its design is to read the label on the roll material to obtain information table, which is convenient for information input.

[0086] In embodiment 4, the gantry clamping jaw assembly 3 further comprises a guiding device, which comprises a positioning clamping jaw fixing rod 312; the positioning clamping jaw fixing rod 312 is formed into a substantially rod-shaped structure.

[0087] The aforementioned positioning clamping jaw fixing plate 311 is horizontally fixed on the outer circumferential surface of the bottom of the gantry cantilever 306, and the positioning clamping jaw fixing plate 311 is provided with a plurality of guide holes, which are circular holes.

[0088] The said positioning clamping jaw fixing rod 312 is vertically fixed on the top surface of the connecting plate 307, and the upper end of the positioning clamping jaw fixing rod 312 penetrates the guide hole, so as to guide the vertical movement of the connecting plate 307.

[0089] In embodiment 4, the purpose of the design of the guiding device is to guide the telescopic operation of the clamping jaw vertical telescopic power mechanism 304, so that the operation of the clamping jaw assembly is more stable.

[0090] In embodiment 5, referring to Figure 9 , In embodiment 5, referring to 10 , the air expansion shaft buffer table 4 comprises air expansion shaft buffer table base I, air expansion shaft buffer table base II 407 and air expansion shaft buffer table base III arranged in sequence according to the air expansion shaft conveying direction.

[0091] The said air expansion shaft buffer table base I is composed of a plurality of base I vertical plates 401 and a base I top plate 402, the base I top plate 402 is horizontally fixed on the top of the base I vertical plate 401, and the base I vertical plate 401 is formed into a substantially square plate-shaped structure; the base I top plate 402 is formed into a substantially square plate-shaped structure.

[0092] The said air expansion shaft buffer platform base III is composed of a plurality of base III vertical plates 403 and a base III top plate 404, the base III top plate 404 is horizontally fixed on the top of the base III vertical plate 403, and the base III vertical plate 403 is formed into a substantially square plate-shaped structure; the base III top plate 404 is formed into a substantially square plate-shaped structure.

[0093] The air inflation shaft buffer support frame 405 is formed as a substantially square frame structure; a plurality of rollers are rotatably installed on the air inflation shaft buffer support frame 405, the axis of the roller is parallel to the axis of the air inflation shaft to be inserted or extracted; the air inflation shaft V-shaped limiting block 406 is provided with a plurality of V-shaped grooves for supporting and limiting the air inflation shaft to be inserted or extracted, the V-shaped grooves are formed on the top surface of the air inflation shaft V-shaped limiting block 406, and the air inflation shaft V-shaped limiting block 406 is formed as a substantially square block; each of the roller flat end surfaces is opposite to one of the V-shaped grooves.

[0094] The top surface of the air inflation shaft buffer table base II 407 is provided with an air inflation shaft carrying clamp jaw assembly, which comprises a sliding table 408, a sliding rail mechanism 409, a lifting plate 410 and a supporting block 411; the sliding table 408 is horizontally arranged on the air inflation shaft buffer table base II 407 and is formed as a substantially square plate structure; the sliding rail mechanism 409 is arranged between the sliding table 408 and the air inflation shaft buffer table base II 407 and allows the sliding table 408 to move horizontally along the radial direction of the air inflation shaft to be inserted or extracted, and the sliding rail mechanism 409 can be composed of a motor, a screw, a nut and a sliding block, the motor and the screw nut are arranged on the top surface of the air inflation shaft buffer table base II 407, the sliding block of the sliding rail mechanism 409 is fixedly connected to the bottom surface of the sliding table 408, the screw is driven to rotate by the motor, so that the nut and the sliding block and the sliding table 408 on the sliding block move, and the air inflation shaft on the supporting block 411 moves along the horizontal radial direction; the lifting plate 410 is horizontally arranged above the sliding table 408, and a lifting plate lifting power mechanism is arranged between the bottom surface of the lifting plate 410 and the top surface of the sliding table 408 to allow the lifting plate 410 to move vertically, the lifting plate 410 is formed as a substantially square plate structure; the supporting block 411 is fixedly arranged on the top surface of the lifting plate 410, the supporting block 411 is arranged in pairs, at least two supporting blocks 411 are arranged at intervals and the mutually close side surfaces of the supporting blocks 411 are provided with air inflation shaft bottom outer circumferential surfaces that can abut on the V-shaped grooves, and the supporting block 411 is formed as a substantially square block structure and supports the air inflation shaft to the supporting groove above the V-shaped groove along with the lifting of the lifting plate 410, and the supporting groove is formed as a substantially arc-shaped groove.

[0095] In Example 5, the design purpose of the air inflation shaft buffer table 4 is to load the air inflation shaft to be inserted or to support the air inflation shaft after the shaft is withdrawn.

[0096] Example 6, the prepreg roll automatic shaft threading device described in Example 1, has an air shaft sensing device on the top surface of the air shaft buffer platform base I and the air shaft buffer platform base III, which detects whether there is an air shaft on the air shaft V-shaped limit block 406. The air shaft sensing device can be a sensor or the like in the prior art.

[0097] Example 7, referring to Figure 7 , 8 The automatic prepreg roll threading device described in Example 1 includes a roll threading mechanism 5 comprising a displacement component and a threading gripper component.

[0098] The displacement assembly includes a displacement assembly base 501, a base cover plate 502, a lifting power mechanism 503, a support plate 504, a translational power mechanism 505, a bearing seat 506, a linear module 507, and a gas shaft fixing support seat 508. The displacement assembly base 501 is formed into a roughly square frame structure. The displacement assembly base 501 is fixed on the frame above the gas shaft buffer platform 4. The base cover plate 502 is fixed on the top of the displacement assembly base 501 and is formed into a roughly square plate structure. The lifting power mechanism 503 is vertically installed between the displacement assembly base 501 and the base cover plate 502. The telescopic end of the lifting power mechanism 503 passes through the base cover plate 502 and can move in the vertical direction. The lifting power mechanism 503 is, for example, a cylinder, a hydraulic cylinder, or an electric cylinder. The support plate 504 is horizontally arranged above the base cover plate 502, supporting... The support plate 504 is formed into a roughly square plate structure. The telescopic end of the lifting power mechanism 503 is vertically fixedly connected to the bottom surface of the support plate 504. The bearing seat 506 is set above the support plate 504. The translational force mechanism 505 is set between the top surface of the support plate 504 and the bottom surface of the support seat to drive the bearing seat 506 to move horizontally on the support plate 504 along the radial direction of the air expansion shaft to be inserted / extracted. The linear module 507 is installed on the top of the bearing seat 506. The linear module 507 is existing technology, and its model and specifications can be selected according to the usage requirements, so its specific specifications will not be described here. The installation direction of the linear module 507 is parallel to the axial direction of the air expansion shaft to be inserted / extracted. The air expansion shaft fixing seat is fixed on the side wall of the bearing seat 506, and has a groove for supporting the air expansion shaft on the V-groove. The groove is formed into a roughly arc-shaped groove.

[0099] In Example 7, the purpose of the material roll threading mechanism 5 is to support the air expansion shaft used for threading, or to support the air expansion shaft after unwinding.

[0100] The automatic shaft penetrating device for the prepreg roll of embodiment 8, as described in embodiment 7, the penetrating jaw assembly comprises a mounting connecting plate 509, a clamping power mechanism 510 and a penetrating jaw 511; the mounting connecting plate 509 is mounted on the linear module 507, and the mounting connecting plate 509 is formed as a substantially square plate structure; the penetrating jaw 511 is mounted on the clamping power mechanism 510, and the clamping power mechanism 510 is one of a pneumatic cylinder, an electric cylinder or a hydraulic cylinder, and the penetrating jaw 511 is driven by the clamping power mechanism 510 to clamp the outer circumferential surface of the gas expansion shaft conveyed to the gas expansion shaft fixing seat groove by the V-shaped groove.

[0101] The automatic shaft penetrating method for the prepreg roll of embodiment 9, which uses the automatic shaft penetrating device for the prepreg roll of any one of embodiments 1-8, has the following steps:

[0102] (1) Feeding: the AGV trolley conveys the roll or paper tube to be penetrated into / extracted from the gas expansion shaft to the drum line 204 of the roll positioning platform 2, at this time the transmission motor 205 drives the drum line 204 to convey the roll or paper tube until the roll or paper tube is conveyed to the blocking plate 207, at this time the blocking cylinder drives the blocking plate 207 to go up and block the tray at the bottom of the roll or paper tube being conveyed, at this time the roll or paper tube reaches the shaft penetrating position;

[0103] (2) Shaft penetrating operation:

[0104] (2.1) Moving the roll or paper tube to the shaft penetrating position: the retractable end of the vertical retractable power mechanism 304 goes down and drives the connecting plate 307 to go down, during the downward movement of the connecting plate 307, the line scanning device 310 on the bottom surface of the connecting plate 307 locates the diameter and axis position of the roll or paper tube, at the same time, the retractable ends of a pair of horizontal retractable power mechanisms 308 retract along the axial direction of the roll or paper tube according to the data measured by the line scanning device 310, so that when the pair of positioning jaws 309 go down to the same height as the axis of the roll or paper tube, the pair of positioning jaws 309 are just located on both sides of the roll or paper tube axis, at this time the axis of the shaft penetrating hole 313 on the positioning jaw 309 is collinear with the axis of the roll or paper tube axis;

[0105] (2.2) Inflatable shaft feeding: the AGV car transports the inflatable shaft to be inserted to the roller on the inflatable shaft buffer support frame 405, at this time the roller transports the inflatable shaft, so that the V-shaped groove on the V-shaped limiting block 406 of the inflatable shaft has a inflatable shaft to be inserted, when the support block 411 on the inflatable shaft buffer table base II 407 also has a inflatable shaft to be inserted, at this time the lifting plate lifting power mechanism drives the lifting plate 410 to go up, so that the inflatable shaft above the support block 411 is supported by the support groove on the support block 411, during which the slide rail mechanism 409 can drive the slide table 408 to move horizontally in the radial direction of the inflatable shaft, so that the inflatable shaft is moved to the groove on the inflatable shaft fixing support seat 508 behind it;

[0106] (2.3) Shaft insertion: when the groove on the inflatable shaft fixing support seat 508 supports an inflatable shaft, at this time the shaft insertion jaw assembly can move along the linear module 507, when the shaft insertion jaw 511 is displaced to the upper side of the inflatable shaft to be inserted, at this time the clamping power mechanism 510 drives the shaft insertion jaw 511 to shrink and clamp the inflatable shaft to be inserted, during which the jacking power mechanism 503 and the horizontal power mechanism 505 adjust the position of the linear module 507 and the shaft insertion jaw assembly on the bearing seat 506, so that the axis of the inflatable shaft clamped by the shaft insertion jaw 511 is collinear with the axis of the roll or paper tube, at this time the shaft insertion jaw assembly clamping the inflatable shaft inserts the inflatable shaft into the roll or paper tube along the linear module 507, that is, the shaft insertion work is completed; At this time, the inflatable shaft is inflated until the inflatable shaft is inflated tightly in the roll or paper tube, the shaft insertion jaw assembly returns, and steps (2.1)-(2.3) are repeated to perform repeated shaft insertion work;

[0107] (3) Shaft removal work:

[0108] (3.1) Move the roll or paper tube to the shaft removal position: as described in step (2.1), the roll or paper tube to be removed is transported to the predetermined position, that is, the shaft removal position, and the inflatable shaft on the roll or paper tube to be removed is deflated;

[0109] (3.2) Unwinding: the clamping jaw assembly moves to the unwinding position along the linear module 507, the clamping power mechanism 510 drives the through-shaft clamping jaw to shrink and clamp the end of the air expansion shaft in the material roll or paper tube, and then drives the clamping power mechanism 510 to return to the original position, so that the air expansion shaft in the material roll or paper tube can be pulled out. When the pulled-out air expansion shaft moves to the position directly above the air expansion shaft fixing support seat 508 along the linear module 507, the clamping power mechanism 510 drives the through-shaft clamping jaw to stop clamping the pulled-out air expansion shaft. At this time, the pulled-out air expansion shaft naturally falls onto the groove on the air expansion shaft fixing support seat 508. The air expansion shaft on the groove can be collected in the reverse direction according to the above-mentioned step (2.2), so that the pulled-out air expansion shaft is supported on the rollers on the air expansion shaft buffer support frame 405, and the unwinding operation is completed. Repeating steps (3.1)-(3.2) can complete the repetitive operation of unwinding.

Claims

1. An automatic pre-preg spooling apparatus characterized by: The machine frame has: a roll positioning platform for receiving a roll or paper tube; a gantry jaw assembly arranged above the roll positioning platform for grabbing and transferring the roll or paper tube on the roll positioning platform to a threading / extracting position; an air expanding shaft buffer table having air expanding shafts for threading stored thereon; a roll threading mechanism arranged above the air expanding shaft buffer table for threading the air expanding shaft into the roll or paper tube or extracting the air expanding shaft from the roll or paper tube when the roll or paper tube reaches the threading / extracting position; the roll positioning platform comprises a positioning platform support seat fixed on the machine frame, and a table plate, a side strip, a roller line, a guide positioning mechanism and a jacking blocking mechanism are arranged on the positioning platform support seat; the table plate is fixed on the top surface of the positioning platform support seat; the side strip is vertically fixed on the side wall of the top of the positioning platform support seat, and the side strip is below the table plate and parallel to the table plate; the roller line is installed between the side strips on both sides of the positioning platform support seat, and a transmission motor is arranged on the positioning platform support seat to provide power for the roller line; the guide positioning mechanism is fixed on the top surface of the positioning platform support seat through a connecting block, and the guide positioning mechanism is parallel to the table plate and the side strip, and the guide positioning mechanism has a reinforcing rib; the jacking blocking mechanism comprises a jacking blocking cylinder and a blocking plate, the jacking blocking cylinder is vertically arranged on the positioning platform support seat, and the blocking plate is vertically fixed and installed on the telescopic end of the jacking blocking mechanism; when the telescopic end of the jacking blocking mechanism is retracted, the blocking plate abuts against the top surface of the side strip to block and limit the tray on the roller line for carrying the roll or paper tube; the gantry jaw assembly comprises a gantry truss and a jaw assembly; the gantry truss comprises gantry truss support columns, a gantry jaw fixing plate and a pair of gantry jaw fixing strip-shaped plates; the gantry truss support columns are arranged in a square frame structure; the gantry jaw fixing plate is horizontally fixed and installed on the top end of the gantry truss support columns; and the pair of gantry jaw fixing strip-shaped plates are fixed on the top end of the gantry truss support columns and symmetrically arranged on both sides of the gantry jaw fixing plate; The gripper assembly comprises a gripper vertical telescopic power mechanism, a gantry cantilever connecting sleeve, a positioning gripper fixing plate, a gantry cantilever, a connecting plate, a pair of gripper horizontal telescopic power mechanisms, a pair of positioning grippers and a line scanning device. The gantry cantilever connecting sleeve is hollow and vertically fixed on the top surface of the gantry gripper fixing plate. The gantry cantilever has a wire hole in the middle, is vertically arranged, and is fixedly connected at the top with the bottom of the gantry cantilever connecting sleeve and at the bottom with the top of the positioning gripper fixing plate. The gripper vertical telescopic power mechanism is vertically installed on the top surface of the gantry cantilever connecting sleeve, and the telescopic end of the gripper vertical telescopic power mechanism can move vertically along the inside of the gantry cantilever connecting sleeve and the gantry cantilever and extend below the positioning gripper fixing plate.

2. An apparatus for automatically threading a prepreg roll according to claim 1, wherein: The connecting plate is horizontally arranged, and the top surface thereof is vertically fixedly connected with the telescopic end of the gripper vertical telescopic power mechanism extending out of the gantry cantilever connecting sleeve and the gantry cantilever, so as to drive the connecting plate to move in the vertical direction during the telescopic movement of the telescopic end of the gripper vertical telescopic power mechanism. The pair of gripper horizontal telescopic power mechanisms are installed on the bottom surface of the connecting plate. The pair of positioning grippers are fixedly installed on the telescopic end of the gripper horizontal telescopic power mechanism, and the bottom of the positioning gripper is provided with a shaft hole. The wire scanning device is fixedly installed on the middle bottom surface of the connecting plate and located above the shaft hole of the positioning gripper. The gantry gripper assembly further comprises a guide device comprising a positioning gripper fixing rod. The positioning gripper fixing plate is horizontally fixed on the bottom outer circumferential surface of the gantry cantilever. The positioning gripper fixing plate is provided with a plurality of guide holes. The positioning gripper fixing rod is vertically fixedly arranged on the top surface of the connecting plate, and the upper end of the positioning gripper fixing rod penetrates through the guide hole, so as to guide the vertical movement of the connecting plate. The air expansion shaft buffer platform comprises air expansion shaft buffer platform bases I, II and III arranged in sequence in the air expansion shaft conveying direction. The air expansion shaft buffer platform base I is composed of a plurality of base I vertical plates and a base I top plate. The air expansion shaft buffer platform base III is composed of a plurality of base III vertical plates and a base III top plate. Air expansion shaft buffer support frames and air expansion shaft V-shaped limiting blocks are arranged on the base I top plate and the base III top plate. A plurality of rollers are rotatably installed on the air expansion shaft buffer support frame, and the axis of the roller is parallel to the axis of the air expansion shaft to be inserted / extracted. A plurality of V-shaped grooves for supporting and limiting the air expansion shaft to be inserted / extracted are arranged on the air expansion shaft V-shaped limiting block. Each roller flat end surface faces one V-shaped groove. The top surface of the air inflation shaft buffer platform base II is provided with an air inflation shaft carrying clamp jaw assembly, which comprises a sliding table, a sliding rail mechanism, a lifting plate and a supporting block.

3. An apparatus for automatically threading a roll of prepreg onto a spool as claimed in claim 2, wherein: Air inflation shaft sensing devices are arranged on the top surfaces of the air inflation shaft buffer platform base I and the air inflation shaft buffer platform base III to detect whether the air inflation shaft V-shaped limiting block has an air inflation shaft.

4. An apparatus for automatically threading a roll of prepreg onto a spool as claimed in claim 3, wherein: The material roll shaft penetrating mechanism comprises a displacement assembly and a shaft penetrating clamp jaw assembly. The displacement assembly comprises a displacement assembly base, a base cover plate, a jacking power mechanism, a supporting plate, a horizontal power mechanism, a bearing seat, a linear module and an air inflation shaft fixing support seat.

5. An apparatus for automatically threading a roll of prepreg onto a spool as claimed in claim 4, wherein: The shaft penetrating clamp jaw assembly comprises a mounting connecting plate, a clamping power mechanism and a shaft penetrating clamp jaw.

6. A method of automatically threading a pre-preg roll using the pre-preg roll automatic threading device of any one of claims 1-5, the method comprising: The steps are as follows: (1) feeding: the AGV trolley delivers the material roll or paper tube to be penetrated into / extracted to the drum line of the material roll positioning platform, at this time the transmission motor drives the drum line to deliver the material roll or paper tube until the material roll or paper tube is delivered to the blocking plate, at this time the jacking blocking air cylinder drives the blocking plate to go up and blocks the tray of the material roll or paper tube being delivered, at this time the material roll or paper tube reaches the shaft penetrating position; (2) shaft penetrating operation: (2.1) The material roll or paper tube is moved to the shaft insertion position: the retractable end of the vertical retractable power mechanism of the clamping jaw is lowered and drives the lower movement of the connecting plate. During the downward movement of the connecting plate, the diameter and axis position of the material roll or paper tube are positioned by the line scanning device on the bottom surface of the connecting plate. At the same time, the retractable end of the horizontal retractable power mechanism of the pair of clamping jaws is retracted in the axial direction of the material roll or paper tube according to the data measured by the line scanning device, so that when the pair of positioning clamping jaws are lowered to the same height as the axis of the material roll or paper tube, the pair of positioning clamping jaws are just located on both sides of the axis of the material roll or paper tube, and the axis of the shaft insertion hole on the positioning clamping jaw is coaxial with the axis of the material roll or paper tube; (2.2) Shaft feeding by air expansion: the AGV car transports the air expansion shaft to be inserted to the roller on the air expansion shaft buffer support frame. At this time, the roller transports the air expansion shaft, so that each V-shaped groove on the V-shaped limiting block of the air expansion shaft has an air expansion shaft to be inserted. When the upper part of the supporting block on the air expansion shaft buffer base II also has an air expansion shaft to be inserted, the lifting plate is driven by the lifting plate lifting power mechanism to move upward, so that the air expansion shaft above the supporting block is supported by the supporting groove on the supporting block. During this period, the slide rail mechanism can drive the slide table to move horizontally in the radial direction of the air expansion shaft, so that the air expansion shaft is moved to the groove on the air expansion shaft fixing support seat behind it; (2.3) Shaft insertion: when the groove on the air expansion shaft fixing support seat supports an air expansion shaft, the shaft insertion clamping jaw assembly can move along the linear module. When the shaft insertion clamping jaw is displaced above the air expansion shaft to be inserted, the clamping power mechanism drives the shaft insertion clamping jaw to shrink and clamp the air expansion shaft to be inserted. During this period, the position of the linear module on the bearing seat and the shaft insertion clamping jaw assembly is adjusted by the jacking power mechanism and the horizontal power mechanism, so that the axis of the air expansion shaft clamped by the shaft insertion clamping jaw is coaxial with the axis of the material roll or paper tube. At this time, the shaft insertion clamping jaw assembly clamping the air expansion shaft inserts the air expansion shaft into the material roll or paper tube along the linear module, i.e. the shaft insertion operation is completed. At this time, the air expansion shaft is inflated until it is tightly inflated in the material roll or paper tube, the shaft insertion clamping jaw assembly is returned, and steps (2.1)~(2.3) are repeated to perform the repeated shaft insertion operation; (3) Shaft removal operation: (3.1) Move the material roll or paper tube to the shaft removal position: as described in step (2.1), the material roll or paper tube to be removed is transported to the predetermined position, i.e. the shaft removal position, and the air expansion shaft on the material roll or paper tube to be removed is deflated. (3.2) Unwinding: the clamping jaw assembly moves to the unwinding position along the linear module, the clamping power mechanism drives the through-shaft clamping jaw to shrink and clamp the air expansion shaft end in the material roll or paper tube, then drives the clamping power mechanism to reset, that is, the air expansion shaft in the material roll or paper tube is extracted, when the extracted air expansion shaft moves to the upper position of the air expansion shaft fixing support seat along the linear module, the clamping power mechanism drives the through-shaft clamping jaw to no longer clamp the extracted air expansion shaft, at this time the extracted air expansion shaft naturally falls onto the groove on the air expansion shaft fixing support seat, and the air expansion shaft on the groove can complete the collection of the extracted air expansion shaft in the reverse direction according to the above (2.2) steps, so that the extracted air expansion shaft is supported on the rollers on the air expansion shaft buffer support frame, that is, the unwinding operation is completed, and repeating steps (3.1)-(3.2) can complete the repetitive operation of unwinding.

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