Automatic carbon fiber sorting, packaging and stacking production line and using method

Abstract

The invention provides an automatic carbon fiber sorting, packaging and stacking production line and a use method.The automatic carbon fiber sorting, packaging and stacking production line comprises a front end module and a rear end packaging module; the front-end module comprises a robot feeding unit, an online weighing mechanism, a breadth rolling diameter visual detection mechanism, a manual verification station, a shaft label pasting mechanism, an online thermal shrinkage machine, a shaft surface labeling mechanism and a film base belt conveying system. The automatic code scanning device has the beneficial effects that three rolls of materials are grabbed at a time through visual positioning of the robot feeding unit, code reading is completed through rotation of the carbon filament rotating mechanism in cooperation with a code scanner, the two code scanning mechanisms are arranged, one code scanning mechanism is used, and the other code scanning mechanism is standby, so that the code scanning rhythm is accelerated, and the efficiency is improved; the manual feeding and code scanning mode can be completely replaced, and the feeding efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting, packaging and palletizing production lines, and in particular to an automatic sorting, packaging and palletizing production line for carbon fibers and a use method thereof. Background Art

[0002] At present, the packaging of carbon fiber shafts is mainly manual and semi-automatic, with a high degree of manual participation. Manual packaging requires weighing, measuring the roll diameter and width, appearance inspection, internal labeling, heat shrinking, external labeling, grading, packing, box labeling, palletizing, taping, wrapping, and pallet labeling. The process is complicated, requires a large amount of manpower, and has a low degree of automation.

[0003] Automatic packaging and palletizing production lines are widely used in the post-process packaging and palletizing of products. Automatic packaging production lines are usually various types of packaging-specific equipment connected in series according to a certain process flow, such as automatic weighing equipment, automatic labeling equipment, automatic box opening and sealing equipment, automatic heat shrink film equipment, automatic palletizing equipment, automatic conveying equipment, etc. Among them, various functional equipment will also have completely different forms and working methods according to the characteristics of the packaged products. If you want to use a carbon fiber fully automatic packaging and palletizing production line to replace the manual semi-automatic production line, you need to combine the characteristics of the carbon fiber packaging itself and the process flow to select and develop suitable packaging equipment and connect them in series.

[0004] There is no existing production line that can automate the entire process of carbon fiber packaging. Currently, most packaging is done manually or semi-automatically.

[0005] There are problems with manual semi-automatic production lines:

[0006] (1) Manual loading and unloading, high output and fast cycle time, large amount of manual repetitive work, high labor intensity;

[0007] (2) Manual queuing has many steps, slow process and takes a long time;

[0008] (3) Semi-automatic heat shrink machines have poor heat shrinking effects and cannot wrap large-sized products;

[0009] (4) Manual sorting is prone to errors and product information is difficult to trace;

[0010] (5) Manual packing and palletizing involves a lot of repetitive labor and high labor intensity;

[0011] (6) The use of a robot for automatic packing has poor packing stability, and the carbon filament shaft is prone to fall over and cannot be packed;

[0012] (7) There are two types of palletizing: box palletizing and carbon filament shaft palletizing directly on the pallet. Automatic palletizing is difficult to be compatible.

[0013] (8) Anti-mildew paper needs to be placed on the bottom and top of the palletizing process. Currently, there is no equipment that directly combines paper laying and palletizing. Summary of the invention

[0014] In order to overcome the above problems existing in the prior art, the present invention provides a carbon fiber automatic sorting, packaging and palletizing production line and a use method.

[0015] The invention discloses a carbon fiber automatic sorting, packaging and palletizing production line, comprising a front-end module and a rear-end packaging module, wherein the front-end module comprises a robot loading unit, an online weighing mechanism, a width and roll diameter visual detection mechanism, a human verification station, an axle labeling mechanism, an online heat shrinking machine, an axle surface labeling mechanism and a base belt conveying system; the base belt conveying system is arranged on the ground, the robot loading unit is arranged on the side of the base belt conveying system, the online weighing mechanism, the width and roll diameter visual detection mechanism, the human verification station, the axle labeling mechanism, the online heat shrinking machine and the axle surface labeling mechanism are annular and are arranged in sequence on the base belt conveying system; the rear-end packaging module comprises a robot packing and palletizing unit, a buffer position, a tic-tac-toe strapping machine, an online film wrapping machine, a stacking labeling machine and a rear roller conveying system; the robot packing and palletizing unit is arranged between the base belt conveying system and the buffer position, and the buffer position, the tic-tac-toe strapping machine, the online film wrapping machine and the stacking labeling machine are arranged in a straight line in sequence along the rear roller conveying system.

[0016] On this basis, the robot loading unit includes a robot, a carbon filament shaft gripper, a carbon filament shaft rotating mechanism, a code scanning mechanism and a safety fence. The robot is set on the ground, and a carbon filament shaft gripper is installed on the robot. The carbon filament shaft rotating mechanism and the code scanning mechanism are arranged on the side of the robot. The code scanning mechanism illuminates the carbon filament shaft rotating mechanism at a certain elevation angle, and the safety fence is set outside the robot and the code scanning mechanism.

[0017] On this basis, the sheet-based belt conveying system includes a tooling pallet, a carbon filament shaft, a sheet-based belt conveying line, a right-angle turning mechanism and a degree reversing mechanism. The sheet-based belt conveying line is equipped with a right-angle turning mechanism and a degree reversing mechanism. The sheet-based belt conveying line includes a ring-shaped first conveying line and a second conveying line interspersed on the first conveying line. The tooling pallet is arranged on the first conveying line. The carbon filament shaft is arranged on the tooling pallet. The right-angle turning mechanism is arranged at the connection between the first conveying line and the second conveying line.

[0018] On this basis, it also includes an independently set manual rework and unloading station, which is independent of the ring-shaped substrate belt conveying system.

[0019] On this basis, the robot packing and palletizing unit includes a carton opener, a carton pallet feeding platform, a carton supporting mechanism, a packing truss, a straight carton sealing machine, a carton labeling machine, a carton palletizing robot, a grouping platform, a large pallet secondary positioning table, a pallet loading and palletizing robot, a paper feeding mechanism, a pallet feeding roller, a stacking machine, a carbon filament stacking roller and a carton stacking roller.

[0020] On this basis, the carton opener is fixedly connected to the sheet base belt conveying system, the box pallet feeding platform and the grouping platform are respectively arranged at both ends of the packing truss, the box supporting mechanism, the packing truss, the one-line carton sealing machine and the box labeling machine are arranged on the side of the carton opener in sequence, the pallet loading and stacking robot is arranged on one side of the carbon wire stacking position roller and the box body stacking position roller, the box body stacking robot is arranged on the other side of the box body stacking position roller, the large pallet secondary positioning table is arranged on the side of the grouping platform, the stacking machine is arranged on the carbon wire stacking position roller, the pallet feeding roller, the carbon wire stacking position roller and the box body stacking position roller are arranged in parallel, the carbon wire stacking position roller is arranged between the pallet feeding roller and the box body stacking position roller, and the paper feeding mechanism is independently arranged.

[0021] A method for using a carbon fiber automatic sorting, packaging and palletizing production line, characterized in that it comprises the following steps:

[0022] Step 1: front-end loading, weighing, carbon filament shaft size inspection, manual inspection, heat shrinking, lane buffering and manual rework and unloading;

[0023] Step 2: Product palletizing;

[0024] Step 3: Taping, wrapping and labeling.

[0025] On this basis, in the loading process of step 1, when the carbon filament comes, the robot locates the carbon filament on the hanging chain through the vision on the carbon filament shaft gripper, and the carbon filament shaft gripper directly grabs the carbon filament shaft from the hanging chain according to the positioning result, places it on the carbon filament rotating mechanism for scanning, and stops immediately after scanning the code. At this time, the barcode is located at the top of the tube, and the shaft labeling mechanism can avoid overlapping with the original label when labeling at the bottom of the tube; the robot then grabs the second group of carbon filament shafts from the hanging chain, and puts them on another air gripper on the carbon filament rotating mechanism. After the scanning of the first group of carbon filament shafts is completed, the robot grabs the carbon filament shafts and loads them to the tooling tray on the sheet base belt conveyor system, and binds the barcode information with the RFID tag on the tooling tray, and the loading is completed in this reciprocating cycle;

[0026] The weighing process is that the tooling pallet with the carbon filament shaft flows clockwise along the sheet base belt conveyor system, and is stopped by the stopper when it reaches the weighing mechanism. The weighing section roller goes down, and the tooling pallet falls onto the weighing scale below the roller. The scale transmits the measured result to the host computer, and the weighing section roller goes up to lift the tooling pallet. The stopper goes down, and the tooling pallet flows to the next station. The tooling pallet is weighed in advance and the weight is recorded in its respective RFID. The system automatically subtracts the weight of the corresponding tooling pallet from each weighing result.

[0027] The process of carbon filament shaft external dimension detection is as follows: the tooling tray arrives at the coil diameter and width visual detection mechanism, the RFID reads the information of the tooling tray, the width and coil diameter visual detection mechanism takes a photo of the carbon filament shaft, measures the coil diameter and width and sends them to the host computer, the blocker descends, and the tooling tray flows to the next station;

[0028] The manual inspection process is that when the tooling pallet arrives at the inspection station, the system reads the RFID tag on the tooling pallet, the host computer reads the product information from the ERP and displays it on the human-machine interface. The carbon filament is graded based on its appearance and information and input into the computer. The system also binds the obtained grade information to the RFID tag.

[0029] The process of labeling inside the carbon filament shaft is that the tooling tray stops at the shaft labeling mechanism, the system reads the RFID tag information, and transmits the labeling information to the labeling machine software, the printer prints out the label and the labeling mechanism sticks it to the inner wall of the yarn tube;

[0030] The heat shrinking process is that the tooling pallet brings the carbon filament shaft to the film cutting mechanism of the online heat shrinking machine and stops. The film cutting mechanism completes the film cutting and coating operation, the stopper is released, and the tooling pallet and the carbon filament shaft enter the online heat shrinking machine together. The online heat shrinking machine wraps the heat shrink film onto the surface of the carbon filament shaft.

[0031] The lane-by-lane caching process is that before the tooling pallet arrives at the connection point of the first conveyor line and the second conveyor line, the RFID reads the material grade information on the tooling pallet. Grade A materials go straight to the rear and wait to be grabbed by the palletizing robot; Grade B materials, returned products, or carbon filament shafts that exceed the palletizing requirements are automatically allocated to the second conveyor line for caching;

[0032] The manual rework unloading process is that when a worker needs to unload B-type products for packing or rework products, he presses the corresponding button at the manual rework unloading station, and the system transports the carbon filament in the second conveyor line to the front of the worker. The worker completes data entry and packing through a handheld scanner and a human-machine interface. After the rework products are reworked, the worker tears off the heat shrink film and puts them back online.

[0033] On this basis, in the palletizing process in step 2, 4 kg of carbon filaments need to be boxed and then palletized, and carbon filaments larger than 4 kg are directly stacked on the pallet. The bottom and top layers need to be covered with waterproof paper, and a large pallet is used as a spacer in the middle.

[0034] On this basis, the process of step 3 is that after the whole pallet is stacked, the pallet reaches the tic-tac-toe strapping machine along the rear roller conveyor system. The system interacts with the suspension chain system to request materials according to the stacking situation. Under normal circumstances, each specification can be stacked completely and then the specification can be changed. Under special circumstances, a pallet that is not full can be cached in the buffer position. The tic-tac-toe strapping machine straps the pallet with a tic-tac-toe tape and then conveys it to the online film wrapping machine. The machine wraps the pallet with film all around, and finally affixes the side and front labels at the pallet labeling machine, waiting for unloading.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The present invention uses a robot loading unit to visually locate the material and grab three rolls at a time, and the carbon filament rotating mechanism rotates to cooperate with the barcode scanner to complete the barcode reading, and two sets of barcode scanning mechanisms are set, one for use and one for standby to speed up the barcode scanning rhythm and improve efficiency, which can completely replace the manual loading and scanning method and improve the loading efficiency;

[0037] (2) In the present invention, after the robot grabs the carbon filament, it inserts it into the carbon filament rotating mechanism. The carbon filament rotating mechanism drives the carbon filament to rotate, and the code scanning mechanism continuously scans the code until it is scanned. Then the robot grabs the carbon filament from the carbon filament rotating mechanism and loads it onto the tooling tray on the sheet substrate conveying system. The system writes the barcode information into the RFID chip on the tooling tray, so that the tray can read and write information at each station on the entire conveyor line, so as to solve the information traceability problem of each carbon filament shaft during the operation of the production line;

[0038] (3) The present invention arranges the online weighing mechanism, the width and diameter visual inspection mechanism, and the human inspection station on the sheet base belt conveying system in sequence. The system records the weight of the carbon filament weighed by the online weighing mechanism and the data measured by the width and diameter visual inspection mechanism through RFID and processes the data at the human inspection station to obtain the data of the line density and other data, which are displayed on the computer of the human inspection station. The data are manually combined and the carbon filament is graded by the grading software. By combining the above three mechanisms and software, the workload of manual grading is reduced, the accuracy of grading is improved, and data exchange with the factory ERP is possible.

[0039] (4) The present invention, through the online heat shrinking machine, refines the control of different air ducts and improves the heat shrinking film process to adapt to the packaging of large-sized carbon filament shafts, thereby solving the problem that large-sized carbon filament shafts cannot be wrapped due to insufficient shrinkage of the heat shrinking film;

[0040] (5) The present invention, through the reasonable arrangement and mutual cooperation of the packing truss, the box pallet feeding platform, the grouping platform, and the packing pallet stacking robot of the robot packing and stacking unit, firstly, the carbon filament shaft grasped by the robot is assembled into an integral component together with the upper and lower box pallets on the grouping platform, and then the packing truss grasps the entire component and loads it into the box body together, thereby avoiding the situation that a single carbon filament falls over and causes packing failure when being packed;

[0041] (6) The present invention solves the problem that the automated solution is difficult to lay paper by cooperating with the pallet loading and stacking robot and the paper feeding mechanism of the robot box loading and stacking unit. The paper feeding mechanism pulls out the anti-mildew paper of a specified length and cuts it off. The pallet loading and stacking robot grabs the paper and lays it on the pallet at the corresponding stacking position.

[0042] (7) The present invention, the pallet loading and stacking robot can simultaneously complete multiple operations such as taking and placing carbon filaments, placing large pallets, and laying paper. One device completes multiple tasks, and the arrangement of peripheral equipment saves equipment cost and floor space.

[0043] (8) According to the present invention, after product palletizing is completed, product pallets of the two palletizing methods are converged onto the same conveyor line through the rear roller conveyor line. A tic-tac-toe strapping machine, an online film wrapping machine, and a code labeling machine are sequentially arranged on the conveyor line. The two types of product pallets are packaged using a set of packaging equipment, thereby saving equipment costs and floor space. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the overall layout structure of the carbon fiber automatic sorting, packaging and palletizing production line of the present invention;

[0045] Figure 2 It is a schematic diagram of the layout structure of the robot loading unit of the present invention;

[0046] Figure 3 It is a schematic diagram of the layout structure of the sheet base belt conveying system of the present invention;

[0047] Figure 4 It is a schematic diagram of the arrangement structure of the packing and stacking unit of the present invention;

[0048] In the figure: 1. Robot loading unit, 2. Online weighing mechanism, 3. Width and roll diameter visual inspection mechanism, 4. Human verification station, 5. Shaft labeling mechanism, 6. Online heat shrink machine, 7. Shaft surface labeling mechanism, 8. Manual rework unloading station, 9. Sheet belt conveying system, 10. Robot packing and stacking unit, 11. Cache position, 12. Tic-tac-toe strapping machine, 13. Online film wrapping machine, 14. Stack labeling machine, 15. Back-end roller conveyor, 101. Robot, 102. Carbon filament shaft gripper, 103. Carbon filament shaft rotating mechanism, 104. Code scanning mechanism, 105. Safety fence, 901. Tooling pallet, 902. Carbon filament shaft, 903. Sheet belt Conveyor line, 9031, first conveyor line, 9032, second conveyor line, 904, right-angle turning mechanism, 905, 180-degree reversing mechanism, 1001, carton opener, 1002, box pallet feeding platform, 1003, box supporting mechanism, 1004, box loading truss, 1005, straight carton sealing machine, 1006, box labeling machine, 1007, box palletizing robot, 1008, grouping platform, 1009, large pallet secondary positioning table, 1010, pallet loading palletizing robot, 1011, paper feeder, 1012, pallet feeding roller, 1013, stacking machine, 1014, carbon filament stacking roller, 1015, box stacking roller. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] The present invention discloses a carbon fiber automatic sorting, packaging and palletizing production line, referring to Figure 1 , including a front-end module and a rear-end packaging module, the front-end module includes a robot loading unit 1, an online weighing mechanism 2, a width and roll diameter visual inspection mechanism 3, a human inspection station 4, a shaft labeling mechanism 5, an online heat shrinking machine 6, a shaft surface labeling mechanism 7 and a base belt conveying system 9; the base belt conveying system 9 is arranged on the ground, the robot loading unit 1 is arranged on the side of the base belt conveying system 9, the online weighing mechanism 2, the width and roll diameter visual inspection mechanism 3, the human inspection station 4, the shaft labeling mechanism 5, the online heat shrinking machine 6 and the shaft surface labeling mechanism 7 are annular and are arranged on the base belt conveying system 9 in sequence;

[0051] The back-end packaging module includes a robot packing and stacking unit 10, a cache position 11, a tic-tac-toe taping machine 12, an online film wrapping machine 13, a pallet labeling machine 14, and a rear-end roller conveyor system 15; the robot packing and stacking unit 10, the cache position 11, the tic-tac-toe taping machine 12, the online film wrapping machine 13, the pallet labeling machine 14, and the rear-end roller conveyor system 15 are located behind the sheet-based belt conveyor system 9, and the robot packing and stacking unit 10 is arranged between the sheet-based belt conveyor system 9 and the cache position 11, and the cache position 11, the tic-tac-toe taping machine 12, the online film wrapping machine 13 and the pallet labeling machine 14 are arranged in a straight line in sequence along the rear-end roller conveyor system 15.

[0052] The robot packing and stacking unit 10 grabs the carbon filament shaft from the sheet base belt conveying system 9 for packing and stacking. The final finished product stack is converged by the rear roller conveying system 15 and is sent out after being taped, wrapped and labeled in sequence.

[0053] The robot loading unit 1 includes a robot 101, a carbon filament shaft gripper 102, a carbon filament shaft rotating mechanism 103, a code scanning mechanism 104 and a safety fence 105. The robot 101 is set on the ground and arranged in front of the sheet base belt conveying system 9, and can load the scanned carbon filament onto the sheet base belt conveying system 9. The robot 101 is equipped with a carbon filament shaft gripper 102, and the carbon filament shaft rotating mechanism 103 and the code scanning mechanism 104 are arranged on the side of the robot 101. The carbon filament shaft rotating mechanism 103 and the code scanning mechanism 104 are provided with two groups of six in total. The robot loading unit 1 uses vision to locate the material and grabs three rolls at a time, one for use and one for standby to speed up the code scanning rhythm and improve efficiency. It can completely replace the manual loading and scanning method and improve the loading efficiency. The code scanning mechanism 104 irradiates the carbon filament shaft rotating mechanism 103 at a certain elevation angle so that it can scan the label barcode located on the inner wall of the carbon filament shaft. The safety fence 105 is set on the outside of the robot 101 and the code scanning mechanism 104.

[0054] The system records the weight of the carbon filament measured by the online weighing mechanism 2 and the data measured by the width and diameter visual inspection mechanism 3 through RFID, and processes them at the manual inspection station 4 to obtain the wire density and other data, which are displayed on the computer of the manual inspection station 4. These data are manually combined and the carbon filament is graded through the grading software. By combining the above three mechanisms and software, the workload of manual grading is reduced, the accuracy of grading is improved, and data exchange with the factory ERP is possible; the online heat shrink machine 6 adapts to the packaging of large-sized carbon filament shafts by refining the control of different air ducts and improving the heat shrink film process, solving the problem that large-sized carbon filament shafts cannot be wrapped due to insufficient shrinkage rate of heat shrink film.

[0055] The sheet substrate belt conveying system 9 includes a tooling tray 901, a carbon filament shaft 902, a sheet substrate belt conveying line 903, a right-angle turning mechanism 904 and a 180-degree reversing mechanism 905. The sheet substrate belt conveying line 903 is equipped with a right-angle turning mechanism 904 and a 180-degree reversing mechanism 905. The sheet substrate belt conveying line 903 includes a ring-shaped first conveying line 9031 and a second conveying line 9032 inserted on the first conveying line 9031. The tooling tray 901 is arranged on the first conveying line 9031. The carbon filament shaft 902 is arranged on the tooling tray 901. The right-angle turning mechanism 904 is arranged at the connection between the first conveying line 9031 and the second conveying line 9032.

[0056] The process equipment for packaging the carbon filament shaft 902 in the front-end is distributed on the sheet substrate conveyor line 903. The tooling pallet 901 can circulate on the first conveyor line 9031. After the carbon filament shaft 902 is grabbed, packed and stacked, the empty tooling pallet 901 can continue to flow back to the robot loading unit 1 for reuse. The right-angle turning mechanism 904 can complete the right-angle turning of the tooling pallet 901. In conjunction with RFID reading of the information in the tooling pallet 901, the carbon filament can be cached in the second conveyor line 9032 according to different grades at the right-angle turning mechanism 904. Since the suspension method of the carbon filament shaft 902 on the tooling pallet 901 has a direction requirement for the tooling pallet 901, a 180-degree reversing mechanism 905 is used to enable the tooling pallet to complete a 180-degree reversal to meet the direction requirement;

[0057] In this embodiment, three second conveyor lines 9032 are arranged, which are used to store B-grade products, repaired products and excess products after palletizing respectively. The manual rework unloading station 8 is independent of the ring-shaped film base belt conveyor system 9. Among them, B-grade products can be unloaded at the manual rework unloading station 8 and manually unloaded and packed. The repaired products are manually repaired at the manual rework unloading station 8 and then put back on line. The excess products after palletizing will be discharged first when the same specification products are produced next time, and then palletized and packed.

[0058] The robot packing and palletizing unit 10 includes a box opener 1001, a box pallet feeding platform 1002, a box supporting mechanism 1003, a box packing truss 1004, a straight box sealing machine 1005, a box labeling machine 1006, a box body palletizing robot 1007, a grouping platform 1008, a large pallet secondary positioning platform 1009, a pallet loading and palletizing robot 1010, a paper feeding mechanism 1011, a pallet feeding roller 1012, a stacking machine 1013, a carbon filament stacking roller 1014 and a box body stacking roller 1015;

[0059] The carton opener 1001 is fixedly connected to the sheet base belt conveyor system 9, and the box support mechanism 1003, the box packing truss 1004, the straight carton sealing machine 1005 and the box labeling machine 1006 are arranged in sequence on the side of the carton opener 1001. The carton opener 1001, the box support mechanism 1003, the box packing truss 1004, the straight carton sealing machine 1005 and the box labeling machine 1006 are arranged in sequence along the roller conveyor. The upper and lower pallets need to be placed for packing. The upper and lower pallets are the same. The box pallet feeding platform 1 1002 and grouping platform 1008 are respectively arranged at both ends of the packing truss 1004, the box pallet feeding platform 1002 is arranged at the limit position on one side of the packing truss 1004, and the packing truss 1004 is responsible for loading the materials onto the grouping platform 1008. The pallet stacking robot 1010 is arranged on one side of the carbon filament stacking roller 1014 and the box body stacking roller 1015, and the box body stacking robot 1007 is arranged on the other side of the box body stacking roller 1015. The robot 1007 is located on the side of the box labeling machine 1006, and is responsible for grabbing the boxes that have been labeled and stacking them at the box stacking roller 1015. The large pallet secondary positioning table 1009 is set on the side of the grouping platform 1008, and the stacking machine 1013 is set on the carbon wire stacking roller 1014. The pallet feeding roller 1012, the carbon wire stacking roller 1014 and the box stacking roller 1015 are set in parallel. The carbon wire stacking roller 1014 is set on the card Between the plate feeding roller 1012 and the box stacking roller 1015, the paper feeding mechanism 1011 is independently arranged; the grouping platform 1008, the large pallet secondary positioning platform 1009, the paper feeder 1011, the pallet feeding roller 1012, the stacking machine 1013, the carbon filament stacking roller 1014, and the box stacking roller 1015 are arranged around the pallet loading and stacking robot 1010, so that the pallet loading and stacking robot 1010 can complete multiple operations within the arm span;

[0060] The packing truss 1004, the box pallet feeding platform 1002, the grouping platform 1008, and the pallet loading and stacking robot 1010 of the robot packing and stacking unit 10 cooperate with each other. The carbon filament shaft grasped by the pallet loading and stacking robot 1010 is first assembled together with the upper and lower box pallets on the grouping platform 1008, and then the packing truss 1004 grasps the entire assembly and loads it into the box body, thereby avoiding packing failure caused by the carbon filament lodging;

[0061] The pallet loading and stacking robot 1010 and the paper supply mechanism 1011 of the robot packing and stacking unit 10 cooperate with each other. The paper supply mechanism 1011 pulls out the anti-mildew paper of the specified length and cuts it. The pallet loading and stacking robot 1010 grabs the paper and spreads it on the pallet of the corresponding stacking position, which solves the problem that the automated solution is difficult to spread paper.

[0062] The pallet loading and stacking robot 1010 of the robot packing and stacking unit 10 can simultaneously complete the three operations of picking up and placing carbon filaments, placing large pallets, and laying paper. One device completes three tasks, reducing equipment costs and floor space.

[0063] The workflow is as follows:

[0064] The carbon fiber sorting automatic packaging line corresponds to two carbonization production lines, with a total of two products; the products of line 1# enter the automatic packaging line, and the products of line 2# enter the carbon filament buffer area to wait; after the pallet packaging of line 1# is completed, the products of line 2# enter the automatic packaging line for packaging, and the products of line 1# enter the buffer area to wait; in any period of time, the system only runs one bobbin yarn specification packaging, and the products of the two production lines enter the automatic packaging line alternately; when producing carbon filaments of different specifications and sizes, the heat shrink film on the heat shrink machine needs to be replaced manually; 4 kg of carbon filaments need to be boxed and stacked, and carbon filaments larger than 4 kg are directly stacked on the pallet, and waterproof paper needs to be laid on the bottom and top, with a large pallet as a spacer in the middle;

[0065] Loading: When the carbon filaments arrive, the robot 101 locates the carbon filaments on the hanging chain through the vision on the carbon filament shaft gripper 102. The carbon filament shaft gripper 102 directly grabs the carbon filament shaft 902 from the hanging chain according to the positioning result, places it on the carbon filament rotating mechanism 103 for scanning, and stops immediately after scanning the code. At this time, the barcode is located at the top of the tube, and the shaft labeling mechanism 5 can avoid overlapping with the original label when labeling at the bottom of the tube; the robot 101 then grabs the second group of carbon filament shafts 902 from the hanging chain and puts them on the other three air grippers on the carbon filament rotating mechanism 103. After the first group of carbon filament shafts 902 are scanned, the robot 101 grabs the carbon filament shafts 902 and loads them onto the tooling tray 901 on the sheet base belt conveyor system 9, and binds the barcode information with the RFID tag on the tooling tray 901. This cycle is repeated to complete the loading;

[0066] Weighing: The tooling tray 901 with the carbon filament shaft 902 flows clockwise along the substrate conveying system 9, and is stopped by the stopper when it reaches the weighing mechanism 2. The weighing section roller goes down, and the tooling tray 901 falls onto the weighing scale below the roller. The scale transmits the measured result to the host computer, and the weighing section roller goes up to lift the tooling tray 901. The stopper goes down, and the tooling tray 901 flows to the next station. The tooling tray 901 is weighed in advance and the weight is recorded in its respective RFID. The system automatically subtracts the weight of the corresponding tooling tray 901 from each weighing result.

[0067] Carbon filament shaft external dimension detection: the tooling tray 901 arrives at the coil diameter and width visual detection mechanism 3, the RFID reads the information of the tooling tray 901, the width and coil diameter visual detection mechanism 3 takes a photo of the carbon filament shaft 902, measures the coil diameter and width and sends them to the upper computer, the blocker descends, and the tooling tray 901 flows to the next station;

[0068] Manual inspection: When tooling tray 901 arrives at the inspection station, the system reads the RFID tag on tooling tray 901, and the host computer reads the product information from ERP and displays it on the human-machine interface. The carbon filament is graded based on its appearance and information and input into the computer. The system also binds the obtained grade information to the RFID tag;

[0069] Labeling inside the carbon filament shaft: the tooling tray 901 stops at the shaft labeling mechanism 5, the system reads the RFID tag information, and transmits the labeling information to the labeling machine software, the printer prints out the label and the labeling mechanism sticks it to the inner wall of the yarn tube;

[0070] Heat shrinkage: The tooling tray 901 brings the carbon filament shaft 902 to the film cutting mechanism of the online heat shrinking machine 6 and stops. The film cutting mechanism completes the film cutting and coating operation, and the stopper is released. The tooling tray 901 and the carbon filament shaft 902 enter the online heat shrinking machine 6 together, and the online heat shrinking machine 6 coats the heat shrink film onto the surface of the carbon filament shaft.

[0071] Lane caching: Before the tooling pallet 901 reaches the connection between the first conveyor line 9031 and the second conveyor line 9032, the RFID reads the material grade information on the tooling pallet 901. Grade A materials go straight to the rear and wait to be grabbed by the palletizing robot 1010; Grade B materials, returned products, or carbon filament shafts that exceed the palletizing requirements are automatically cached on the three second conveyor lines 9032;

[0072] Manual unloading for rework: When the worker needs to unload B-type products for packing or rework products, he presses the corresponding button at the manual unloading station 8, and the system transports the carbon filaments in the second conveyor line 9032 to the front of the worker. The worker completes the data entry and packing through the handheld scanner and the human-machine interface. After the rework products are reworked, the worker tears off the heat shrink film and puts them back online.

[0073] 4 kg product palletizing process: the carton opener 1001 opens a box and positions it at the packing position; the packing truss 1004 grabs a box pallet from the box pallet feeding platform 1002 and places it on the grouping platform 1008 for positioning; the pallet loading and stacking robot 1010 grabs the six-axis carbon filament shaft 902 from the tooling tray 901 on the sheet base belt conveyor system 9 in two times and places it on the box pallet on the grouping platform 1008; the packing truss 1004 grabs another box pallet and places it on the six-axis carbon filament shaft 9 02, then the packing truss 1004 grabs the entire carbon filament and pallet assembly and puts it into the opened box; the box follows the packing roller and is sealed by the straight box sealing machine 1005, and stops at the box labeling machine 1006. The box labeling machine 1006 prints a label on the side of the box according to the material information in the box given by the system, and the roller lowers the box, lifts it up, rotates 180 degrees and then puts it down, and the box labeling machine 1006 sticks a label on the other side again; the box stops at the stacking waiting position, and the box body stacking robot 1007 grabs the box and stacks it on the pallet on the box body stacking roller 1015 for the stacker 1013 to send a pallet in advance along the conveyor line to the box body stacking roller 1015 for positioning, and this cycle is repeated.

[0074] Palletizing process for products weighing more than 4 kg: the palletizing machine 1013 removes a pallet and sends it to the carbon filament stacking roller 1014; the paper feeder 1011 cuts a piece of paper and the palletizing robot 1010 grabs it and spreads it on the pallet; the palletizing robot 1010 grabs a large pallet from the large pallet feeding roller 1012 and places it on the secondary positioning platform 1009 for secondary positioning. After the positioning is completed, the palletizing robot 1010 places it on the pallet; the palletizing robot 1010 grabs the three-axis carbon filament shaft 902 from the sheet base belt conveyor system 9 and stacks it on the large pallet. After one layer of stacking is completed, the system visually detects whether the carbon filament is skewed. If there is a small amount of skew, it is corrected by the gripper. If the skew is too large, an alarm is issued for manual processing; this cycle is repeated until the top layer is stacked, and the palletizing robot 1010 grabs a piece of paper from the paper feeder 1011 and places it on the top of the whole stack.

[0075] The process of taping, wrapping and labeling: after the whole pallet is stacked, the pallet reaches the tic-tac-toe taping machine 12 along the rear roller conveyor system 15. The system interacts with the hanging chain system to request materials according to the stacking situation. Under normal circumstances, each specification can be stacked completely before changing the specification. Under special circumstances, a pallet that is not full can be cached in the buffer position 11. The tic-tac-toe taping machine 12 taps the pallet and then conveys it to the online film wrapping machine 13. The machine wraps the pallet with film all around, and finally affixes the side and front labels at the pallet labeling machine 14, waiting for unloading.

[0076] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships 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 operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0077] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screwing", "pad installation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0078] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A carbon fiber automatic sorting, packaging and palletizing production line, characterized by: Including front-end module and back-end packaging module, The front-end module comprises a robot loading unit (1), an online weighing mechanism (2), a width and roll diameter visual detection mechanism (3), a human inspection station (4), a shaft labeling mechanism (5), an online heat shrinking machine (6), a shaft surface labeling mechanism (7) and a sheet base belt conveying system (9); The sheet-based belt conveying system (9) is arranged on the ground, the robot loading unit (1) is arranged on the side of the sheet-based belt conveying system (9), and the online weighing mechanism (2), the width and roll diameter visual detection mechanism (3), the human inspection station (4), the shaft labeling mechanism (5), the online heat shrinking machine (6) and the shaft surface labeling mechanism (7) are arranged in a ring shape on the sheet-based belt conveying system (9) in sequence; The rear-end packaging module comprises a robot packing and stacking unit (10), a buffer position (11), a tic-tac-toe strapping machine (12), an online film wrapping machine (13), a stacking labeling machine (14), and a rear roller conveying system (15); The robot packing and stacking unit (10) is arranged between the sheet base belt conveying system (9) and the buffer position (11), and the buffer position (11), the tic-tac-toe belting machine (12), the online film wrapping machine (13) and the stacking labeling machine (14) are arranged in a straight line in sequence along the rear roller conveying system (15).

2. The carbon fiber automatic sorting, packaging and palletizing production line according to claim 1 is characterized by: The robot loading unit (1) comprises a robot (101), a carbon filament shaft gripper (102), a carbon filament shaft rotating mechanism (103), a code scanning mechanism (104) and a safety fence (105); the robot (101) is arranged on the ground; the carbon filament shaft gripper (102) is installed on the robot (101); the carbon filament shaft rotating mechanism (103) and the code scanning mechanism (104) are arranged on the side of the robot (101); the code scanning mechanism (104) illuminates the carbon filament shaft rotating mechanism (103) at a certain elevation angle; and the safety fence (105) is arranged outside the robot (101) and the code scanning mechanism (104).

3. The carbon fiber automatic sorting, packaging and palletizing production line according to claim 1 is characterized by: The sheet-based tape conveying system (9) comprises a tooling tray (901), a carbon filament shaft (902), a sheet-based tape conveying line (903), a right-angle turning mechanism (904) and a 180-degree reversing mechanism (905); the sheet-based tape conveying line (903) is provided with a right-angle turning mechanism (904) and a 180-degree reversing mechanism (905); the sheet-based tape conveying line (903) comprises a first annular conveying line (9031) and a second conveying line (9032) inserted on the first conveying line (9031); the tooling tray (901) is arranged on the first conveying line (9031); the carbon filament shaft (902) is arranged on the tooling tray (901); and the right-angle turning mechanism (904) is arranged at the connection between the first conveying line (9031) and the second conveying line (9032).

4. The carbon fiber automatic sorting, packaging and palletizing production line according to claim 1 is characterized by: It also includes an independently arranged manual rework and unloading station (8), which is independent of the annular film substrate belt conveying system (9).

5. The carbon fiber automatic sorting, packaging and palletizing production line according to claim 1 is characterized by: The robot boxing and palletizing unit (10) comprises a box opener (1001), a box pallet feeding platform (1002), a box supporting mechanism (1003), a box packing truss (1004), a straight box sealing machine (1005), a box labeling machine (1006), a box body palletizing robot (1007), a grouping platform (1008), a large pallet secondary positioning platform (1009), a pallet loading and palletizing robot (1010), a paper feeding mechanism (1011), a pallet feeding roller (1012), a stacking machine (1013), a carbon filament stacking roller (1014) and a box body stacking roller (1015).

6. The carbon fiber automatic sorting, packaging and palletizing production line according to claim 5 is characterized by: The carton opener (1001) is fixedly connected to the sheet base belt conveying system (9); the box pallet feeding platform (1002) and the grouping platform (1008) are respectively arranged at the two ends of the box packing truss (1004); the box supporting mechanism (1003), the box packing truss (1004), the straight carton sealing machine (1005) and the box labeling machine (1006) are arranged on the side of the carton opener (1001) in sequence; the pallet stacking robot (1010) is arranged on one side of the carbon filament stacking roller conveyor (1014) and the box body stacking roller conveyor (1015); and the box body stacking robot (1010) is arranged on the side of the carbon filament stacking roller conveyor (1014) and the box body stacking roller conveyor (1015). The paper feeding mechanism (1011) is independently arranged on the side of the carbon fiber stacking roller conveyor (1014). The paper feeding mechanism (1011) is independently arranged on the side of the carbon fiber stacking roller conveyor (1014). The paper feeding roller conveyor (1012), the carbon fiber stacking roller conveyor (1014) and the box stacking roller conveyor (1015) are arranged in parallel. The carbon fiber stacking roller conveyor (1014) is arranged between the paper feeding roller conveyor (1012) and the box stacking roller conveyor (1015).

7. A method for using the carbon fiber automatic sorting, packaging and palletizing production line as claimed in claims 1 to 6, characterized in that: The following steps are involved: Step 1: front-end loading, weighing, carbon filament shaft size inspection, manual inspection, heat shrinking, lane buffering and manual rework and unloading; Step 2: Product palletizing; Step 3: Taping, wrapping and labeling.

8. The method for using the carbon fiber automatic sorting, packaging and palletizing production line according to claim 7 is characterized by: In the loading process of step 1, when the carbon filaments arrive, the robot (101) locates the carbon filaments on the hanging chain through the vision on the carbon filament shaft gripper (102), and the carbon filament shaft gripper (102) directly grabs the carbon filament shaft (902) from the hanging chain according to the positioning result, places it on the carbon filament rotating mechanism (103) for scanning, and stops immediately after scanning the code. At this time, the barcode is located at the upper part of the tube, and the shaft labeling mechanism (5) can avoid overlapping with the original label when labeling at the lower part of the tube; the robot (101) then grabs the second group of carbon filament shafts (902) from the hanging chain, and places them on another air gripper on the carbon filament rotating mechanism (103). After the scanning of the first group of carbon filament shafts (902) is completed, the robot (101) grabs the carbon filament shafts (902) and loads them onto the tooling tray (901) on the sheet base belt conveying system (9), and binds the barcode information with the RFID tag on the tooling tray (901), and the loading is completed in this cycle; The weighing process is as follows: the tooling tray (901) with the carbon filament shaft (902) hanging thereon flows clockwise along the substrate conveying system (9), reaches the weighing mechanism (2) and is stopped by the stopper, the weighing section roller is lowered, and the tooling tray (901) falls onto the weighing balance located below the roller, the balance transmits the measured result to the upper computer, the weighing section roller is raised to lift the tooling tray (901), the stopper is lowered, and the tooling tray (901) flows to the next station, the tooling tray (901) is weighed in advance and the weight is recorded in the respective RFID, and the system automatically subtracts the weight of the corresponding tooling tray (901) from each weighing result; The process of detecting the external dimensions of the carbon filament shaft is as follows: the tooling tray (901) arrives at the coil diameter and width visual detection mechanism (3), the RFID reads the information of the tooling tray (901), the width and coil diameter visual detection mechanism (3) takes a photo of the carbon filament shaft (902), the coil diameter and width are measured and sent to the upper computer, the blocker descends, and the tooling tray (901) flows to the next station; The manual inspection process is that the tooling tray (901) arrives at the inspection station, the system reads the RFID tag on the tooling tray (901), the host computer reads the product information from the ERP, and displays it on the human-machine interface. The carbon filament is graded manually based on its appearance and information, and input into the computer. The system also binds the obtained grade information to the RFID tag; The process of labeling the inside of the carbon filament shaft is as follows: the tooling tray (901) reaches the shaft labeling mechanism (5) and stops, the system reads the RFID tag information, and transmits the labeling information to the labeling machine software, the printer prints out the label and the labeling mechanism affixes it to the inner wall of the yarn tube; The heat shrinking process is that the tooling tray (901) brings the carbon filament shaft (902) to the film cutting mechanism of the online heat shrinking machine (6) and stops. The film cutting mechanism completes the film cutting and coating operation, and the stopper is released. The tooling tray (901) and the carbon filament shaft (902) enter the online heat shrinking machine (6) together, and the online heat shrinking machine (6) coats the heat shrink film onto the surface of the carbon filament shaft. The lane-by-lane caching process is that before the tooling pallet (901) reaches the connection between the first conveyor line (9031) and the second conveyor line (9032), the RFID reads the material grade information on the tooling pallet (901), and the grade A material goes straight to the rear to wait for the pallet loading and stacking robot (1010) to grab it; the grade B material, the returned product or the carbon filament shaft that exceeds the stacking requirement is automatically sorted by the system to the second conveyor line (9032) for caching; The manual rework unloading process is that when a worker needs to unload B-type products for packing or rework products, he presses the corresponding button at the manual rework unloading station (8), and the system transports the carbon filament in the second conveyor line (9032) to the front of the worker. The worker completes data entry and packing through a handheld scanner and a human-machine interface; after the rework products are reworked, the worker tears off the heat shrink film and puts them back on line.

9. The method for using the carbon fiber automatic sorting, packaging and palletizing production line according to claim 7, characterized in that: In the palletizing process of step 2, 4 kg of carbon filaments need to be packed before palletizing, and carbon filaments larger than 4 kg are directly palletized on the pallet, and waterproof paper needs to be laid on the bottom and top, with a large pallet as a spacer in the middle.

10. The method for using the carbon fiber automatic sorting, packaging and palletizing production line according to claim 7, characterized in that: The process of step 3 is as follows: after the whole pallet is stacked, the pallet arrives at the tic-tac-toe strapping machine (12) along the rear roller conveyor system (15). The system interacts with the suspension chain system to request materials according to the stacking situation. Under normal circumstances, each specification can be stacked completely before changing the specification. Under special circumstances, a pallet that is not full can be cached in the buffer position (11). The tic-tac-toe strapping machine (12) straps the pallet with a tic-tac-toe tape and then conveys it to the online film wrapping machine (13). The machine wraps the pallet with film all around, and finally affixes the side and front labels at the pallet labeling machine (14) and waits for unloading.

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