Automatic loading and unloading system for film material cores

Abstract

The present invention discloses an automatic loading and unloading system for film material cores, which includes a core conveying mechanism for conveying cores, a finished product conveying mechanism for conveying finished coils, and a manipulator mechanism. The manipulator mechanism can transfer the cores output by the core conveying mechanism to the film winding station, and the manipulator mechanism can transfer the finished coils that have been wound at the film winding station to the finished product conveying mechanism, thereby realizing the automatic loading and unloading of cores. Moreover, the core conveying mechanism can sequentially and orderly send out cores at intervals to the picking station, facilitating the automatic picking of the manipulator mechanism, realizing the automatic loading and unloading of film material cores, and improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of equipment for supporting the winding of coiled materials, and particularly relates to an automatic loading and unloading system for film material cores. Background Art

[0002] After the production of film material coiled materials is completed, they usually need to be wound onto cores. In currently commonly used film material coiled material production equipment, generally, an empty core is placed at the winding station manually. When the core is wound to a set amount, the finished coiled material (the core wound with the film material coiled material) is taken out from the winding station manually. The working efficiency is low and it consumes a lot of manpower. Although there are now also auxiliary hoisting equipment or clamping manipulators configured to cooperate with manual labor to achieve semi-automatic production, manual labor is still required to place the core at a set position for the manipulator or hoisting equipment to pick up the part, and the production efficiency improvement is not significant. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides an automatic loading and unloading system for film material cores, which can realize the automatic loading and unloading of film material cores and improve the production efficiency.

[0004] The automatic loading and unloading system for film material cores according to the first aspect embodiment of the present invention includes a core conveying mechanism for conveying cores, a finished product conveying mechanism for conveying finished coiled materials, and a manipulator mechanism. The manipulator mechanism can transfer the core output by the core conveying mechanism to the film material winding station, and the manipulator mechanism can transfer the finished coiled material that has been wound at the film material winding station to the finished product conveying mechanism, thereby realizing the automatic loading and unloading of cores;

[0005] The core conveying mechanism includes a core conveying frame and at least two balance blocks arranged on the core conveying frame in sequence along the conveying direction of the core. The balance block includes an output section facing forward, a limiting section facing backward, and a connecting section located between the output section and the limiting section. The connecting section is rotatably connected to the core conveying frame, and the balance block is configured with a limiting mechanism capable of limiting it to a first rotation position and a second rotation position;

[0006] When the balance block is in the first rotation position, a placement space capable of accommodating the core is formed between the limiting section and the output section of adjacent balance blocks, and the limiting section restricts the core located in the placement space from moving forward;

[0007] When the balance block is in the second rotation position, the limiting section does not block the core located in the placement space from moving forward, and the core located in the placement space rolls forward to the next balance block;

[0008] When the balance weight is not under an external force, the moment of the gravity of the limiting section relative to the rotation connection point of the balance weight is greater than the moment of the gravity of the output section relative to the rotation connection point of the balance weight, so that the balance weight rotates to the second rotation position;

[0009] When the core is located above the output section, the moment of the gravity of the core and the weight of the output section relative to the rotation connection point of the balance weight is greater than the moment of the gravity of the limiting section relative to the rotation connection point of the balance weight, causing the balance weight to rotate to the first rotation position;

[0010] It is assumed that the balance weight located at the forefront is the first balance weight. The core conveying mechanism further includes an output control mechanism. The output control mechanism includes a first limiting member that can be movably disposed in front of the first balance weight and an output driving unit that can drive the first limiting member. The first limiting member can move to limit the forefront core at the output section of the first balance weight or release the forefront core.

[0011] The automatic loading and unloading system for film cores according to the embodiment of the present invention has at least the following beneficial effects: During normal conveying, the cores on the core conveying mechanism are distributed from back to front on the core conveying rack in sequence, and the balance weights are all in the first rotation position. The cores are positioned in the placement space. At this time, since the moment of the core and the output section relative to the rotation connection point of the balance weight is greater than the moment of the limiting section relative to the rotation connection point of the balance weight, the balance weight is stably maintained in the first rotation position, and the core is in a static state waiting to be conveyed. When the output driving unit drives the first limiting member to release the forefront core, the forefront core is conveyed to the picking station of the core conveying rack, and the core waits for the manipulator mechanism to pick it up at this picking station. At this time, since the core above the output section of the first balance weight is sent out, the moment of the gravity of the limiting section relative to the rotation connection point of the balance weight is greater than the moment of the gravity of the output section relative to the rotation connection point of the balance weight, causing the first balance weight to rotate to the second rotation position. The limiting section does not block the core in the placement space between the first balance weight and the second balance weight from moving forward. The core in the placement space between the first balance weight and the second balance weight rolls forward to the output section of the first balance weight and is blocked by the first limiting member. At the same time, the gravity of the core causes the first balance weight to return to the first rotation position, blocking the subsequent cores. This process occurs sequentially from front to back in a domino effect, so that the cores on the core conveying mechanism move forward by one placement position in sequence, thereby realizing the orderly sequential conveying of the cores, facilitating the picking of the manipulator mechanism, being able to realize the automatic loading and unloading of film cores, and improving production efficiency.

[0012] According to some embodiments of the present invention, the balance block located behind the first balance block is set as the second balance block. The core conveying mechanism further includes an auxiliary control mechanism. The auxiliary control mechanism includes a second limiting member movably disposed between the first balance block and the second balance block and an auxiliary output driving unit capable of driving the second limiting member. The second limiting member can move to limit the core at the output section of the second balance block or release the core at the output section of the second balance block.

[0013] According to some embodiments of the present invention, the balance block is provided with a lifting surface that rises from front to back. When the balance block is in the first rotation position, the lifting surface can guide the core to roll forward until it abuts against the rear side of the limiting section of the adjacent balance block.

[0014] According to some embodiments of the present invention, when the core is located in the placement space, the center of gravity of the core is located in front of the support position of the output section, so that the core abuts against the rear side of the limiting section of the adjacent balance block.

[0015] According to some embodiments of the present invention, the core conveying frame forms a core conveying channel for conveying the core. The core conveying channel rises from front to back, so that the core has a tendency to move forward.

[0016] According to some embodiments of the present invention, the limiting mechanism includes a limiting shaft provided on the core conveying frame, and the balance block is provided with an arc-shaped groove into which the limiting shaft can be inserted.

[0017] According to some embodiments of the present invention, the core conveying frame is provided with a core conveying rail capable of carrying the core.

[0018] According to some embodiments of the present invention, the finished product conveying mechanism includes a finished product conveying frame and a blocking mechanism provided on the finished product conveying frame. The finished product conveying frame is provided with a finished product conveying rail that slopes obliquely downward from front to back. The blocking mechanism includes a blocking member and a blocking driving unit. The blocking driving unit can drive the blocking member to extend out to protrude from the conveying surface of the finished product conveying rail or retract to be lower than the conveying surface of the finished product conveying rail.

[0019] According to some embodiments of the present invention, the manipulator mechanism includes a clamping manipulator capable of clamping the core. The clamping manipulator includes a clamping arm, clamping claws and a clamping driving unit. The clamping claws are rotatably connected to the clamping arm. A clamping space capable of clamping the core is formed between the clamping claws and the clamping arm. The clamping driving unit can drive the clamping claws to act to open or close the clamping space.

[0020] According to some embodiments of the present invention, the automatic loading and unloading system for the film core includes a frame. The manipulator mechanism further includes a moving frame slidably disposed on the frame. The moving frame can slide in the front-rear direction. The moving frame is provided with a lifting drive mechanism capable of driving the gripping manipulator to move up and down, and the frame is provided with a translation drive mechanism capable of driving the moving frame to move back and forth.

[0021] According to some embodiments of the present invention, a locking mechanism is provided between the gripping arm and the gripper. The locking mechanism can lock the gripper to the state of closing the gripping space.

[0022] According to some embodiments of the present invention, the gripper is a U-shaped structure with a lateral opening, and the opening direction of the U-shaped gripper faces the gripping arm. The end of the upper arm of the U-shaped gripper is hinged to the gripping arm, and the end of the lower arm of the U-shaped gripper can rotate by its own weight to approach the gripping arm, thereby closing the gripping space. The gripping drive unit can drive the gripper to rotate.

[0023] According to some embodiments of the present invention, when the core is placed in the gripping space, the gravity of the core can generate a force on the U-shaped gripper to make the end of the lower arm of the gripper approach the gripping arm.

[0024] According to some embodiments of the present invention, a locking mechanism is provided between the gripping arm and the gripper. The locking mechanism includes a locking block slidably disposed on the gripping arm and a locking drive unit for driving the locking block. A locking groove for inserting the locking block is provided at the end of the lower arm of the gripper, and the locking drive unit can drive the locking block to insert into or withdraw from the locking groove. Description of the Drawings

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0026] Figure 1 is a schematic structural diagram of the automatic loading and unloading system for the film core according to an embodiment of the present invention;

[0027] Figure 2 is a schematic side view of the automatic loading and unloading system for the film core according to an embodiment of the present invention;

[0028] Figure 3 is a schematic structural diagram of the gripping manipulator according to an embodiment of the present invention;

[0029] Figure 4 is a schematic side view of the gripping manipulator according to an embodiment of the present invention;

[0030] Figure 5 Schematic structural diagram of the finished product conveying mechanism according to an embodiment of the present invention;

[0031] Figure 6 Top view of the finished product conveying mechanism according to an embodiment of the present invention;

[0032] Figure 7 is Figure 6 Schematic cross-sectional view taken along line A-A in

[0033] Figure 8 Schematic structural diagram of the core conveying mechanism according to an embodiment of the present invention;

[0034] Figure 9 Top view of the core conveying mechanism according to an embodiment of the present invention;

[0035] Figure 10 is Figure 9 Schematic cross-sectional view taken along line B-B in

[0036] Figure 11 Partial cross-sectional schematic view of the core conveying mechanism when the balance weight is in the first rotation position according to an embodiment of the present invention;

[0037] Figure 12 Partial cross-sectional schematic view of the core conveying mechanism when the balance weight is in the second rotation position according to an embodiment of the present invention;

[0038] Figure 13 Partial enlarged schematic view of the connection between adjacent balance weights when the balance weight is in the first rotation position according to an embodiment of the present invention;

[0039] Figure 14 Schematic structural diagram of the balance weight configured with a balance adjustment mechanism according to an embodiment of the present invention.

[0040] Reference numerals:

[0041] Core conveying frame 110, core conveying rail 111, balance weight 120, first balance weight 120a, second balance weight 120b, lifting surface 120c, output section 121, limiting section 122, arc-shaped groove 123, rotating shaft 124, first limiting member 131, second limiting member 141, limiting shaft 151, sliding groove 161, counterweight 162, adjusting screw 163;

[0042] Finished product conveying frame 210, finished product conveying rail 211, blocking member 220, blocking cylinder 230,

[0043] Gripping manipulator 300, gripping arm 310, gripper 320, upper arm 321, lower arm 322, locking block 330, picking cylinder 340, locking cylinder 350;

[0044] Moving frame 400, lifting drive mechanism 500, translation drive mechanism 600, frame 800, core 900, finished coil 910. Detailed implementation manner

[0045] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0046] In the description of the present invention, it should be understood that the orientation descriptions such as up, down, front, back, left, right, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0047] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0048] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0049] In the related art, after the film material coil is made, it usually needs to be wound onto the core. In the currently commonly used film material coil production equipment, generally, an empty core is placed at the winding station manually. When the core is wound to the set amount, the finished coil (the core wound with the film material coil) is taken out from the winding station manually. The work efficiency is low and it consumes a lot of manpower. For cores or finished coils with a large weight, auxiliary lifting equipment or clamping manipulators are also configured to cooperate with the manual work to achieve semi-automatic production. However, it is still necessary to manually place the core at the set position for the manipulator or lifting equipment to pick up the part, and automated operation cannot be achieved.

[0050] Below refer to Figures 1 to 12 Describe the automatic loading and unloading system for the film material core according to the embodiments of the present invention.

[0051] It is set that the core 900 in the core conveying mechanism is conveyed from back to front.

[0052] Such as Figure 1 And 2As shown in the figure, the automatic loading and unloading system for the film core according to the embodiment of the present invention includes a core conveying mechanism for conveying the core 900, a finished product conveying mechanism for conveying the finished coil 910, and a manipulator mechanism. The manipulator mechanism can transfer the core 900 output by the core conveying mechanism to the film winding station, and the manipulator mechanism can transfer the finished coil 910 that has been wound at the film winding station to the finished product conveying mechanism, thereby realizing the automatic loading and unloading of the core.

[0053] As Figures 8 to 12 shown in the figure, the core conveying mechanism includes a core conveying frame 110 and at least two balance blocks 120 arranged in sequence along the conveying direction of the core 900 on the core conveying frame 110. The balance block 120 includes an output section 121 facing forward, a limiting section 122 facing backward, and a connecting portion located between the output section 121 and the limiting section 122. The connecting portion is rotatably connected to the core conveying frame 110, and the balance block 120 is configured with a limiting mechanism capable of limiting it to a first rotation position and a second rotation position;

[0054] When the balance block 120 is in the first rotation position, a placement space capable of accommodating the core 900 is formed between the limiting section 122 and the output section 121 of adjacent balance blocks 120, and the limiting section 122 restricts the core 900 located in the placement space from moving forward;

[0055] When the balance block 120 is in the second rotation position, the limiting section 122 does not block the core 900 located in the placement space from moving forward, and the core 900 located in the placement space rolls forward to the next balance block 120;

[0056] When the balance block 120 is not subjected to an external force, the moment of the gravity of the limiting section 122 relative to the rotation connection point of the balance block 120 is greater than the moment of the gravity of the output section 121 relative to the rotation connection point of the balance block 120, causing the balance block 120 to rotate to the second rotation position;

[0057] When the core 900 is located above the output section 121, the moment of the gravity of the core 900 and the weight of the output section 121 relative to the rotation connection point of the balance block 120 is greater than the moment of the gravity of the limiting section 122 relative to the rotation connection point of the balance block 120, causing the balance block 120 to rotate to the first rotation position;

[0058] It is set that the balance block 120 located at the forefront is the first balance block 120a. The core conveying mechanism further includes an output control mechanism. The output control mechanism includes a first limiting member 131 movably arranged in front of the first balance block 120a and an output driving unit capable of driving the first limiting member 131. The first limiting member 131 can move to restrict the forefront core 900 at the output section 121 of the first balance block 120a or release the forefront core 900.

[0059] During normal transportation, as Figure 10 shown, the cores 900 on the core conveying mechanism are distributed from back to front in sequence on the core conveying rack 110. The balance blocks 120 are all in the first rotation position. The cores 900 are positioned in the placement space. At this time, since the torque of the core 900 and the output section 121 relative to the rotation connection point of the balance block 120 is greater than the torque of the limiting section 122 relative to the rotation connection point of the balance block 120, the balance block 120 is stably maintained in the first rotation position, and the core 900 is in a static state waiting to be conveyed. When the output driving unit drives the first limiting member 131 to release the core 900 at the forefront, the core 900 at the forefront is conveyed to the picking station of the core conveying rack 110, and the core 900 is waiting at this picking station for the manipulator mechanism to pick up the part. At this time, since the core 900 above the output section 121 of the first balance block 120a is sent out, the torque of the gravity of the limiting section 122 relative to the rotation connection point of the balance block 120 is greater than the torque of the gravity of the output section 121 relative to the rotation connection point of the balance block 120, so that the first balance block 120a rotates to the second rotation position, and the limiting section 122 does not block the core 900 in the placement space between the first balance block 120a and the second balance block 120b from moving forward. The core 900 in the placement space between the first balance block 120a and the second balance block 120b rolls forward to the output section 121 of the first balance block 120a and is blocked by the first limiting member 131. At the same time, the gravity of the core 900 causes the first balance block 120a to return to the first rotation position, blocking the subsequent cores 900. This process occurs sequentially from front to back in a domino effect, so that the cores 900 on the core conveying mechanism move forward by one placement position in sequence, thereby realizing the orderly sequential conveyance of the cores 900, facilitating the picking of the manipulator mechanism, being able to realize the automatic loading and unloading of the film cores, and improving the production efficiency.

[0060] As Figure 14 shown, in some embodiments of the present invention, the balance block 120 is configured with a balance adjustment mechanism. A chute 161 extending in the front-back direction is provided inside the balance block 120. The balance adjustment mechanism includes a counterweight block 162 slidably disposed in the chute 161 and an adjustment screw 163 rotatably disposed on the balance block 120. The adjustment screw 163 is in threaded cooperation with the counterweight block 162. By rotating the adjustment screw 163, the front-back position of the counterweight block 162 can be adjusted, so as to adjust the torque condition of the balance block 120 to adapt to cores 900 of different specifications and improve the versatility.

[0061] In some embodiments of the present invention, a hole position communicating with the head of the adjustment screw 163 is provided on the side surface of the balance block 120. The head of the adjustment screw 163 is provided with a slotted head, a cross slot or an internal hexagonal slot, etc., to facilitate using a tool to rotate the adjustment screw 163.

[0062] In some embodiments of the present invention, the balance weight 120 is rotatably arranged on the core conveyor rack 110 through a rotating shaft 124.

[0063] In some embodiments of the present invention, a blocking structure, such as a blocking piece, a blocking block, etc., is arranged in front of the core conveyor rack 110 to block the sent core 900 at the picking station, and the core 900 waits at this picking station for the manipulator mechanism to pick it up.

[0064] As Figure 10 shown, in some embodiments of the present invention, the core conveyor rack 110 is provided with a core conveyor rail 111 capable of carrying the core 900. One end of the first limiting member 131 is hinged to the core conveyor rack 110, and the other end is connected to an output driving unit. The output driving unit can drive the first limiting member 131 to rotate to protrude above or below the core conveyor rail 111, thereby restricting or allowing the core 900 to move forward.

[0065] Specifically, the output driving unit can be a linear driving mechanism such as a cylinder or an electric cylinder.

[0066] It can be understood that in some embodiments of the present invention, the first limiting member 131 can also be directly driven by a linear driving mechanism to move up and down to extend above or below the core conveyor rail 111, which can also meet the limiting function.

[0067] As Figure 10 shown, in some embodiments of the present invention, the balance weight 120 located behind the first balance weight 120a is set as the second balance weight 120b. The core conveying mechanism further includes an auxiliary control mechanism. The auxiliary control mechanism includes a second limiting member 141 movably arranged between the first balance weight 120a and the second balance weight 120b and an auxiliary output driving unit capable of driving the second limiting member 141. The second limiting member 141 can move to limit the core 900 at the output section 121 of the second balance weight 120b or release the core 900 at the output section 121 of the second balance weight 120b. Through the auxiliary control mechanism, the core 900 in the placement space between the first balance weight 120a and the second balance weight 120b will not move forward immediately even when the first balance weight 120a is in the second rotation position. Only after the second limiting member 141 releases the limit on the core 900, the core 900 will move forward, enabling the core 900 to move forward orderly and facilitating automatic control.

[0068] Specifically, in front of the first balance block 120a is the core conveying rail 111 without a balance block 120. After the core 900 located at the output section 121 of the first balance block 120a is sent out, the first balance block 120a rotates to the second rotation position, and the limiting section 122 of the first balance block 120a does not block the core 900 located at the output section 121 of the second balance block 120b. If there is no block by the second limiting member 141 and the first limiting member 131 does not reset in time or the blocking height is insufficient, the core 900 is very likely to cross the output control mechanism due to inertia, resulting in the core conveying mechanism outputting two cores 900 at a time, affecting the normal picking of the manipulator mechanism.

[0069] As Figure 10 shown, in some embodiments of the present invention, the core conveying frame 110 is provided with a core conveying rail 111 capable of carrying the core 900. One end of the second limiting member 141 is hinged to the core conveying frame 110, and the other end is connected to an auxiliary output driving unit. The auxiliary output driving unit can drive the second limiting member 141 to rotate to protrude above or below the core conveying rail 111, thereby restricting or allowing the core 900 to move forward.

[0070] Specifically, the auxiliary output driving unit can be a linear driving mechanism such as a cylinder or an electric cylinder.

[0071] It can be understood that, in some embodiments of the present invention, the second limiting member 141 can also be directly driven by a linear driving mechanism to move up and down to extend above or below the core conveying rail 111, which can also meet the limiting function.

[0072] As Figure 11 shown, in some embodiments of the present invention, the balance block 120 is provided with a lifting surface 120c that rises from front to back. When the balance block 120 is in the first rotation position, the lifting surface 120c can guide the core 900 to roll forward until it abuts against the rear side of the limiting section 122 of the adjacent balance block 120, thereby guiding the core 900 to move forward orderly.

[0073] As Figure 13 shown, in some embodiments of the present invention, when the core 900 is located in the placement space, the center of gravity of the core 900 is in front of the support position of the output section 121, and the lowest position of the support part of the rear side of the limiting section 122 for the core 900 is lower than the support position of the output section 121, so that the core 900 abuts against the rear side of the limiting section 122 of the adjacent balance block 120, making the core 900 have a tendency to move forward. When the limiting section 122 moves downward, the core 900 can roll forward by its own weight to realize the automatic forward movement of the core 900.

[0074] Specifically, as Figure 13As shown in the figure, there is a height difference d between the lowest position of the supporting part of the rear side of the limiting section 122 for the core 900 and the supporting position of the output section 121, that is, there is a drop between the output section 121 and the limiting section 122. And since the center of gravity of the core 900 is in front of the supporting position of the output section 121, the center of gravity of the core 900 biases towards the limiting section 122, so that the gravity of the core 900 generates a forward component force, and the core 900 has a tendency to move forward. At this time, even on the horizontal core conveying rail 111, the core 900 can move forward orderly.

[0075] In some embodiments of the present invention, the core conveying frame 110 forms a core conveying channel for conveying the core 900, and the core conveying channel rises from front to back, so that the core 900 has a tendency to move forward, and thus the core 900 can move forward orderly without applying additional external force.

[0076] In some embodiments of the present invention, the core conveying rail 111 forms the core conveying channel, and a screw adjusting structure is arranged between the core conveying rail 111 and the core conveying frame 110 to facilitate adjusting the inclination angle of the core conveying rail 111.

[0077] As Figure 11 、 Figure 12 As shown in the figure, in some embodiments of the present invention, the limiting mechanism includes a limiting shaft 151 arranged on the core conveying frame 110, and the balance block 120 is provided with an arc-shaped groove 123 into which the limiting shaft 151 can be inserted. Through the cooperation of the limiting shaft 151 and the arc-shaped groove 123.

[0078] It can be understood that, in some embodiments of the present invention, the limiting mechanism can also be two limiting blocks, and the two limiting blocks are respectively arranged on the rotation trajectory of the balance block 120 to limit two rotation positions of the balance block 120.

[0079] As Figure 8 As shown in the figure, in some embodiments of the present invention, the core conveying frame 110 is provided with a core conveying rail 111 capable of carrying the core 900 for conveying the core 900.

[0080] As Figures 5 to 7As shown, in some embodiments of the present invention, the finished product conveying mechanism includes a finished product conveying rack 210 and a blocking mechanism provided on the finished product conveying rack 210. The finished product conveying rack 210 is provided with a finished product conveying rail 211 that slopes obliquely downward from front to back. The core 900 exposed at both ends of the finished product coil 910 is placed on the finished product conveying rail 211. The blocking mechanism includes a blocking member 220 and a blocking driving unit. The blocking driving unit can drive the blocking member 220 to extend out to protrude from the conveying surface of the finished product conveying rail 211 or retract to be lower than the conveying surface of the finished product conveying rail 211. The inclined finished product conveying rail 211 enables the finished product coil 910 to be sent backward by its own weight, and at the same time, the blocking mechanism enables the finished product coil 910 to be output at regular intervals, facilitating the subsequent reception of the finished product coil 910.

[0081] In some embodiments of the present invention, a blocking structure such as a blocking piece or a blocking block is provided at the lowest end of the finished product conveying rail 211 to limit the lowest position of the output of the finished product coil 910, prevent the finished product coil 910 from accidentally falling, or form a finished product output station for the finished product coil 910.

[0082] In some embodiments of the present invention, the finished product conveying rail 211 is configured with a screw adjustment mechanism to adjust the inclination angle of the finished product conveying rail 211 to meet the conveying of different finished product coils 910.

[0083] It can be understood that in some embodiments of the present invention, the finished product conveying mechanism only includes the finished product conveying rack 210 and does not configure a blocking mechanism. By using the mutual abutment of the finished product coils 910, the finished product coils 910 are sent out in sequence.

[0084] It can be understood that in some embodiments of the present invention, the finished product conveying mechanism can also be a conveyor belt mechanism, which actively sends the finished product coil 910 to a set position.

[0085] Such as Figure 7 As shown, in some embodiments of the present invention, one end of the blocking member 220 is hinged to the finished product conveying rack 210, and the other end is connected to the blocking driving unit. The blocking driving unit can drive the blocking member 220 to rotate to protrude from or be lower than the finished product conveying rail 211, thereby restricting or allowing the finished product coil 910 to roll backward.

[0086] Such as Figure 7 As shown, in some embodiments of the present invention, the blocking driving unit is a blocking cylinder 230. Of course, in the specific implementation process, the blocking driving unit can also be a linear driving mechanism such as an oil cylinder or an electric cylinder.

[0087] It can be understood that in some embodiments of the present invention, the blocking member 220 can also be directly driven by a linear driving mechanism to move up and down to extend out of or be lower than the finished product conveying rail 211, which can also meet the limiting function.

[0088] As Figure 3 , Figure 4 shown, in some embodiments of the present invention, the manipulator mechanism includes a clamping manipulator 300 capable of clamping the core 900. The clamping manipulator 300 includes a clamping arm 310, clamping jaws 320 and a clamping drive unit. The clamping jaws 320 are rotatably connected to the clamping arm 310. A clamping space capable of clamping the core 900 is formed between the clamping jaws 320 and the clamping arm 310. The clamping drive unit can drive the clamping jaws 320 to act to open or close the clamping space, so as to realize the clamping and placement of the core 900.

[0089] Specifically, the clamping manipulator 300 is used to clamp both ends of the core 900. The two ends of the core of the finished product coil 910 are exposed, and can also be clamped by the clamping manipulator 300.

[0090] It can be understood that, in some embodiments of the present invention, the clamping manipulator can also be a double-jaw structure, and the clamping drive unit can drive the two jaws to move relative to each other, so as to meet the clamping and placement requirements of the core 900.

[0091] As Figure 1 , Figure 2 shown, in some embodiments of the present invention, the automatic loading and unloading system for the film core includes a frame 800. The manipulator mechanism further includes a moving frame 400 slidably arranged on the frame 800. The moving frame 400 can slide in the front-rear direction. The moving frame 400 is provided with a lifting drive mechanism 500 capable of driving the clamping manipulator 300 to move up and down. The frame 800 is provided with a translation drive mechanism 600 capable of driving the moving frame 400 to move back and forth, so as to realize the two-axis movement of the clamping manipulator 300 in the front-rear and up-down directions and meet the transfer requirements of the core 900.

[0092] In some embodiments of the present invention, the lifting drive mechanism 500 can be a lead screw mechanism, a cylinder mechanism, etc. driven by a motor, which will not be elaborated here.

[0093] In some embodiments of the present invention, the translation drive mechanism 600 can be a lead screw mechanism / direct rack mechanism, etc. driven by a motor, which will not be elaborated here.

[0094] It can be understood that, in some embodiments of the present invention, the frame 800 can be configured with a three-axis or four-axis drive mechanism as needed to drive the clamping manipulator 300 to meet the transfer requirements of different cores 900.

[0095] In some embodiments of the present invention, a locking mechanism is arranged between the clamping arm 310 and the clamping jaws 320. The locking mechanism can lock the clamping jaws 320 to the state of closing the clamping space, further improving the stability of the clamping jaws 320 when picking up parts and the reliability of picking up parts.

[0096] As Figures 1 to 4 shown, in some embodiments of the present invention, the jaw 320 is a U-shaped structure with a lateral opening, and the opening direction of the U-shaped jaw 320 faces the gripping arm 310. The end of the upper arm 321 of the U-shaped jaw 320 is hinged to the gripping arm 310. The gripping drive unit can drive the jaw 320 to rotate. The end of the lower arm 322 of the U-shaped jaw 320 can rotate by its own weight to approach the gripping arm 310, thereby closing the gripping space. That is, when not affected by external forces, the jaw 320 can be self-locked by its own gravity. When the core 900 is placed in the gripping space, the gravity of the core 900 can generate a force on the U-shaped jaw 320 to make the end of the lower arm 322 of the jaw 320 approach the gripping arm 310, so that the jaw 320 can be self-locked under the gravity of the core 900, making it difficult for the core 900 to fall off.

[0097] Specifically, the manipulator mechanism includes a lifting drive mechanism 500 that can drive the gripping manipulator 300 to move up and down to pick up and place the core 900, that is, the gripping manipulator 300 moves up and down to pick up the part. When picking up the part, the gripping drive unit can drive the jaw 320 to rotate to open the gripping space, so that after the core 900 is in place, the gripping drive unit can drive the jaw 320 to rotate to close the gripping space. After the gripping manipulator 300 rises, the core 900 is suspended. Since when not affected by external forces, the gripping arm 310 can already be self-locked by its own gravity, at this time, the additional gravity of the core 900 acting on the lower arm 322 of the jaw 320 (deviating from the rotation center) makes the jaw 320 self-lock more stably, and it is not easy for the jaw 320 to accidentally open and fall off.

[0098] As Figure 3 、 Figure 4 shown, in some embodiments of the present invention, the gripping drive unit is a pick-up cylinder 340. After the jaw 320 picks up the part, the pick-up cylinder 340 maintains air pressure or oil pressure so that the jaw 320 remains in the closed state, further improving the reliability of picking up the part.

[0099] It can be understood that in some embodiments of the present invention, the gripping drive unit can also be a crank-slider mechanism, which will not be elaborated here.

[0100] In some embodiments of the present invention, the U-shaped jaw 320 forms a loading space corresponding to the end of the core 900, and this loading space is slightly larger than the outer contour of the end of the core 900, so that when the jaw 320 cooperates with the gripping arm 310, it will not completely clamp the end of the core 900, avoiding damage to the end of the core 900.

[0101] As Figure 3 、 Figure 4As shown, in some embodiments of the present invention, a locking mechanism is provided between the clamping arm 310 and the clamping jaw 320. The locking mechanism includes a locking block 330 slidably disposed on the clamping arm 310 and a locking drive unit for driving the locking block 330. An end of the lower arm 322 of the clamping jaw 320 is provided with a locking groove into which the locking block 330 can be inserted. The locking drive unit can drive the locking block 330 to insert into or withdraw from the locking groove, thereby restricting or allowing the clamping jaw 320 to rotate, further improving the stability of the clamping jaw 320 when picking up parts and enhancing the reliability of part picking.

[0102] As Figure 3 , Figure 4 shown, in some embodiments of the present invention, the locking drive unit is a locking cylinder 350, and the locking cylinder 350 is fixed to the lower end of the clamping arm 310.

[0103] Of course, in the specific implementation process, the locking drive unit can also be an electric cylinder or the like, which will not be elaborated here.

[0104] It can be understood that, in some embodiments of the present invention, the locking mechanism can also be a buckle mechanism, a pin mechanism, etc., which will not be elaborated here.

[0105] Of course, the present invention is not limited to the above embodiments. Those skilled in the art can make equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A film material roll core automatic loading and unloading system, characterized in that: include: A core conveying mechanism, used for conveying the core (900); A finished product conveying mechanism, used for conveying the finished product coil (910); A robot mechanism, wherein the robot mechanism is capable of transferring the core (900) output by the core conveying mechanism to a film material winding station, and the robot mechanism is capable of transferring the finished coil (910) that has been wound up at the film material winding station to the finished product conveying mechanism; The core conveying mechanism is configured to convey the core (900) from back to front, and the core conveying mechanism comprises a core conveying frame (110) and at least two balancing blocks (120) sequentially arranged on the core conveying frame (110) along the conveying direction of the core (900), the balancing block (120) comprising an output section (121) facing forward, a limiting section (122) facing backward, and a connecting portion between the output section (121) and the limiting section (122), the connecting portion being rotatably connected to the core conveying frame (110), and the balancing block (120) being provided with a limiting mechanism capable of limiting the balancing block to a first rotation position and a second rotation position; When the balancing block (120) is in the first rotation position, a placement space capable of accommodating the winding core (900) is formed between the limiting section (122) and the output section (121) of the adjacent balancing block (120), and the limiting section (122) limits the winding core (900) located in the placement space from moving forward; When the balancing block (120) is in the second rotation position, the limiting section (122) does not block the winding core (900) located in the placement space from moving forward, and the winding core (900) located in the placement space rolls forward to the next balancing block (120); When the balancing block (120) is not acted upon by an external force, the torque of the limiting section (122) relative to the rotational connection point of the balancing block (120) is greater than the torque of the output section (121) relative to the rotational connection point of the balancing block (120), so that the balancing block (120) rotates to the second rotational position; When the winding core (900) is located above the output section (121), the torque of the winding core (900) and the output section (121) relative to the rotation connection point of the balancing block (120) is greater than the torque of the limiting section (122) relative to the rotation connection point of the balancing block (120), so that the balancing block (120) rotates to the first rotation position; The balancing block (120) located at the frontmost is set as the first balancing block (120a), and the core conveying mechanism also includes an output control mechanism, which includes a first limiting member (131) movably arranged in front of the first balancing block (120a) and an output driving unit capable of driving the first limiting member (131), and the first limiting member (131) can be moved to limit the core (900) located at the frontmost to the output section (121) of the first balancing block (120a) or release the core (900) located at the frontmost.

2. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The balancing block (120) located behind the first balancing block (120a) is set as the second balancing block (120b), and the core conveying mechanism also includes an auxiliary control mechanism, which includes a second limiting member (141) movably arranged between the first balancing block (120a) and the second balancing block (120b) and an auxiliary output driving unit capable of driving the second limiting member (141), and the second limiting member (141) can be moved to limit the core (900) at the output section (121) of the second balancing block (120b) or release the core (900) located at the output section (121) of the second balancing block (120b).

3. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The balancing block (120) is provided with a lifting surface (120c) that lifts from front to back, and when the balancing block (120) is in the first rotation position, the lifting surface (120c) can guide the winding core (900) to roll forward.

4. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The core conveying frame (110) forms a core conveying channel for conveying the core (900), and the core conveying channel rises from front to back.

5. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The limiting mechanism comprises a limiting shaft (151) arranged on the core conveying frame (110), and the balancing block (120) is provided with an arc-shaped groove (123) capable of being inserted into the limiting shaft (151).

6. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The core conveying frame (110) is provided with a core conveying rail (111) capable of carrying the core (900).

7. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The finished product conveying mechanism comprises a finished product conveying frame (210) and a blocking mechanism arranged on the finished product conveying frame (210); the finished product conveying frame (210) is provided with a finished product conveying rail (211) which is inclined downward from front to back; the blocking mechanism comprises a blocking member (220) and a blocking driving unit; the blocking driving unit is capable of driving the blocking member (220) to extend to a conveying surface protruding from the finished product conveying rail (211) or to retract to a conveying surface lower than the finished product conveying rail (211).

8. The automatic loading and unloading system for film cores according to claim 1 is characterized in that: The robot mechanism includes a clamping robot (300) capable of clamping the winding core (900), the clamping robot (300) includes a clamping arm (310), a clamping claw (320) and a clamping drive unit, the clamping claw (320) is rotatably connected to the clamping arm (310), and a clamping space capable of clamping the winding core (900) is formed between the clamping claw (320) and the clamping arm (310), and the clamping drive unit can drive the clamping claw (320) to open or close the clamping space.

9. The automatic loading and unloading system for film cores according to claim 8 is characterized in that: The automatic loading and unloading system for film material roll cores includes a frame (800), and the robot mechanism also includes a movable frame (400) slidably arranged on the frame (800), and the movable frame (400) can slide in the front-rear direction, and the movable frame (400) is provided with a lifting drive mechanism (500) capable of driving the clamping robot (300) to move up and down, and the frame (800) is provided with a translation drive mechanism (600) capable of driving the movable frame (400) to move forward and backward.

10. The automatic loading and unloading system for film cores according to claim 8, characterized in that: A locking mechanism is provided between the clamping arm (310) and the clamping claw (320), and the locking mechanism can lock the clamping claw (320) to a state of closing the clamping space.

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