Automatic shaft pulling equipment for copper foil coil stock

Abstract

The invention relates to automatic shaft pulling equipment for a copper foil roll material, and the equipment comprises a portal frame which is provided with a 3D camera, and the 3D camera is used for scanning the position and the number of copper foil rolls of which shafts are to be pulled; a copper foil roll of a shaft to be pulled is arranged on the placing tool; a support base; a shaft pulling linear walking mechanism; a pulling shaft lifting driving mechanism; the copper foil roll taking mechanism is used for taking down the copper foil roll of the shaft to be pulled on the placing tool; and the shaft pulling mechanism is used for pulling out the inflatable shaft in the copper foil roll of which the shaft is to be pulled on the copper foil roll taking mechanism. According to the automatic shaft pulling equipment for the copper foil roll material, the automatic shaft pulling action of a slitting copper foil roll air expansion shaft can be automatically achieved, the operation process of the whole automatic shaft pulling equipment meets the actual production requirement, the supporting shaft is lifted and walks, the labor intensity of workers is greatly reduced, traditional manual shaft pulling can be replaced, the reject ratio of products is reduced, and the production efficiency is improved. And potential risks caused by manual misoperation are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of copper foil production, in particular to automatic shaft-pulling equipment for copper foil coils. Background Art

[0002] Copper foil has low surface oxygen characteristics and can be attached to various substrates, such as metals, insulating materials, etc., with a wide temperature range. It is mainly used for electromagnetic shielding and antistatic. The conductive copper foil is placed on the substrate and combined with the metal substrate. It has excellent conductivity and provides electromagnetic shielding effect. It can be divided into: self-adhesive copper foil, double-conductor copper foil, single-conductor copper foil, etc. The domestic demand for electronic-grade copper foil in China will reach 300,000 tons. China is the largest manufacturer of printed circuit boards and copper foil bases in the world.

[0003] Copper foil is used in a large part of the battery production process, and is cut into finished rolls of different sizes according to customer requirements. In the copper foil production process, after the copper foil roll is cut and produced, it is generally divided into single roll, double roll, and triple roll, and the total weight of the air shaft is about 500KG. The traditional method is generally to use a crane to lift the shaft roll to the horizontal ground, release the pressure of the air shaft, and then pull the air shaft out by a forklift. After the copper foil roll is placed on the horizontal surface, it is easy to cause side crushing due to the heavy weight of the copper foil itself, thereby increasing the product failure rate. The weight of the 3-inch air shaft and the 6-inch air shaft is also around 60KG. It is difficult to remove it by manpower and can only rely on external force. Generally, a forklift or other auxiliary tools are used, which is not only cumbersome to operate but also easy to cause dangerous accidents. Even if there are similar equipment for pulling shafts on the market, they are simple and can only meet the needs of a single shaft or the extraction of the air shaft of a single copper foil roll, and the degree of automation is not high.

[0004] In summary, how to quickly and efficiently extract the inflatable shaft from the copper foil roll and how to reduce the risks in the shaft extraction process need to be solved urgently. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that the inflatable shaft in the copper foil roll needs to be assisted by multiple devices, which not only requires a lot of manpower, but also requires the cooperation of the staff to pull out the inflatable shaft, which not only causes a waste of production resources and low work efficiency, but also there are certain dangers in the process of pulling out the inflatable shaft.

[0006] To solve the above technical problems, the present invention provides an automatic shaft pulling device for copper foil coils, comprising: a gantry, which is fixedly arranged on the ground, and a 3D camera is arranged on the gantry, and the 3D camera is used to scan the position and quantity of the copper foil rolls to be pulled; a placing tool, which is fixedly arranged on the ground, and the placing tool is located below the cross beam of the gantry, and the copper foil rolls to be pulled are arranged on the placing tool; a supporting base, which is fixedly arranged on the ground; a shaft pulling linear walking mechanism, which is arranged on the supporting base; a shaft pulling lifting drive mechanism, which is arranged on the shaft pulling linear walking mechanism; a copper foil roll taking mechanism, which is arranged on the shaft pulling lifting drive mechanism, and the shaft pulling linear walking mechanism and the shaft pulling lifting drive mechanism cooperate to drive the copper foil roll taking mechanism to move to the placing tool position, and the copper foil roll taking mechanism is used to take off the copper foil roll to be pulled on the placing tool; a shaft pulling mechanism, which is arranged on the ground, and the shaft pulling mechanism is used to pull out the inflatable shaft in the copper foil roll to be pulled on the copper foil roll taking mechanism.

[0007] In one embodiment of the present invention, the placement tool is composed of two symmetrically arranged copper foil roll support seats, the copper foil roll support seat includes a support column one and a copper foil roll support block, the copper foil roll support block is fixedly set on the support column one, the support column one is set on the ground, and a V-shaped placement groove is provided on the upper end surface of the copper foil roll support block, the bottom of the V-shaped placement groove is set as an arc groove, and the end of the inflatable shaft is placed in the arc groove.

[0008] In one embodiment of the present invention, the shaft pulling linear walking mechanism includes a linear drive motor, a linear drive gear, a horizontal spur rack and a moving frame, the horizontal spur rack is fixedly set on a supporting base, the linear drive motor is set on the moving frame, the linear drive gear is connected to the rotating shaft of the linear drive motor, and the linear drive gear is meshed with the horizontal spur rack, the moving frame is slidably connected to the supporting base, and the shaft pulling lifting drive mechanism is set on the moving frame.

[0009] In one embodiment of the present invention, two parallel horizontal linear guide rails are provided on the support base, a linear slider is provided on the movable frame, the horizontal linear guide rails and the horizontal straight rack are arranged in parallel, and the linear slider and the horizontal linear guide rails are slidably connected.

[0010] In one embodiment of the present invention, the shaft pulling lifting drive mechanism includes two symmetrically arranged lifting drive components and a lifting frame, the lifting frame is connected to the two symmetrically arranged lifting drive components, and the lifting drive components drive the lifting frame to move in a vertical direction, and the copper foil roll taking mechanism is arranged on the lifting frame.

[0011] In one embodiment of the present invention, the lifting drive assembly includes a vertical spur rack, a vertical drive motor and a vertical drive gear, the vertical spur rack is fixedly set on the moving frame, the vertical drive motor is set on the lifting frame, and the rotating shaft of the vertical drive motor is connected to the vertical drive gear, and the vertical drive gear is meshed with the vertical spur rack.

[0012] In one embodiment of the present invention, the copper foil roll picking mechanism includes a first picking component and a plurality of second picking components, the first picking component and the plurality of second picking components are arranged in parallel in a row, and the first picking component and the second picking component are arranged relative to each other, and the first picking component and the plurality of second picking components cooperate to realize the picking of the copper foil roll to be pulled out of the shaft.

[0013] In one embodiment of the present invention, the first material picking assembly includes a material picking drive motor, a material picking screw, a material picking slide and a material picking plate. The material picking drive motor is fixedly mounted on a lifting frame. The material picking screw is mounted on the lifting frame via a screw support seat. The rotating shaft of the material picking drive motor is connected to one end of the material picking screw. The material picking slide and the screw nut of the material picking screw are fixedly connected. The material picking plate is vertically mounted on the material picking slide. An arc groove is provided on the upper end of the material picking plate. The copper foil roll to be pulled out of the shaft is arranged in the arc groove.

[0014] In one embodiment of the present invention, the second feeding assembly includes a feeding drive motor 2, a feeding screw 2, a feeding slide plate 2 and a feeding plate 2, the feeding drive motor 2 is fixedly arranged on the lifting frame, the feeding screw 2 is arranged on the lifting frame through a screw support seat, the rotating shaft of the feeding drive motor 2 is connected to one end of the feeding screw 2, the feeding slide plate 2 and the screw nut of the feeding screw 2 are fixedly connected, the feeding plate 2 is vertically arranged on the feeding slide plate 2, the upper end portion of the feeding plate 2 is provided with an arc-shaped groove 2, and the copper foil roll to be pulled out of the shaft is arranged in the arc-shaped groove 2.

[0015] In one embodiment of the present invention, the shaft pulling mechanism includes a shaft pulling support seat, a pneumatic chuck, a shaft pulling drive motor, a shaft pulling drive screw and a shaft pulling slide. The shaft pulling drive motor and the shaft pulling drive screw are both arranged on the shaft pulling support seat, the shaft pulling drive motor and the shaft pulling drive screw are connected, the shaft pulling slide and the screw nut of the shaft pulling drive screw are fixedly connected, and the shaft pulling slide and the shaft pulling support seat are slidably connected, the pneumatic chuck is arranged on the shaft pulling slide, and the pneumatic chuck is used to clamp one end of the pneumatic shaft.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art:

[0017] The automatic shaft pulling equipment for copper foil coils described in the present invention is composed of a 3D camera, a pneumatic chuck jaw, a support bracket, a frame, a servo drive, etc., and uses a visual positioning system to automatically collect data such as the number of copper foils cut by the pneumatic shaft, the edge size of the paper tube, and the diameter of the paper tube, and transmits it to the PLC controller through the PROFINET protocol. After a series of calculations, the servo motor is controlled to drive the support plate system to automatically move to a precise position, and the pneumatic shaft is lifted after the copper foil roll is in place, and the support plate system runs to the set position. The support plate is lifted to the same axis position as the chuck, and the chuck gripper runs to the end of the pneumatic shaft, and the pneumatic shaft is clamped by the pneumatic chuck, and the pneumatic shaft is depressurized to pull the shaft out of the paper tube. After the copper foil roll is completely separated from the air shaft, it is taken away by a gantry truck. After the formula is selected, the support plate system automatically adjusts to the formula position. After the new paper tube is re-placed, the shaft pulling robot automatically inserts the air shaft into the paper tube, pressurizes the air shaft, and the support plate system carries the air shaft with the new paper tube to the initial position, realizing the automatic shaft pulling function of the air shaft for cutting copper foil rolls. The present invention replaces the traditional manual shaft pulling, reduces the unqualified rate of products, avoids the potential risks caused by manual misoperation, and solves the pain point of low shaft pulling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0019] Figure 1 It is a schematic diagram of the overall structure of the automatic shaft-pulling device for copper foil coils of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the placement tool of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the copper foil roll support base of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the shaft pulling linear walking mechanism of the present invention. Figure 1 ;

[0023] Figure 5 This is a schematic diagram of the structure of the shaft pulling linear walking mechanism of the present invention. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the structure of the shaft pulling linear walking mechanism of the present invention. Figure 3 ;

[0025] Figure 7 It is a structural schematic diagram of the shaft lifting and lowering driving mechanism of the present invention;

[0026] Figure 8 The structure of the copper foil roll taking mechanism of the present invention is shown in FIG. Figure 1 ;

[0027] Fig. 9 The structure of the copper foil roll taking mechanism of the present invention is shown in FIG. Figure 2 ;

[0028] Fig.10 The structure diagram of the shaft pulling mechanism of the present invention is shown in FIG. Figure 1 ;

[0029] Fig.11 The structure diagram of the shaft pulling mechanism of the present invention is shown in FIG. Figure 2 .

[0030] Description of the accompanying drawings in the specification: 3D camera 1, placement tooling 2, copper foil roll support seat 20, support column 21, copper foil roll support block 22, V-shaped placement groove 221, arc groove 222, support base 3, horizontal linear guide rail 31, pull-axis linear walking mechanism 4, linear drive motor 41, linear drive gear 42, horizontal straight rack 43, moving frame 44, linear slider 441, vertical linear guide rail 442, pull-axis lifting drive mechanism 5, lifting drive assembly 51, vertical straight rack 511, vertical drive motor 512, vertical drive gear 513, lifting frame 52, vertical slider 521, copper foil roll taking mechanism 6, first material taking assembly 61, material taking drive motor 611, material taking screw rod 612, taking A material slide plate 613, a material picking plate 614, an arc-shaped groove 615, a material picking slider 616, a second material picking assembly 62, a material picking drive motor 621, a material picking screw rod 622, a material picking slide plate 623, a material picking plate 624, an arc-shaped groove 625, a material picking slider 626, a shaft pulling mechanism 7, a shaft pulling support seat 71, a pneumatic chuck 72, a shaft pulling drive motor 73, a shaft pulling drive screw rod 74, a shaft pulling slide plate 75, a shaft pulling linear guide rail 76, a shaft pulling slider 77, an inflatable shaft guide assembly 8, a guide drive cylinder 81, a guide support block 82, an arc-shaped guide groove 821, a inflatable shaft guide assembly 9, a guide drive cylinder 91, a guide wheel 92, a support frame 93, and an arc-shaped guide groove 921. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0032] Reference Figure 1As shown, the automatic shaft pulling device for copper foil coils of the present invention comprises: a gantry, which is fixedly arranged on the ground, and a 3D camera 1 is arranged on the gantry, and the 3D camera 1 is used to scan the position and quantity of the copper foil rolls to be pulled; a placement tool 2, which is fixedly arranged on the ground, and the placement tool 2 is located below the crossbeam of the gantry, and the copper foil rolls to be pulled are arranged on the placement tool 2; a support base 3, which is fixedly arranged on the ground; a shaft pulling linear walking mechanism 4, which is arranged on the support base 3; a shaft pulling lifting mechanism A lowering drive mechanism 5 is arranged on the shaft pulling linear walking mechanism 4; a copper foil roll taking mechanism 6 is arranged on the shaft pulling lifting drive mechanism 5, and the shaft pulling linear walking mechanism 4 and the shaft pulling lifting drive mechanism 5 cooperate to drive the copper foil roll taking mechanism 6 to move to the position of the placement tool 2, and the copper foil roll taking mechanism 6 is used to take down the copper foil roll to be pulled out on the placement tool 2; a shaft pulling mechanism 7 is arranged on the ground, and the shaft pulling mechanism 7 is used to pull out the inflatable shaft in the copper foil roll to be pulled out on the copper foil roll taking mechanism 6.

[0033] Reference Figure 2 , 3 As shown, the placement tool 2 is composed of two symmetrically arranged copper foil roll support seats 20, and the copper foil roll support seat 20 includes a support column 21 and a copper foil roll support block 22. The copper foil roll support block 22 is fixedly arranged on the support column 21, and the support column 21 is arranged on the ground. A V-shaped placement groove 221 is arranged on the upper end surface of the copper foil roll support block 22, and the bottom of the V-shaped placement groove 221 is arranged as an arc groove 222, and the end of the air shaft is placed in the arc groove 222. The V-shaped placement groove 221 arranged on the copper foil roll support block 22 is not limited to one, and can be arranged as multiple. The V-shaped placement groove 221 can have openings of different sizes, and the curvature of the arc groove 222 is also arranged to be different, which can be conveniently matched with air shafts of different diameters.

[0034] Reference Figure 4-6 As shown, the shaft pulling linear walking mechanism 4 includes a linear drive motor 41, a linear drive gear 42, a horizontal spur rack 43 and a moving frame 44. The horizontal spur rack 43 is fixedly arranged on the support base 3. The linear drive motor 41 is arranged on the moving frame 44. The linear drive gear 42 is connected to the rotating shaft of the linear drive motor 41, and the linear drive gear 42 is meshed with the horizontal spur rack 43. The moving frame 44 is slidably connected to the support base 3, and the shaft pulling lifting drive mechanism 5 is arranged on the moving frame 44. Two parallel horizontal linear guide rails 31 are arranged on the support base 3, and a linear slider 441 is arranged on the moving frame 44. The horizontal linear guide rail 31 and the horizontal spur rack 43 are arranged in parallel, and the linear slider 441 is slidably connected to the horizontal linear guide rail 31.

[0035] Reference Figure 7As shown, the shaft lifting drive mechanism 5 includes two symmetrically arranged lifting drive components 51 and a lifting frame 52. The lifting frame 52 is connected to the two symmetrically arranged lifting drive components 51, and the lifting drive component 51 drives the lifting frame 52 to move in the vertical direction. The copper foil roll taking mechanism 6 is arranged on the lifting frame 52. The lifting drive component 51 includes a vertical spur rack 511, a vertical drive motor 512 and a vertical drive gear 513. The vertical spur rack 511 is fixedly arranged on the moving frame 44. The vertical drive motor 512 is arranged on the lifting frame 52, and the rotating shaft of the vertical drive motor 512 is connected to the vertical drive gear 513. The vertical drive gear 513 is meshed with the vertical spur rack 511. The moving frame 44 is provided with a vertical linear guide 442, and the lifting frame 52 is provided with a vertical slider 521. The vertical slider 521 is slidably connected to the vertical linear guide 442.

[0036] Reference Figure 8 , 9 As shown, the copper foil roll picking mechanism 6 includes a first picking component 61 and a plurality of second picking components 62, the first picking component 61 and the plurality of second picking components 62 are arranged in parallel in a row, and the first picking component 61 and the second picking component 62 are arranged relatively to each other, the first picking component 61 and the plurality of second picking components 62 cooperate to realize the picking of the copper foil roll to be pulled out of the shaft.

[0037] In the above structure, the first material picking component 61 includes a material picking drive motor 611, a material picking screw rod 612, a material picking slide plate 613 and a material picking plate 614. The material picking drive motor 611 is fixedly arranged on the lifting frame 52. The material picking screw rod 612 is arranged on the lifting frame 52 through a screw rod support seat. The rotating shaft of the material picking drive motor 611 is connected to one end of the material picking screw rod 612. The material picking slide plate 613 and the screw nut of the material picking screw rod 612 are fixedly connected. The material picking plate 614 is vertically arranged on the material picking slide plate 613. The upper end portion of the material picking plate 614 is provided with an arc groove 615. The copper foil roll to be pulled out of the shaft is arranged in the arc groove 615.

[0038] In the above structure, the second material picking component 62 includes a second material picking drive motor 621, a second material picking screw rod 622, a second material picking slide plate 623 and a second material picking plate 624. The second material picking drive motor 621 is fixedly set on the lifting frame 52. The second material picking screw rod 622 is set on the lifting frame 52 through a screw support seat. The rotating shaft of the second material picking drive motor 621 is connected to one end of the second material picking screw rod 622. The second material picking slide plate 623 and the screw nut of the second material picking screw rod 622 are fixedly connected. The second material picking plate 624 is vertically set on the second material picking slide plate 623. The upper end of the second material picking plate 624 is provided with an arc groove 625. The copper foil roll to be pulled out of the shaft is set in the arc groove 625. The material taking drive motor 1 611 and the material taking drive motor 2 621 are respectively arranged at the two ends of the length direction of the lifting frame 52, and the material taking drive motor 1 611 and the material taking drive motor 2 621 are arranged oppositely, and the material taking plate 2 624 and the material taking plate 1 614 are arranged oppositely, and the material taking plate 2 624 and the material taking plate 1 614 are arranged in parallel, and the material taking plate 2 624 and the material taking plate 1 614 can be relatively close or far away to achieve the coordination with the length of the copper foil roll to be pulled out of the shaft. The lifting frame 52 is provided with two parallel material taking guide rails, and the material taking guide rails, the material taking screw rod 1 612 and the material taking screw rod 2 622 are arranged in parallel. The lower end of the material taking slide plate 1 613 is provided with a material taking slider 1 616, and the lower end of the material taking slide plate 2 623 is provided with a material taking slider 2 626, and the material taking slider 1 616 and the material taking slider 2 626 are both slidably connected with the material taking guide rails.

[0039] Reference Fig.10 , 11As shown, the shaft pulling mechanism 7 includes a shaft pulling support seat 71, a pneumatic chuck 72, a shaft pulling drive motor 73, a shaft pulling drive screw 74 and a shaft pulling slide 75. The shaft pulling drive motor 73 and the shaft pulling drive screw 74 are both arranged on the shaft pulling support seat 71. The shaft pulling drive motor 73 is connected to the shaft pulling drive screw 74. The shaft pulling slide 75 is fixedly connected to the screw nut of the shaft pulling drive screw 74. The shaft pulling slide 75 is slidably connected to the shaft pulling support seat 71. The pneumatic chuck 72 is arranged on the shaft pulling slide 75. The pneumatic chuck 72 is used to clamp one end of the pneumatic shaft. Two parallel shaft pulling linear guide rails 76 are arranged on the shaft pulling support seat 71. The shaft pulling linear guide rails 76 and the shaft pulling drive screw 74 are arranged in parallel. The shaft pulling slide 75 is provided with a shaft pulling slider 77. The shaft pulling slider 77 is slidably connected to the shaft pulling linear guide rail 76. The shaft pulling support seat 71 is located on one side of the side of the support base 3. The shaft pulling linear walking mechanism 4 and the shaft pulling lifting drive mechanism 5 cooperate to drive the copper foil roll taking mechanism 6 and the shaft pulling mechanism 7 to be in the same straight line. The side wall of the shaft pulling support seat 71 close to the copper foil roll taking mechanism 6 is provided with an inflatable shaft guide assembly 18 and an inflatable shaft guide assembly 29. The inflatable shaft guide assembly 18 includes a guide drive cylinder 181 and a guide support block 82. The guide drive cylinder 181 is fixedly connected to the side wall of the shaft pulling support seat 71. The guide support block 82 is connected to the piston rod of the guide drive cylinder 181. The upper end surface of the guide support block 82 is provided with an arc guide groove 1821, and the inflatable shaft is placed in the arc guide groove 1821. The pneumatic shaft guide assembly 29 includes a guide drive cylinder 291, a guide wheel 92 and a support frame 93. The guide drive cylinder 291 is fixedly connected to the side wall of the pull-out shaft support seat 71. The support frame 93 is connected to the piston rod of the guide drive cylinder 291. The guide wheel 92 is arranged on the support frame 93 through a rotating shaft. The outer circumference of the guide wheel 92 is provided with an arc guide groove 2921, and the pneumatic shaft is placed in the arc guide groove 2921. The outer wall of the material taking plate 1 614 is also provided with a pneumatic shaft guide assembly 18 and a pneumatic shaft guide assembly 29.

[0040] The working principle of the automatic shaft pulling device of the copper foil coil of the present invention comprises the following steps:

[0041] S1, 3D camera 1 scans the copper foil roll data of the shaft to be pulled on two symmetrically arranged copper foil roll support seats 20, including shaft diameter, quantity, coordinate information and other information, and sends the above information to the host computer;

[0042] S2, the linear drive motor 41 drives the linear drive gear 42 to rotate, and the linear drive gear 42 moves along the horizontal straight rack 43 toward the placement tool 2 until the copper foil roll taking mechanism 6 is located directly below the copper foil roll to be pulled out of the shaft on the two symmetrically arranged copper foil roll support seats 20;

[0043] S3, the vertical drive motor 512 drives the vertical drive gear 513 to rotate, and the vertical drive gear 513 rises along the vertical spur rack 511 until the first pick-up plate 614 and the second pick-up plate 624 are close to the copper foil roll to be pulled out of the shaft;

[0044] S4, the first material taking component 61 and the second material taking component 62 adjust the positions of the material taking plate 1 614 and the material taking plate 2 624 according to the information of the copper foil roll to be pulled out of the shaft in step S1, so that the material taking plate 1 614 and the material taking plate 2 624 can contact with the inflatable shaft;

[0045] S5, the vertical drive motor 512 drives the vertical drive gear 513 to rotate, and the vertical drive gear 513 rises along the vertical spur rack 511 until the two ends of the inflatable shaft in the axial direction are respectively placed in the arc groove 1 615 and the arc groove 2 625;

[0046] S6, the vertical drive motor 512 continues to drive the vertical drive gear 513 to rotate, the vertical drive gear 513 rises along the vertical straight rack 511, and the pick-up plate 1 614 and the pick-up plate 2 624 lift the copper foil roll to be pulled from the copper foil roll support seat 20, so that the copper foil roll to be pulled is separated from the copper foil roll support seat 20;

[0047] S7, the linear drive motor 41 drives the linear drive gear 42 to rotate in the opposite direction, and the linear drive gear 42 moves along the horizontal straight rack 43 in a direction away from the placement tool 2 until the first material picking assembly 61 and the second material picking assembly 62 are in the same straight line with the pneumatic chuck 72;

[0048] S8, the shaft pulling drive motor 73 drives the shaft pulling drive screw 74 to rotate, so that the shaft pulling slide plate 75 moves with the pneumatic chuck 1 72 toward the copper foil roll to be pulled;

[0049] S9, the pneumatic chuck 72 clamps the pneumatic shaft of the copper foil roll to be pulled out on the pick-up plate 1 614 and the pick-up plate 2 624;

[0050] S10, after the pressure of the inflatable shaft is released, the shaft pulling drive motor 73 drives the shaft pulling drive screw 74 to rotate in the opposite direction, so that the shaft pulling slide 75 moves with the pneumatic chuck 1 72, thereby gradually pulling the inflatable shaft out of the copper foil roll;

[0051] S11, during the process of the shaft pulling mechanism 7 pulling out the inflatable shaft, the inflatable shaft guide assembly 1 8 and the inflatable shaft guide assembly 2 9 can assist in guiding the inflatable shaft;

[0052] S12, the air shaft guide assembly 8 works, and the guide drive cylinder 81 drives the guide support block 82 to rise until the air shaft is placed in the arc guide groove 821;

[0053] S13, the inflatable shaft guide assembly 2 9 works, and the guide drive cylinder 2 91 drives the guide wheel 92 to rise until the inflatable shaft is placed in the arc-shaped guide groove 2 921. As the inflatable shaft is withdrawn, the guide wheel 92 rotates to provide guide support.

[0054] The automatic shaft-pulling device for copper foil coils of the present invention has the following characteristics:

[0055] 1. The temporary storage rack for copper foil rolls automatically corrects the deviation. When the copper foil rolls with shafts are placed on the temporary storage rack after production and slitting, the temporary storage rack adopts a guide groove, which has an automatic correction function, making it easier to put the inflatable shaft in place;

[0056] 2. Visual position recognition function, driven by Siemens V90 series servo, drives the 3D camera to move and scan twice. Since the 3D visual camera scans at an angle, it is necessary to rotate the lens for reverse recognition. This improves the accuracy of data collection and can accurately output the coordinate position of each copper foil roll tube edge of the air shaft, reducing the error value;

[0057] 3. The support plate of the copper foil roll lifting and transfer device is automatically in place. The transfer device can automatically control the support plate to move to the appropriate position based on the visual feedback data, accurately matching the edge position of each copper foil roll;

[0058] 4. The lifting and transferring device automatically runs horizontally. After the support plate lifts the copper foil roll with shaft, it automatically runs to the shaft pulling position according to the set program. The encoder position control mode is adopted, combined with the visual given coordinates, it can automatically distinguish whether it is the No. 1 size shaft or the No. 2 size shaft. Different specifications of inflatable shafts have different shaft pulling coordinate positions;

[0059] 5. The lifting and transferring device automatically runs vertically. According to the PLC program settings and the 3D visual given coordinate information, the lifting and transferring device automatically adjusts the vertical operation to the shaft pulling position;

[0060] 6. The pneumatic shaft is automatically pulled out, using a screw guide structure, and the end design uses a pneumatic chuck gripper. After the pneumatic shaft is deflated, the program controls the shaft pulling device to move to the end of the pneumatic shaft, and the chuck gripper clamps one end of the pneumatic shaft and automatically pulls it out, realizing the automatic separation of the shaft and the roll, and the finished product is taken away by the crane for packaging and shipment;

[0061] 7. The pneumatic shaft is automatically threaded. The process formula is selected according to the production order through the human-machine interface. The support plate of the transfer vehicle automatically adjusts its position according to the process formula. After the paper tube is placed in place, the shaft pulling device automatically runs to the initial position, the pneumatic shaft is threaded into the paper tube, and the chuck is loosened to complete the automatic threading action;

[0062] 8. The entire automatic shaft pulling device operation process meets the actual production needs, including the lifting and walking of the shaft, which greatly reduces the labor intensity of workers. The device avoids direct contact between the copper foil product and the ground and other objects, and can improve the first-time qualified rate of the product.

[0063] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. An automatic shaft pulling device for copper foil coils, characterized in that: include: A gantry is fixedly arranged on the ground, and a 3D camera is arranged on the gantry, and the 3D camera is used to scan the position and quantity of the copper foil rolls to be pulled out; A placing tool is fixedly arranged on the ground and is located below the crossbeam of the gantry. The placing tool is provided with a copper foil roll to be pulled out of the shaft; A supporting base, which is fixedly arranged on the ground; A shaft-pulling linear travel mechanism, which is arranged on a supporting base; A shaft pulling lifting drive mechanism, which is arranged on the shaft pulling linear walking mechanism; The copper foil roll taking mechanism is arranged on the shaft pulling lifting drive mechanism. The shaft pulling linear walking mechanism and the shaft pulling lifting drive mechanism cooperate to drive the copper foil roll taking mechanism to move to the position where the tooling is placed. The copper foil roll taking mechanism is used to take off the copper foil roll to be pulled from the tooling. The shaft pulling mechanism is arranged on the ground and is used for pulling out the inflatable shaft in the copper foil roll to be pulled out on the copper foil roll taking mechanism.

2. The automatic shaft pulling device for copper foil coil according to claim 1 is characterized in that: The placement tooling is composed of two symmetrically arranged copper foil roll support seats, the copper foil roll support seat includes a support column one and a copper foil roll support block, the copper foil roll support block is fixedly set on the support column one, the support column one is set on the ground, and a V-shaped placement groove is provided on the upper end surface of the copper foil roll support block, the bottom of the V-shaped placement groove is set as an arc groove, and the end of the inflatable shaft is placed in the arc groove.

3. The automatic shaft pulling device for copper foil coil according to claim 1 is characterized in that: The shaft pulling linear walking mechanism includes a linear drive motor, a linear drive gear, a horizontal spur rack and a moving frame. The horizontal spur rack is fixedly set on a supporting base, the linear drive motor is set on the moving frame, the linear drive gear is connected to the rotating shaft of the linear drive motor, and the linear drive gear is meshed with the horizontal spur rack. The moving frame is slidably connected to the supporting base, and the shaft pulling lifting drive mechanism is set on the moving frame.

4. The automatic shaft-pulling device for copper foil coil according to claim 3 is characterized in that: The support base is provided with two parallel horizontal linear guide rails, the movable frame is provided with a linear slider, the horizontal linear guide rails and the horizontal straight rack are arranged in parallel, and the linear slider and the horizontal linear guide rails are slidably connected.

5. The automatic shaft-pulling device for copper foil coil according to claim 1 is characterized in that: The shaft pulling lifting drive mechanism includes two symmetrically arranged lifting drive components and a lifting frame. The lifting frame is connected to the two symmetrically arranged lifting drive components, and the lifting drive components drive the lifting frame to move in the vertical direction. The copper foil roll taking mechanism is arranged on the lifting frame.

6. The automatic shaft-pulling device for copper foil coil according to claim 5, characterized in that: The lifting drive assembly includes a vertical spur rack, a vertical drive motor and a vertical drive gear. The vertical spur rack is fixedly arranged on the moving frame, the vertical drive motor is arranged on the lifting frame, and the rotating shaft of the vertical drive motor is connected to the vertical drive gear, and the vertical drive gear is meshed with the vertical spur rack.

7. The automatic shaft-pulling device for copper foil coil according to claim 1 is characterized in that: The copper foil roll picking mechanism includes a first picking assembly and a plurality of second picking assemblies, wherein the first picking assembly and the plurality of second picking assemblies are arranged in parallel in a row, and the first picking assembly and the second picking assembly are arranged opposite to each other, and the first picking assembly and the plurality of second picking assemblies cooperate to realize the picking of the copper foil roll to be pulled out of the shaft.

8. The automatic shaft-pulling device for copper foil coil according to claim 7, characterized in that: The first material picking component includes a material picking drive motor, a material picking screw, a material picking slide and a material picking plate. The material picking drive motor is fixedly arranged on the lifting frame. The material picking screw is arranged on the lifting frame through a screw support seat. The rotating shaft of the material picking drive motor is connected to one end of the material picking screw, the material picking slide and the screw nut of the material picking screw are fixedly connected, the material picking plate is vertically arranged on the material picking slide, and an arc groove is arranged on the upper end of the material picking plate, and the copper foil roll to be pulled out of the shaft is arranged in the arc groove.

9. The automatic shaft-pulling device for copper foil coil according to claim 8, characterized in that: The second material picking assembly includes a second material picking drive motor, a second material picking screw, a second material picking slide and a second material picking plate. The second material picking drive motor is fixedly arranged on the lifting frame. The second material picking screw is arranged on the lifting frame through a screw support seat. The rotating shaft of the second material picking drive motor is connected to one end of the second material picking screw. The second material picking slide and the screw nut of the second material picking screw are fixedly connected. The second material picking plate is vertically arranged on the second material picking slide. The upper end portion of the second material picking plate is provided with a second arc-shaped groove. The copper foil roll to be pulled out of the shaft is arranged in the second arc-shaped groove.

10. The automatic shaft pulling device for copper foil coil according to claim 1, characterized in that: The shaft pulling mechanism includes a shaft pulling support seat, a pneumatic chuck 1, a shaft pulling drive motor, a shaft pulling drive screw and a shaft pulling slide. The shaft pulling drive motor and the shaft pulling drive screw are both arranged on the shaft pulling support seat, the shaft pulling drive motor and the shaft pulling drive screw are connected, the shaft pulling slide and the screw nut of the shaft pulling drive screw are fixedly connected, and the shaft pulling slide and the shaft pulling support seat are slidably connected, the pneumatic chuck 1 is arranged on the shaft pulling slide, and the pneumatic chuck 1 is used to clamp one end of the pneumatic shaft.

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