Winding drum feeding and discharging device, feeding and discharging control method and controller

Abstract

The invention relates to a winding drum feeding and discharging device, a feeding and discharging control method and a controller. The device comprises a moving mechanism and a clamping mechanism, wherein the moving mechanism comprises a first horizontal guide rail and a vertical supporting arm capable of reciprocating along the first horizontal guide rail; the clamping mechanism is installed at the upper end of the vertical supporting arm, the clamping mechanism comprises a first clamping piece and a second clamping piece which are arranged in a spaced mode and can be opened and closed, and the first clamping piece and the second clamping piece are used for clamping a winding drum borne on the winding drum bearing piece; the plane where the opening and closing movement of the first clamping piece and the second clamping piece is located is perpendicular to the length direction of the winding drum bearing piece; and when the moving mechanism moves, the winding drum is moved along the winding drum bearing part through the clamping mechanism. According to the scheme, automatic clamping and horizontal movement of the winding drum can be achieved, manual intervention is not needed, and the labor intensity and the safety risk are remarkably reduced.

Description

Technical Field

[0001] The present application relates to the field of new energy technology, and in particular to a roll loading and unloading device, a loading and unloading control method and a controller. Background Art

[0002] In the field of new energy battery electrode manufacturing, the roll handling in the winding and unwinding equipment mostly relies on manual operation or semi-automatic equipment, such as using fixed unloading claws and manual labor to push the roll to the target workstation.

[0003] On the one hand, manual operation is labor-intensive and inefficient, and close-range operation by personnel also poses safety hazards such as mechanical pinching and material falling. On the other hand, manual pushing is easily affected by operating experience, resulting in misalignment between the reel and the processing equipment, affecting the quality of subsequent processes. Therefore, there is an urgent need for a roll loading and unloading device that can meet the complex requirements of automation, high precision and safety in industrial scenarios. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a roll loading and unloading device, a loading and unloading control method and a controller, which can realize automatic clamping and horizontal movement of the roll without manual intervention, significantly reducing labor intensity and safety risks.

[0005] The first aspect of the present application provides a roll loading and unloading device, comprising: A moving mechanism, the moving mechanism comprising a first horizontal guide rail and a vertical support arm that can reciprocate along the first horizontal guide rail, wherein the first horizontal guide rail is arranged along a first horizontal direction; A clamping mechanism, the clamping mechanism is installed at the upper end of the vertical support arm, the clamping mechanism comprises a first clamping member and a second clamping member which are arranged at intervals and can be opened and closed, the first clamping member and the second clamping member are used to clamp the reel carried on the reel carrying member; Wherein, the plane where the first clamping member and the second clamping member open and close is perpendicular to the length direction of the roll carrier; when the moving mechanism moves, it is used to move the roll along the roll carrier through the clamping mechanism.

[0006] In one implementation, the roll carrier is a columnar structure arranged in the transverse direction, the roll carrier has a set height, the clamping mechanism is arranged on one side of the roll carrier, and the opening directions of the first clamping member and the second clamping member are toward the roll carrier.

[0007] In one implementation, the clamping mechanism includes a fixed plate, the fixed plate is provided with a second horizontal guide rail and a slider sliding relative to the second horizontal guide rail, and the slider is installed with a mounting plate; The first clamping member and the second clamping member are mounted on the mounting plate and can slide with the slider, the first clamping member and the second clamping member include an extension arm extending from the mounting plate, a first driving member disposed at an end of the extension arm, and a clamping block disposed at a driving end of the first driving member; The running directions of the first clamping member and the first driving member of the second clamping member are opposite, and the two clamping blocks are arranged opposite to each other; the first driving member is used to drive the clamping block to move, and the clamping block is used to contact the reel.

[0008] In one implementation, the method further includes: A transverse limiter, the transverse limiter is used to limit the transverse movement distance of the mounting plate; and / or, A longitudinal limit member and a clamping jaw connecting plate, wherein the first driving member is mounted on the clamping jaw, and the clamping jaw connecting plate is movably mounted on the mounting plate in the longitudinal direction, and the clamping jaws of the first clamping member and the second clamping member are fixedly mounted on the clamping jaw connecting plate, and the longitudinal position of the clamping jaw connecting plate is adjustable on the mounting plate; the longitudinal limit member is mounted on the mounting plate and is located on the upper and lower sides of the clamping jaw connecting plate, and is against the clamping jaw connecting plate in the longitudinal direction. In one implementation, the clamping mechanism includes a second driving member, the second driving member includes a main body and a telescopic rod that is telescopic relative to the main body, and the telescopic direction of the telescopic rod is along the second horizontal direction; The main body is fixed to the fixing plate, and one end of the telescopic rod away from the main body is connected to the mounting plate for driving the mounting plate to move along a second horizontal direction; wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0009] In one implementation, the method further includes: A first sensor is disposed adjacent to a clamping area between the first clamping member and the second clamping member, and is used to detect a position signal of the roll between the first clamping member and the second clamping member; A second sensor is disposed adjacent to the opening and closing movement portion of the first clamping member and the second clamping member, and is used to detect a closing signal of the first clamping member and the second clamping member; A controller is electrically connected to the first sensor, the second sensor, the second drive and the moving mechanism; and is used to control the movement of the moving mechanism after receiving the position signal of the first sensor and the closing signal detected by the second sensor, so as to move the roll to the set position of the roll carrier through the clamping mechanism; and is used to control the operation of the second drive according to the received roll position signal, so as to adjust the displacement of the first clamp and the second clamp relative to the roll in the second direction, so that the clamping blocks of the first clamp and the second clamp are respectively clamped on the opposite sides of the roll.

[0010] In one implementation, the pressure exerted by the first clamping member and the second clamping member on the two side surfaces of the roll in the vertical direction is 0.4~0.5 Mpa; the friction force between the clamping blocks of the first clamping member and the second clamping member and the surface of the roll is 1200~3000N.

[0011] The second aspect of the present application provides a loading and unloading control method of the roll loading and unloading device as described in the first aspect above, comprising: Acquiring a position signal of the reel between the first clamping member and the second clamping member of the clamping mechanism through a first sensor; Based on the position signal, controlling the first driving member to drive the first clamping member and the second clamping member to close until the second sensor detects a closing signal of the first clamping member and the second clamping member; In response to the closing signal, the moving mechanism is controlled to move along the first horizontal guide rail, so as to drive the roll to move to a target position along the length direction of the roll carrier through the clamping mechanism.

[0012] In one implementation, based on the position signal, controlling the first driving member to drive the first clamping member and the second clamping member to close until the second sensor detects a closing signal of the first clamping member and the second clamping member includes: Based on the position signal, controlling the second driving member to drive the mounting plate to move along the second horizontal guide rail to adjust the lateral position of the first clamping member and the second clamping member relative to the reel in the second horizontal direction; The adjusted lateral position enables the first clamping member and the second clamping member to align with the opposite side surfaces of the roll, respectively.

[0013] In one implementation, the method further includes During the closing process of the first clamping member and the second clamping member, the contact pressure between the clamping block and the surface of the reel is monitored in real time by the pressure sensor and fed back to the controller; When the contact pressure is outside the range of 0.4-0.5 MPa, the output pressure of the first driving member is controlled to stabilize the contact pressure within the range of 0.4-0.5 MPa.

[0014] A third aspect of the present application provides a controller, including: Processor; and A memory having executable code stored thereon, which, when executed by the processor, causes the processor to execute the method described in the second aspect above. The technical solution provided by this application may have the following beneficial effects: The roll loading and unloading device provided by the present application drives the vertical support arm to move through the first horizontal guide rail, and cooperates with the opening and closing action of the clamping mechanism to realize the automatic clamping and horizontal movement of the roll without manual intervention, which significantly reduces labor intensity and safety risks. The design of the opening and closing plane of the clamping mechanism is perpendicular to the length direction of the roll carrier, ensuring that the clamping action is perpendicular to the axis of the roll to avoid deviation, so that the roll can be accurately moved to the target station along the predetermined path, eliminating the positioning error caused by manual pushing.

[0015] Furthermore, the roll loading and unloading device provided by the present application realizes fully automated operation and high-precision guarantee of roll loading and unloading through the closed-loop control logic of the sensor and the controller. The first sensor can monitor in real time whether the roll enters the clamping area and trigger the clamping mechanism to start. The second sensor detects the closed state of the clamping block to ensure that the movement is started after the clamping is in place to prevent malfunction when the clamping is not completed. The controller controls the second drive member to adjust the position of the clamping block according to the roll position signal to ensure that the clamping block is always aligned with the two sides of the vertical direction of the roll, eliminating the clamping deviation caused by the roll tilt or the displacement of the carrier, and further improving the positioning accuracy.

[0016] Furthermore, in the material loading and unloading control method provided by the present application, when the clamp is closed, the pressure sensor monitors the contact pressure in real time. If the pressure exceeds 0.5 MPa, the controller reduces the valve opening of the first drive member; if the pressure is lower than 0.4 MPa, the opening is increased to maintain the pressure at 0.45±0.05 MPa. The clamping contact pressure is fed back in real time by the pressure sensor, and the output of the first drive member is dynamically adjusted to stabilize the pressure within the range of 0.4-0.5 MPa, thus taking into account both clamping reliability (anti-slip) and surface protection (anti-overpressure).

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0019] Figure 1 It is a schematic diagram of the overall structure of the roll loading and unloading device shown in the embodiment of the present application; Figure 2 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the roll loading and unloading device shown in the embodiment of the present application; Figure 3 1 is a front structural schematic diagram of a clamping mechanism of a roll loading and unloading device shown in an embodiment of the present application; Figure 4 is a schematic diagram of the roll loading and unloading device in the first motion state shown in the embodiment of the present application; Figure 5 is a schematic diagram of the roll loading and unloading device in the second motion state shown in the embodiment of the present application; Figure 6 is a schematic diagram of the roll loading and unloading device shown in the embodiment of the present application in the third motion state; Figure 7 is a schematic diagram of the roll loading and unloading device shown in the embodiment of the present application in the fourth motion state; Figure 8 Schematic diagram of the coordination between the clamping mechanism and the reel of the reel loading and unloading device shown in the embodiment of the present application; Fig. 9 It is a flow chart of a method for controlling loading and unloading of materials shown in an embodiment of the present application; Fig.10 is a flow chart of a method for controlling loading and unloading of materials according to another embodiment of the present application; Fig.11 It is a schematic diagram of the structure of the controller shown in the embodiment of the present application.

[0020] Reference numerals: 100, moving mechanism; 110, servo motor; 120, first horizontal guide rail; 200, vertical support arm; 300, clamping mechanism; 310, first clamping member; 301, clamping claw; 302, first sensor; 303, clamping area; 311, first driving member; 312, clamping block; 320, second clamping member; 330, fixing plate; 331, second horizontal guide rail; 340, mounting plate; 350, clamping claw connecting plate; 351, adjusting bolt; 360, longitudinal limit member; 370, transverse limit member; 380, second driving member; 381, telescopic rod; 400, reel bearing member; 410, fixed end; 420, suspended end; 500, reel. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0022] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0023] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0025] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] In the related art, manual operation of reel loading and unloading is labor-intensive and inefficient, and close-range operation by personnel also poses safety hazards such as mechanical pinching and material falling. On the other hand, manual pushing is easily affected by operating experience, resulting in deviation in the centering of the reel and processing equipment, affecting the quality of subsequent processes. In response to the above problems, the embodiment of the present application provides a reel loading and unloading device that can realize automatic clamping and horizontal movement of the reel without manual intervention, significantly reducing labor intensity and safety risks.

[0027] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0028] Figure 1 It is a schematic diagram of the overall structure of the roll loading and unloading device shown in the embodiment of the present application; Figure 2 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the roll loading and unloading device shown in the embodiment of the present application.

[0029] See also Figure 1 and Figure 2 In a first aspect, the present application provides a roll loading and unloading device, which includes a moving mechanism 100 and a clamping mechanism 300. The moving mechanism 100 includes a first horizontal guide rail 120 and a vertical support arm 200 that can reciprocate along the first horizontal guide rail 120, and the first horizontal guide rail 120 is arranged along a first horizontal direction; the clamping mechanism 300 is installed at the upper end of the vertical support arm 200, and the clamping mechanism 300 includes a first clamping member 310 and a second clamping member 320 that are arranged at intervals and can be opened and closed, and the first clamping member 310 and the second clamping member 320 are used to clamp the roll carried on the roll supporting member 400; wherein, the plane where the first clamping member 310 and the second clamping member 320 open and close is perpendicular to the length direction of the roll supporting member 400; when the moving mechanism 100 moves, it is used to move the roll along the roll supporting member 400 through the clamping mechanism 300.

[0030] The first horizontal guide rail 120 is fixed to the ground or the frame along the first horizontal direction (X direction), and the vertical support arm 200 is slidably connected to the guide rail through a slider and is driven by the servo motor 110 to reciprocate along the X direction. The clamping mechanism 300 is installed at the top of the vertical support arm 200, and a counterweight block can be provided at the bottom to maintain stability.

[0031] The solution provided by the present application drives the vertical support arm 200 to move through the first horizontal guide rail 120, and cooperates with the opening and closing action of the clamping mechanism 300 to realize the automatic clamping and horizontal movement of the roll without manual intervention, which significantly reduces labor intensity and safety risks. The design of the opening and closing plane of the clamping mechanism 300 being perpendicular to the length direction of the roll carrier 400 ensures that the clamping action is perpendicular to the axis of the roll, avoids deviation, and enables the roll to move accurately to the target station along the predetermined path, eliminating the positioning error caused by manual pushing.

[0032] In this embodiment, the roll can be a roll after the lithium battery pole piece is wound, such as a copper foil / aluminum foil roll. The roll carrier 400 is a columnar structure arranged in the horizontal direction, which can be called a slip axis. The roll carrier 400 has a set height. The clamping mechanism 300 is arranged on one side of the roll carrier 400. The opening direction of the first clamping member 310 and the second clamping member 320 is toward the roll carrier 400, so that the clamping block 312 can clamp the two side surfaces of the roll in the vertical direction (Z direction), so that the clamping force is perpendicular to the gravity direction of the roll. The roll is not easy to shake or slip during the clamping process, and the movement stability is improved.

[0033] The roll carrier 400 may be a horizontally arranged cylindrical steel frame, and the roll carrier 400 may be suspended on a fixed object (such as a wall or a machine body), and its length direction is parallel to the X direction. The clamping mechanism 300 is located on one side of the roll carrier 400, ensuring that the clamping mechanism 300 can directly approach the roll from the side, avoiding manual adjustment of the roll posture, and shortening the loading and unloading time.

[0034] See also Figure 2 and Figure 3 In some embodiments, the clamping mechanism 300 includes a fixed plate 330 fixed to the upper end of the vertical support arm 200, and the fixed plate 330 is provided with a second horizontal guide rail 331 and a slider sliding relative to the second horizontal guide rail 331, and a mounting plate 340 is installed on the slider; the first clamping member 310 and the second clamping member 320 are installed on the mounting plate 340 and can slide with the slider, the first clamping member 310 and the second clamping member 320 include an extension arm extending from the mounting plate 340, a first driving member 311 arranged at the end of the extension arm, and a clamping block 312 arranged at the driving end of the first driving member 311; wherein the running directions of the first driving members 311 of the first clamping member 310 and the second clamping member 320 are opposite, and the two clamping blocks 312 are arranged relative to each other to realize the opening and closing movement of the clamping block 312; the first driving member 311 is used to drive the clamping block 312 to move, and the clamping block 312 is used to contact the reel. The clamping mechanism 300 has a multi-stage drive and sliding structure design, which realizes adaptive adjustment and precise control of the clamping mechanism 300.

[0035] In some embodiments, the clamping mechanism 300 includes a second driving member 380, which includes a main body and a telescopic rod 381 that is telescopic relative to the main body, and the telescopic direction of the telescopic rod 381 is along the second horizontal direction; the main body is fixed to the fixed plate 330, and the end of the telescopic rod 381 away from the main body is connected to the mounting plate 340, which is used to drive the mounting plate 340 to move along the second horizontal direction; wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0036] In this embodiment, the first driving member 311 and the second driving member 380 may be electric push rods or cylinders.

[0037] The cooperation between the second horizontal guide rail 331 and the slider allows the mounting plate 340 to slide along the second horizontal direction (Y direction), and the lateral distance between the clamp block 312 and the roll is dynamically adjusted through the second driving member 380 to adapt to the offset of rolls of different diameters or the roll carrier 400, thereby improving the compatibility of the device.

[0038] In some embodiments, a transverse limit member 370 is further included, and the transverse limit member 370 is used to limit the transverse movement distance of the mounting plate 340. Specifically, the transverse limit member 370 can be a limit bolt fixed to the fixing plate 330, and the limit bolt is used to abut against the side of the mounting plate 340 in the transverse direction, thereby achieving transverse limitation and improving the position accuracy of the transverse movement stroke of the first clamping member 310 and the second clamping member 320.

[0039] In some embodiments, a clamping jaw connecting plate 350 and a longitudinal limiting member 360 are further included. The clamping jaw connecting plate 350 is movably mounted on the mounting plate 340 in the longitudinal direction, and is specifically fixed to the mounting plate 340 by adjusting bolts 351. The two clamping jaws 301 are fixedly mounted on the clamping jaw connecting plate 350. The longitudinal limiting member 360 may be an adjusting block located at the upper and lower sides of the clamping jaw connecting plate 350. The adjusting block is mounted on the mounting plate 340. The adjusting block and the clamping jaw connecting plate 350 are longitudinally opposed. The longitudinal position of the adjusting block is adjustable on the mounting plate 340. By setting the longitudinal position of the adjusting block, the position of the clamping jaw connecting plate 350 relative to the mounting plate 340 can be positioned in the longitudinal direction, thereby improving the longitudinal position accuracy of the first clamping member 310 and the second clamping member 320. By adjusting the lateral and longitudinal positions, the second driving member 380 can drive the first clamping member 310 and the second clamping member 320 to move in the lateral direction, so as to achieve accurate clamping adjustment and alignment with the roll, thereby improving the accuracy of loading and unloading the roll. In some embodiments, the roll loading and unloading device also includes a first sensor 302, a second sensor and a controller. The first sensor 302 is arranged adjacent to the clamping area 303 between the first clamping member 310 and the second clamping member 320, and is used to detect the position signal of the roll between the first clamping member 310 and the second clamping member 320; the second sensor is arranged adjacent to the opening and closing movement part of the first clamping member 310 and the second clamping member 320, and is used to detect the closing signal of the first clamping member 310 and the second clamping member 320; the controller is electrically connected to the first sensor 302, the second sensor and the moving mechanism 100, and is used to control the operation of the moving mechanism 100 after receiving the position signal of the first sensor 302 and the closing signal detected by the second sensor, so as to move the roll to the set position of the roll carrier 400 through the clamping mechanism 300.

[0040] In this embodiment, the first sensor 302 can be installed on the side wall between the first clamping member 310 and the second clamping member 320 opposite to the clamping opening. When the roll is located in the clamping area 303, the first sensor 302 faces the side of the roll. The first sensor 302 can be a photoelectric sensor, a laser displacement sensor or an ultrasonic sensor, which is used to detect whether the roll enters the clamping area 303 and obtain its initial position deviation signal. The second sensor can be installed in the clamping block 312. The second sensor can be a magnetic proximity switch, a micro switch or a linear displacement sensor, which is used to confirm whether the clamping block 312 contacts the surface of the roll to ensure that the moving mechanism 100 is triggered after the clamping action is completed.

[0041] After the first sensor 302 detects that the roll is in place (one end of the roll is partially accommodated between the first clamping member 310 and the second clamping member 320), the second driving member 380 is triggered to adjust the Y-axis position of the mounting plate 340; after the second sensor detects that the clamping block 312 is closed, the controller controls the moving mechanism 100 to drive the roll to move to the target position along the X-axis. After reaching the target position, the first clamping member 310 and the second clamping member 320 are released, and the moving mechanism 100 is reset.

[0042] Figure 4 is a schematic diagram of the roll loading and unloading device in the first motion state shown in the embodiment of the present application; Figure 5 is a schematic diagram of the roll loading and unloading device in the second motion state shown in the embodiment of the present application; Figure 6 is a schematic diagram of the roll loading and unloading device shown in the embodiment of the present application in the third motion state; Figure 7 It is a schematic diagram of the roll loading and unloading device shown in the embodiment of the present application in the fourth movement state.

[0043] See also Figure 1-Figure 4 The loading process is as follows: in the initial state, the vertical support arm 200 is located at the A end, and the clamping mechanism 300 is located at the fixed end 410 of the roll carrier 400. When loading is required, the vertical support arm 200 moves to the B end, and the clamping mechanism 300 moves to the suspended end 420 of the roll carrier 400.

[0044] See also Figure 8, the reel 500 is placed on the suspended end 420 of the reel carrier 400 away from the fixed end 410 by an external device or manually, so that one end of the reel 500 is supported on the suspended end 420 of the reel carrier 400, and the first sensor 302 is triggered at this time. After receiving the detection information of the first sensor 302, the control controls the second driving member 380 to adjust the position of the mounting plate 340 so that the position relationship between the first clamping member 310 and the second clamping member 320 and the reel 500 meets the condition. When the position meets the condition, the first driving member 311 is controlled to close and clamp the reel 500, and then the moving mechanism 100 is controlled to operate so that the vertical support arm 200 returns to the A end. When the clamping mechanism 300 moves, it drives the reel 500 to move along the X direction to the target position of the reel carrier 400, so that the reel 500 is completely supported on the reel carrier 400, and the loading is completed at this time. After the loading is completed, the first clamping member 310 and the second clamping member 320 are released to release the reel 500.

[0045] The unloading process is as follows: the controller controls the second driving member 380 to adjust the position of the mounting plate 340 so that the positional relationship between the first clamping member 310 and the second clamping member 320 and the roll meets the conditions. When the position meets the conditions, the controller controls the first driving member 311 to close the clamping roll 500, and then controls the movement of the moving mechanism 100 to move the vertical support arm 200 from the A end to the B end, thereby moving the clamping mechanism 300 to drive the roll to move out of the roll carrier 400 along the X direction, and the unloading is completed at this time.

[0046] The solution of this embodiment realizes fully automated operation and high-precision guarantee of roll loading and unloading through the closed-loop control logic of the sensor and the controller. The first sensor 302 can monitor in real time whether the roll enters the clamping area 303, triggering the clamping mechanism 300 to start, and the second sensor detects the closed state of the clamp block 312 to ensure that the mobile mechanism 100 is started after the clamping is in place, to prevent malfunction when the clamping is not completed. The controller controls the second drive member 380 to adjust the Y position of the clamp block 312 according to the roll position signal, to ensure that the clamp block 312 is always aligned with the two sides of the vertical direction of the roll, to eliminate the clamping deviation caused by the roll tilt or the displacement of the carrier, and to further improve the positioning accuracy.

[0047] In this embodiment, when the roll is placed on the roll carrier 400, the second driving member 380 pushes the clamping block 312 to approach the roll along the Y direction, and then the first driving member 311 drives the clamping block 312 to close, and the clamping pressure is controlled by the pressure valve at 0.4-0.5MPa, and the friction between the clamping block 312 of the first clamping member 310 and the second clamping member 320 and the roll surface is 1200-3000N. The applicant has verified through experiments that this pressure and friction range can provide sufficient clamping force to prevent the roll from slipping, and can also avoid deformation or surface indentation of the roll (especially thin-walled or soft materials) caused by excessive pressure, taking into account both operational safety and material protection. In this embodiment, when the clamping mechanism 300 drags the roll to move horizontally, if the clamping pressure P=0.4∼0.5MPa, the contact area between the clamping block 312 and the roll is 80-100 cm², and the friction coefficient is 0.3-0.6, the clamping force is 1200-3000 N. This can provide sufficient clamping force to prevent the roll from slipping, and can also avoid deformation of the roll or surface indentation caused by excessive pressure.

[0048] In some embodiments, the material of the clamp block 312 may be a non-metal material with a hardness of ≤ Shore A 90 to avoid indentation caused by hard contact. The non-metal material of the clamp block 312 may be, for example, polyurethane rubber, nitrile rubber, silicone rubber, nylon or polytetrafluoroethylene. In this embodiment, polyurethane rubber may be preferably used. Polyurethane rubber has a high friction coefficient and moderate hardness, can provide sufficient friction without damaging the reel surface, has excellent wear resistance, and is suitable for long-term use.

[0049] A second aspect of the present application provides a loading and unloading control method of a roll loading and unloading device as described in the above embodiment.

[0050] Fig. 9 It is a flow chart of the loading and unloading material control method shown in the embodiment of the present application.

[0051] See also Figure 1 , Figure 2 and Fig. 9 , the method comprising: S110, the controller obtains a position signal of the roll between the first clamping member and the second clamping member of the clamping mechanism through the first sensor.

[0052] In this step, after one end portion of the roll is placed on the roll carrier 400, the first sensor 302 triggers a signal to confirm that the roll enters the clamping area 303, and the controller obtains a position signal of the roll.

[0053] S120: Based on the position signal, the controller controls the first driving member to drive the first clamping member and the second clamping member to close until the second sensor detects a closing signal of the first clamping member and the second clamping member.

[0054] In this step, the controller starts the first driving member 311 (eg, a cylinder) to drive the clamping blocks 312 of the first clamping member 310 and the second clamping member 320 to close until the magnetic switch detects that the movement stroke of the first driving member 311 is in place.

[0055] S130, in response to the closing signal, the controller controls the moving mechanism to move along the first horizontal guide rail, so as to drive the roll to move to the target position along the length direction of the roll carrier through the clamping mechanism.

[0056] In this step, the controller controls the servo motor 110 of the moving mechanism 100 to drive the vertical support arm 200 to move to the processing station along the X direction, and controls the first driving member 311 to release the clamping block 312 after reaching the processing station.

[0057] In the scheme of this embodiment, the controller first obtains the position signal of the roll between the first clamping member 310 and the second clamping member 320 of the clamping mechanism 300 through the first sensor 302, and then the controller controls the first driving member 311 to drive the first clamping member 310 and the second clamping member 320 to close based on the position signal, until the second sensor detects the closing signal of the first clamping member 310 and the second clamping member 320, and finally the controller controls the moving mechanism 100 to move along the first horizontal guide rail 120 in response to the closing signal, so as to drive the roll to move to the target position along the length direction of the roll carrier 400 through the clamping mechanism 300. In this way, the first sensor 302 detects the roll position in real time, triggers the clamping mechanism 300 to close automatically, replaces manual judgment and operation, and eliminates the clamping failure or delay caused by human misjudgment. After the second sensor detects the clamping closing signal, the moving mechanism 100 is allowed to start, ensuring that the clamping action is completed, and preventing the roll from slipping or equipment collision due to the clamping failure.

[0058] Fig.10 It is a flow chart of a loading and unloading control method shown in another embodiment of the present application.

[0059] See also Fig.10 In some embodiments, the method comprises: S110, the controller obtains a position signal of the roll between the first clamping member and the second clamping member of the clamping mechanism through the first sensor.

[0060] S120: Based on the position signal, the controller controls the first driving member to drive the first clamping member and the second clamping member to close until the second sensor detects a closing signal of the first clamping member and the second clamping member.

[0061] See the above description for step S110 and step S120, which will not be repeated here.

[0062] S121, based on the position signal, controls the second driving member to drive the mounting plate to move along the second horizontal guide rail to adjust the lateral positions of the first clamping member and the second clamping member relative to the roll in the second horizontal direction; wherein the adjusted lateral positions make the first clamping member and the second clamping member respectively align with the opposite side surfaces of the roll.

[0063] In this step, a second drive and a laser distance sensor are added. The laser sensors are symmetrically installed on both sides of the clamping mechanism to measure the Y-direction offset of the roll. After the photoelectric sensor is triggered, the laser sensor scans the distance between the two sides of the roll and calculates the center offset. The second drive drives the mounting plate to move so that the clamp block is symmetrically aligned with the center of the roll. The clamp block is pre-closed to a contact pressure of 0.4 MPa. The pressure difference on both sides of the roll is detected by the contact sensor, and the Y-direction position is dynamically fine-tuned until the pressure difference is ≤5%.

[0064] In this way, dynamic deviation correction and high-precision positioning can be achieved. Based on the roll position signal of the first sensor, the lateral position of the clamping mechanism is adjusted in real time through the second drive member to compensate for the initial placement deviation of the roll, ensure that the clamping blocks are symmetrically clamped at both ends of the roll diameter, and thus improve the clamping centering accuracy. The clamping force is evenly distributed on both sides of the roll, eliminating surface indentations or deformation caused by unilateral overpressure, which is especially suitable for fragile materials such as aluminum foil and polymer film. Moreover, it can avoid axial deviation during roll movement due to clamping deviation, and improve the quality consistency of subsequent processes. In addition, the adaptive adjustment function supports the clamping requirements of rolls of different diameters, without the need to manually replace the fixture or adjust the equipment parameters, reducing changeover time.

[0065] S122, during the closing process of the first clamping member and the second clamping member, the contact pressure between the clamping block and the surface of the roll is monitored in real time by the pressure sensor and fed back to the controller; when the contact pressure is outside the range of 0.4-0.5 MPa, the output pressure of the first driving member is controlled to stabilize the contact pressure within the range of 0.4-0.5 MPa.

[0066] In this step, when the clamp is closed, the pressure sensor monitors the contact pressure in real time. If the pressure exceeds 0.5 MPa, the controller reduces the opening of the air valve of the first drive member; if the pressure is lower than 0.4 MPa, the opening is increased to maintain the pressure at 0.4-0.5 MPa.

[0067] The clamping contact pressure is fed back in real time by the pressure sensor, and the output of the first drive member is dynamically adjusted in combination with the PID algorithm to stabilize the pressure within the range of 0.4-0.5 MPa, taking into account both clamping reliability (anti-slip) and surface protection (anti-overpressure). In this embodiment, when the pressure suddenly changes by more than 10% or is not stable after a timeout, an emergency stop is triggered and the clamp is released to prevent equipment damage caused by roll deformation, foreign body interference or sensor failure. This can prevent overpressure from damaging the roll (such as a lithium battery pole piece roll), leaving no indentation on the clamping surface and avoiding scratches on the pole piece surface coating.

[0068] S130, in response to the closing signal, the controller controls the moving mechanism to move along the first horizontal guide rail, so as to drive the roll to move to the target position along the length direction of the roll carrier through the clamping mechanism.

[0069] The method provided in this application can realize the closed-loop control of the whole process from roll detection, position correction, clamping force control to mobile positioning, reduce manual intervention, enable the roll to move accurately to the target station along the predetermined path, and eliminate the positioning error caused by manual pushing.

[0070] The third aspect of the present application also provides a controller and corresponding embodiments.

[0071] Fig.11 It is a schematic diagram of the structure of the controller shown in the embodiment of the present application.

[0072] See also Fig.11 , the controller 1100 includes a memory 1110 and a processor 1120. The processor 1120 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0073] In some specific embodiments, the controller 1100 can be a PLC (programmable logic controller), a motion controller, an embedded controller or an industrial computer + soft PLC, which can achieve precise positioning, adaptive clamping and safety control of the roll, meeting the user's core needs for automation, high precision and reliability.

[0074] The memory 1110 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor 1120 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even if the computer is powered off.

[0075] In some embodiments, the permanent storage device uses a large-capacity storage device (e.g., a magnetic or optical disk, a flash memory) as a permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (e.g., a floppy disk, an optical drive). The system memory may be a read-write storage device or a volatile read-write storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at runtime. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used.

[0076] In some embodiments, the memory 1110 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0077] The memory 1110 stores executable codes, and when the executable codes are processed by the processor 1120 , the processor 1120 can execute part or all of the methods described above.

[0078] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0079] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0080] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A roll loading and unloading device, characterized in that: include: A moving mechanism, the moving mechanism comprising a first horizontal guide rail and a vertical support arm that can reciprocate along the first horizontal guide rail, wherein the first horizontal guide rail is arranged along a first horizontal direction; A clamping mechanism, the clamping mechanism is installed at the upper end of the vertical support arm, the clamping mechanism comprises a first clamping member and a second clamping member which are arranged at intervals and can be opened and closed, the first clamping member and the second clamping member are used to clamp the reel carried on the reel carrying member; Wherein, the plane where the first clamping member and the second clamping member open and close is perpendicular to the length direction of the roll carrier; when the moving mechanism moves, it is used to move the roll along the roll carrier through the clamping mechanism.

2. The roll loading and unloading device according to claim 1 is characterized in that: The roll carrier is a columnar structure arranged in the transverse direction, and the roll carrier has a set height. The clamping mechanism is arranged on one side of the roll carrier, and the opening directions of the first clamping member and the second clamping member are toward the roll carrier.

3. The roll loading and unloading device according to claim 1 is characterized in that: The clamping mechanism comprises a fixed plate, on which a second horizontal guide rail and a slider sliding relative to the second horizontal guide rail are provided, and a mounting plate is mounted on the slider; The first clamping member and the second clamping member are mounted on the mounting plate and can slide with the slider, and the first clamping member and the second clamping member include an extension arm extending from the mounting plate, a first driving member disposed at the end of the extension arm, and a clamping block disposed at the driving end of the first driving member; The running directions of the first clamping member and the first driving member of the second clamping member are opposite, and the two clamping blocks are arranged opposite to each other; the first driving member is used to drive the clamping block to move, and the clamping block is used to contact the reel.

4. The roll loading and unloading device according to claim 3 is characterized in that: Also includes: A transverse limiter, the transverse limiter is used to limit the transverse movement distance of the mounting plate; and / or, A longitudinal limit member and a clamping jaw connecting plate, wherein the first driving member is mounted on the clamping jaw, and the clamping jaw connecting plate is movably mounted on the mounting plate in the longitudinal direction, and the clamping jaws of the first clamping member and the second clamping member are fixedly mounted on the clamping jaw connecting plate, and the longitudinal position of the clamping jaw connecting plate is adjustable on the mounting plate; the longitudinal limit member is mounted on the mounting plate and is located on the upper and lower sides of the clamping jaw connecting plate, and is against the clamping jaw connecting plate in the longitudinal direction.

5. The roll loading and unloading device according to claim 3 is characterized in that: The clamping mechanism includes a second driving member, the second driving member includes a main body and a telescopic rod that is telescopic relative to the main body, and the telescopic direction of the telescopic rod is along the second horizontal direction; The main body is fixed to the fixing plate, and one end of the telescopic rod away from the main body is connected to the mounting plate for driving the mounting plate to move along a second horizontal direction; wherein the first horizontal direction is perpendicular to the second horizontal direction.

6. The roll loading and unloading device according to claim 5, characterized in that: Also includes: A first sensor is disposed adjacent to a clamping area between the first clamping member and the second clamping member, and is used to detect a position signal of the roll between the first clamping member and the second clamping member; A second sensor is disposed adjacent to the opening and closing movement portion of the first clamping member and the second clamping member, and is used to detect a closing signal of the first clamping member and the second clamping member; a controller, electrically connected to the first sensor, the second sensor, the second driving member and the moving mechanism; for controlling the movement mechanism to operate after receiving the position signal of the first sensor and the closing signal detected by the second sensor, so as to move the roll to the set position of the roll carrier through the clamping mechanism; And it is used to control the operation of the second driving member according to the received position signal of the reel to adjust the displacement of the first clamping member and the second clamping member relative to the reel in the second direction, so that the clamping blocks of the first clamping member and the second clamping member are respectively clamped on the opposite sides of the reel.

7. The roll loading and unloading device according to claim 1 is characterized in that: The pressure exerted by the first clamping member and the second clamping member on the two side surfaces of the reel in the vertical direction is 0.4~0.5Mpa; the friction force between the clamping blocks of the first clamping member and the second clamping member and the surface of the reel is 1200~3000N.

8. A method for controlling loading and unloading of a roll loading and unloading device according to any one of claims 1 to 7, characterized in that: include: Acquiring a position signal of the reel between the first clamping member and the second clamping member of the clamping mechanism through a first sensor; Based on the position signal, controlling the first driving member to drive the first clamping member and the second clamping member to close until the second sensor detects a closing signal of the first clamping member and the second clamping member; In response to the closing signal, the moving mechanism is controlled to move along the first horizontal guide rail, so as to drive the roll to move to a target position along the length direction of the roll carrier through the clamping mechanism.

9. The material loading and unloading control method according to claim 8, characterized in that: The method of controlling the first driving member to drive the first clamping member and the second clamping member to close based on the position signal until the second sensor detects a closing signal of the first clamping member and the second clamping member comprises: Based on the position signal, controlling the second driving member to drive the mounting plate to move along the second horizontal guide rail to adjust the lateral position of the first clamping member and the second clamping member relative to the reel in the second horizontal direction; The adjusted lateral position enables the first clamping member and the second clamping member to align with the opposite side surfaces of the roll, respectively.

10. The material loading and unloading control method according to claim 8 or 9, characterized in that: Also includes During the closing process of the first clamping member and the second clamping member, the contact pressure between the clamping block and the surface of the reel is monitored in real time by the pressure sensor and fed back to the controller; When the contact pressure is outside the range of 0.4-0.5 MPa, the output pressure of the first driving member is controlled to stabilize the contact pressure within the range of 0.4-0.5 MPa.

11. A controller, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 8 to 10.

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