Packing material roll shaft penetrating equipment

Abstract

The invention relates to the technical field of food packaging, and provides packing material roll shaft penetrating equipment which comprises a packing material roll transfer trailer, a packing material roll film tearing device and a packing material roll shaft penetrating device. The packing material roll transfer trailer is used for bearing a vertically-arranged packing material roll and carrying the packing material roll to one side of the packing material roll shaft penetrating device. The packing material roll film tearing device comprises two sets of film tearing mechanisms, and the two sets of film tearing mechanisms are arranged on the opposite sides of the packing material roll in the axial direction of the packing material roll so as to tear off a protective film in the area where a center hole of the packing material roll is located; the packing material roll shaft penetrating device comprises a transfer robot, and the transfer robot is used for picking up the rotating shaft module and penetrating the rotating shaft module into a center hole of a packing material roll. According to the packaging material roll transferring device, manual carrying and shaft penetrating of the packaging material roll are not needed, automation of packaging material roll transferring is achieved, and the labor cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of food packaging, in particular to a packaging material rolling and threading shaft device. Background Art

[0002] During the dairy product filling process, packaging material is supplied to the filling machine via a packaging material preparation line. As the filling process progresses, the packaging material is consumed, and freshly opened rolls of packaging material need to be delivered to the filling machine to replace the nearly depleted rolls.

[0003] In the prior art, the packaging roll is typically flipped before being transferred from the flipping station to the spindle threading station. At the spindle threading station, a spindle module is inserted through the center hole of the roll. The spindle module is then placed on a forklift or lifting equipment to transfer the roll to the label removal station. However, in practice, most operations rely solely on manual labor, resulting in a low degree of automation. This not only increases labor costs but also significantly impacts the efficiency of the entire packaging material preparation line. Summary of the Invention

[0004] The present invention provides a packaging material roll threading device, which is used to solve the problems of low efficiency and high labor cost in the prior art of manually threading the packaging material roll.

[0005] The present invention provides a packaging material roll threading device, comprising: a packaging material roll transfer trolley, a packaging material roll film tearing device and a packaging material roll threading device;

[0006] The packaging material roll transfer trolley is used to support the vertically arranged packaging material roll and transport the packaging material roll to one side of the packaging material roll threading shaft device;

[0007] The packaging material roll film tearing device includes two sets of film tearing mechanisms, which are arranged on opposite sides of the packaging material roll along the axial direction of the packaging material roll to tear off the protective film in the area where the central hole of the packaging material roll is located;

[0008] The packaging material roll shaft threading device includes a transfer robot, which is used to pick up the shaft module and thread the shaft module into the center hole of the packaging material roll.

[0009] According to a packaging material roll threading device provided by the present invention, the packaging material roll transfer trolley includes a mobile platform, a supporting seat and a clamping mechanism;

[0010] The supporting seat and the clamping mechanism are respectively arranged on the mobile platform, and the supporting seat is used to support the packaging material roll;

[0011] The clamping mechanism includes a first clamping unit and a second clamping unit; the first clamping unit and the second clamping unit are respectively arranged on both sides of the supporting seat, and clamp the packaging material roll along the axial direction of the packaging material roll.

[0012] According to a packaging material winding and threading shaft device provided by the present invention, at least one of the first clamping unit and the second clamping unit is provided with a driving component; the rotating shaft module includes a rotating shaft, a driving gear and an opening and closing mechanism;

[0013] The driving gear is provided at the end of the rotating shaft, the opening and closing mechanism is provided at the middle of the rotating shaft, and the driving component and the opening and closing mechanism are connected by power coupling to drive the opening and closing mechanism to switch between a locked state and a released state;

[0014] When the opening and closing mechanism is in a locked state, the opening and closing mechanism is in contact with the packaging material roll; when the opening and closing mechanism is in a separated state, the opening and closing mechanism is separated from the packaging material roll.

[0015] According to the packaging material winding and threading shaft device provided by the present invention, the driving component includes a power motor and a control gear; the opening and closing mechanism includes a clutch gear, a clutch disk, a fixed disk and a plurality of locking parts;

[0016] The output end of the power motor is connected to the control gear; the clutch gear, the clutch plate and the fixed plate are sequentially sleeved on the rotating shaft; the control gear is configured to be meshed with the clutch gear, and the clutch gear and the clutch plate are connected to drive the clutch plate to rotate relative to the rotating shaft; the fixed plate is connected to the rotating shaft; a plurality of locking members are circumferentially arranged on the fixed plate, and the clutch plate is respectively connected to the transmission ends of a plurality of locking members; the clutch plate can control the plurality of locking members in linkage when rotating, so that the opening and closing mechanism switches between a locked state and a disengaged state;

[0017] When the opening and closing mechanism is in a locked state, the locking ends of each locking member synchronously move away from the rotating shaft to lock the packaging material roll; when the opening and closing mechanism is in a separated state, the locking ends of each locking member synchronously approach the rotating shaft to release the locking restriction on the packaging material roll.

[0018] According to a packaging material winding and threading shaft device provided by the present invention, the film tearing mechanism includes a driving platform, a first robotic arm and a second robotic arm; the first robotic arm and the second robotic arm are respectively arranged on the driving platform, and the driving platform is used to drive the first robotic arm and the second robotic arm to move toward or away from each other in a straight line direction;

[0019] When the film-tearing mechanism is in the first film-tearing state, the execution ends of the first robotic arm and the second robotic arm are close to each other and connected to the protective film in the area where the central hole of the packaging material roll is located;

[0020] When the film-tearing mechanism is in the second film-tearing state, the execution ends of the first robotic arm and the second robotic arm are away from each other to tear off the protective film in the area where the central hole of the packaging material roll is located.

[0021] According to the packaging material winding and threading shaft device provided by the present invention, the execution end includes a mechanical claw and a negative pressure adsorption head;

[0022] The mechanical claw is used to be hung on the protective film, and the negative pressure adsorption head is used to be adsorbed on the surface of the protective film.

[0023] According to a packaging material winding and threading shaft device provided by the present invention, at least one of the first robotic arm and the second robotic arm includes a linear lifting module and a linear translation module;

[0024] The linear lifting module is arranged on the driving platform, the slide of the linear lifting module is connected to the linear translation module, and the execution end is arranged on the slide of the linear translation module;

[0025] The slide of the linear lifting module is used to control the lifting and lowering of the linear translation module in the vertical direction, and the slide of the linear translation module is used to control the axial translation of the execution end along the packaging material roll.

[0026] According to a packaging material winding and threading shaft device provided by the present invention, the transfer robot includes a robotic arm, a plug and a clamp;

[0027] The plug and the clamp are provided at the execution end of the robotic arm, the clamp is used to clamp the shaft module, and the robotic arm can control the movement of the execution end so that the execution end is in a first posture and a second posture;

[0028] When the execution end is in the first posture, the plug is inserted into the central hole of the packaging material roll to pierce the protective film on the packaging material roll corresponding to the central hole area;

[0029] When the execution terminal is in the second posture, the rotating shaft module is inserted into the central hole of the packaging material roll.

[0030] According to the present invention, a packaging material roll threading device further includes: a packaging material roll transfer device, the packaging material roll transfer device including a support stand, a translation stand and a supporting assembly;

[0031] The support frame has a first area and a second area, and the translation stage is mounted on the support frame and can translate between the first area and the second area;

[0032] The first area of ​​the support frame is provided with a first notch, and the first notch is used to dock the packaging material roll transfer trolley; the support assembly includes a first lifting bracket and a second lifting bracket, and the first lifting bracket and the second lifting bracket are spaced apart and arranged on the translation frame;

[0033] When the translation stage is in the first area, the first lifting bracket and the second lifting bracket are respectively arranged on both sides of the packaging material roll and can be supported on both ends of the rotating shaft module.

[0034] According to the packaging material winding and threading shaft device provided by the present invention, the first lifting bracket and the second lifting bracket have the same structure, both including a linear slide module and a bracket;

[0035] The slide of the linear slide module is connected to the bracket to drive the bracket to rise and fall in the vertical direction; the bracket is used to support the end of the rotating shaft module.

[0036] The present invention provides a packaging material roll threading device, comprising: a packaging material roll transfer trolley, a packaging material roll film tearing device and a packaging material roll threading device. The packaging material roll transfer trolley is used to support the vertically arranged packaging material roll and transport the packaging material roll to one side of the packaging material roll threading device; when the packaging material roll is located at the threading station, two sets of film tearing mechanisms are arranged on opposite sides of the packaging material roll along the axial direction of the packaging material roll to tear off the protective film in the area where the center hole of the packaging material roll is located; at the same time, the transfer robot of the packaging material roll threading device can move to the storage area of ​​the rotating shaft module to pick up the rotating shaft module and can thread the rotating shaft module into the center hole of the packaging material roll, so that other handling tools can lift the two ends of the rotating shaft module to transfer the packaging material roll to the next station, without the need for manual transportation and threading of the packaging material roll, thereby realizing the automation of packaging material roll transfer and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a schematic diagram of the overall structure of the packaging material winding and threading shaft device provided by the present invention;

[0039] Figure 2This is one of the structural schematic diagrams of the packaging material roll transfer trolley provided by the present invention;

[0040] Figure 3 This is the second structural schematic diagram of the packaging material roll transfer trolley provided by the present invention;

[0041] Figure 4 It is a structural schematic diagram of the rotating shaft module provided by the present invention;

[0042] Figure 5 The present invention provides Figure 4 Structural diagram of the middle opening and closing mechanism;

[0043] Figure 6 This is one of the structural schematic diagrams of the packaging material roll film tearing device provided by the present invention;

[0044] Figure 7 This is the second structural schematic diagram of the packaging material roll film tearing device provided by the present invention;

[0045] Figure 8 It is a structural schematic diagram of the packaging material winding and threading shaft device provided by the present invention;

[0046] Figure 9 The present invention provides Figure 8 Schematic diagram of the partial structure of the transfer robot;

[0047] Figure 10 It is a structural schematic diagram of the storage rack provided by the present invention;

[0048] Figure 11 This is one of the structural schematic diagrams of the packaging material roll transfer device provided by the present invention;

[0049] Figure 12 This is the second structural schematic diagram of the packaging material roll transfer device provided by the present invention.

[0050] Reference numerals:

[0051] 1. Rotating shaft module; 100. Packaging material roll; 200. AGV transport vehicle; 300. AGV trolley; 11. Rotating shaft; 12. Drive gear; 13. Opening and closing mechanism; 14. Positioning plate; 131. Clutch gear; 132. Clutch plate; 1321. Arc guide; 134. Locking member;

[0052] 4. Packaging material roll threading equipment; 41. Packaging material roll transfer trolley; 411. Mobile platform; 412. Support seat; 413. Clamping mechanism; 414. Driving component; 415. Lifting mechanism; 416. Support rail; 4111. Travel drive mechanism; 4121. First supporting plate; 4122. Second supporting plate; 4131. First clamping unit; 4132. Second clamping unit; 4141. Power motor; 4142. Control gear; 41311. Fixed bracket; 41312. Mobile bracket; 41313. Linear drive member; 41314. Clamping plate;

[0053] 42. Packaging roll film-tearing device; 421. Film-tearing mechanism; 4211. Drive platform; 4212. First robotic arm; 4213. Second robotic arm; 42111. Guide platform; 42112. Rotating motor; 42121. Actuator; 42122. Linear lift module; 42123. Linear translation module; 4210. Mechanical claw; 42101. Connecting arm; 42102. Hook; 42103. Negative pressure suction head; 42113. Drive screw; 42114. First transfer base; 42115. Second transfer base; 42100. First screw segment; 42200. Second screw segment.

[0054] 43. Packaging material winding and threading device; 431. Transfer robot; 432. Storage rack; 433. Workbench; 4311. Robotic arm; 4312. Plug; 4313. Clamp; 4321. Fixed bracket; 4322. Mobile bracket; 43111. Mobile seat; 43112. Rotating arm; 43113. Upper arm; 43114. Crank arm; 43115. Lower arm; 43116. Pitching arm; 43121. Plug body; 43122. Cutting knife; 43221. First vertical support plate; 43222. Second vertical support plate; 43223. Connecting rod; 4331. Screw drive mechanism;

[0055] 44. Packaging material roll transfer device; 441. Support stand; 442. Translation stand; 443. Support assembly; 444. Linear drive mechanism; 4411. First area; 4412. Second area; 4413. Positioning member; 44111. First notch; 4431. First lifting bracket; 4432. Second lifting bracket; 4421. First frame; 4422. Second frame; 4423. Third frame; 44311. Linear slide module; 44312. Bracket; 44301. Adapter; 44302. Supporting part; 44303. Positioning groove. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0057] The following combination Figures 1-12 , the packaging material rolling and threading shaft equipment provided by the embodiment of the present invention is described in detail through specific embodiments and application scenarios.

[0058] like Figure 1 As shown, the present invention provides a packaging material roll threading shaft device 4, including: a packaging material roll transfer trolley 41, a packaging material roll film tearing device 42 and a packaging material roll threading shaft device 43.

[0059] The packaging material roll transfer trolley 41 is used to support the vertically arranged packaging material roll 100 and transport the packaging material roll 100 to one side of the packaging material roll threading device 43 .

[0060] The packaging material roll film tearing device 42 includes two sets of film tearing mechanisms 421. The two sets of film tearing mechanisms 421 are arranged on opposite sides of the packaging material roll 100 along the axial direction of the packaging material roll 100 to tear off the protective film in the area where the central hole of the packaging material roll 100 is located.

[0061] The packaging material roll shaft threading device 43 includes a transfer robot 431 . The transfer robot 431 is used to pick up the shaft module 1 and thread the shaft module 1 into the central hole of the packaging material roll 100 .

[0062] It is understood that the packaging material roll transfer trolley 41 is arranged between the packaging material roll 100 turning station and the shaft threading station, so that the vertical packaging material roll 100 can be transferred to the packaging material roll shaft threading device 43 through the packaging material roll transfer trolley 41. The packaging material roll film tearing device 42 is located at the packaging material roll 100 shaft threading station, and can tear off the protective film at the center hole of the packaging material roll 100. Figure 1 As shown, the packaging material roll 100 is supported on a packaging material roll transfer trolley 41, and two sets of film tearing mechanisms 421 are located at opposite ends of the packaging material roll 100. The two sets of film tearing mechanisms 421 cooperate and move to the ends of the center hole of the packaging material roll 100 to tear off the protective film on the wall of the center hole of the packaging material roll 100.

[0063] After the protective film at the center hole of the packaging material roll 100 is removed, the shaft module 1 is threaded through the center hole of the packaging material roll 100 by the packaging material roll threading device 43. The shaft module 1 is placed in a fixed storage area. The transfer robot 431 is located between the shaft module 1 storage area and the packaging material roll 100 threading station to pick up the shaft module 1 and thread it through the center hole of the packaging material roll 100.

[0064] The present invention provides a packaging material roll threading device 4, comprising: a packaging material roll transfer trolley 41, a packaging material roll film tearing device 42 and a packaging material roll threading device 43. The packaging material roll transfer trolley 41 is used to support a vertically arranged packaging material roll 100 and transport the packaging material roll 100 to one side of the packaging material roll threading device 43; when the packaging material roll 100 is located at the threading station, two sets of film tearing mechanisms 421 are arranged on opposite sides of the packaging material roll 100 along the axial direction of the packaging material roll 100 to tear the film in the area where the center hole of the packaging material roll 100 is located. The protective film is torn off; at the same time, the transfer robot 431 of the packaging material roll threading device 43 can move to the storage area of ​​the shaft module 1 to pick up the shaft module 1, and can thread the shaft module 1 into the center hole of the packaging material roll 100, so that other handling tools can lift the two ends of the shaft module 1 to transfer the packaging material roll 100 to the next workstation. There is no need to manually transport and thread the packaging material roll 100, which realizes the automation of the transfer of the packaging material roll 100 and saves labor costs.

[0065] The following combination Figure 2-Figure 12 , a detailed introduction is given to the packaging material roll transfer trolley 41, the packaging material roll film tearing device 42, the packaging material roll shaft threading device 43 and the packaging material roll transfer device 44 provided by the present invention.

[0066] Specifically, if Figure 2 and Figure 3 As shown, the packaging material roll transfer trolley 41 includes a mobile platform 411, a supporting seat 412 and a clamping mechanism 413. The supporting seat 412 and the clamping mechanism 413 are respectively arranged on the mobile platform 411, and the supporting seat 412 is used to support the packaging material roll 100.

[0067] The clamping mechanism 413 includes a first clamping unit 4131 and a second clamping unit 4132. The first clamping unit 4131 and the second clamping unit 4132 are respectively provided on either side of the supporting seat 412 and clamp the packaging material roll 100 along its axial direction.

[0068] It is understood that the packaging material roll 100 flipping device is used to flip a flat packaging material roll 100 to a vertical packaging material roll 100 to facilitate the threading of the packaging material roll 100. A packaging material roll transfer trolley 41 is provided between the packaging material roll 100 flipping device and the packaging material roll threading device 43 to transfer the flipped packaging material roll 100 to the packaging material roll threading device 43.

[0069] Specifically, if Figure 1As shown, a mobile platform 411 is mounted on the body of the packaging material roll transfer vehicle 41 and is capable of reciprocating in the direction of the vehicle's extension. A support 412 is secured to the top of the mobile platform 411, allowing the vertical packaging material roll 100 to be transferred from the packaging material roll 100 turning device to the packaging material roll threading device 43 along with the mobile platform 411. A clamping mechanism 413 is mounted on the top of the mobile platform 411. During movement, the mobile platform 411 secures the packaging material roll 100 via the clamping mechanism 413, preventing it from falling off.

[0070] The present invention provides a packaging material roll transfer trolley 41, wherein a mobile platform 411 is configured to move between a packaging material roll 100 turning device and a packaging material roll shaft threading device 43, and the vertical packaging material roll 100 is transferred from the packaging material roll 100 turning device to the packaging material roll shaft threading device 43 for shaft threading through the mobile platform 411. A supporting seat 412 and a clamping mechanism 413 are respectively arranged on the mobile platform 411, and the supporting seat 412 is used to support the vertically arranged packaging material roll 100, and the clamping mechanism 413 is used to clamp and fix the packaging material roll 100, thereby ensuring the stability of the packaging material roll 100 during movement and preventing the packaging material roll 100 from slipping; the packaging material roll 100 does not need to be manually handled, thereby realizing the automation of transferring the packaging material roll 100 and saving labor costs.

[0071] In some embodiments, as Figure 2 and Figure 3 As shown, the clamping mechanism 413 includes a first clamping unit 4131 and a second clamping unit 4132. The first clamping unit 4131 and the second clamping unit 4132 are respectively provided on both sides of the supporting seat 412 and clamp the packaging material roll 100 along its axial direction.

[0072] It is understandable that if Figure 2 As shown, the support seat 412 is located in the middle area of ​​the top of the movable platform 411. The first clamping unit 4131 and the second clamping unit 4132 are arranged side by side, perpendicular to the direction of movement of the movable platform 411, and are located on opposite sides of the support seat 412. The opposite end surfaces of the packaging material roll 100 are respectively abutted against the first clamping unit 4131 and the second clamping unit 4132.

[0073] Specifically, if Figure 3 As shown, at least one of the first clamping unit 4131 and the second clamping unit 4132 includes a fixed bracket 41311, a movable bracket 41312, a linear drive 41313, and a clamping plate 41314. The fixed bracket 41311 is disposed on the movable platform 411, the movable bracket 41312 is movably disposed on the fixed bracket 41311 along the axial direction of the packaging material roll 100, at least a portion of the linear drive 41313 is disposed on the fixed bracket 41311, and the clamping plate 41314 is disposed on a side of the movable bracket 41312 facing the supporting base 412.

[0074] The linear drive member 41313 is used to drive the movable bracket 41312 to move relative to the fixed bracket 41311 , so that the movable bracket 41312 drives the clamping plate 41314 to contact or separate from the end surface of the packaging material roll 100 .

[0075] It is understandable that the specific structures of the first clamping unit 4131 and the second clamping unit 4132 can be the same. Taking the first clamping unit 4131 as an example, the first clamping unit 4131 includes a fixed bracket 41311, a movable bracket 41312 and a clamping plate 41314. Figure 3 As shown, the fixed bracket 41311 is fixed on the mobile platform 411. The extension direction of the fixed bracket 41311 is parallel to the moving direction of the mobile platform 411. The mobile bracket 41312 is movably provided on the fixed bracket 41311 and can move along the axial direction of the packaging material roll 100.

[0076] Furthermore, if Figure 3 As shown, the first clamping unit 4131 further includes a linear drive member 41313. A portion of the linear drive member 41313 is fixed to the fixed bracket 41311. The driving end of the linear drive member 41313 extends parallel to the axial direction of the packaging material roll 100. The driving end of the linear drive member 41313 is connected to the movable bracket 41312 to drive the movable bracket 41312 toward or away from the packaging material roll 100. A clamping plate 41314 is fixed to the movable bracket 41312 and can move with the movable bracket 41312 to clamp the end surface of the packaging material roll 100.

[0077] During the movement and threading process of the packaging material roll 100, the clamping plates 41314 of the first clamping unit 4131 and the clamping plates 41314 of the second clamping unit 4132 respectively move toward the packaging material roll 100 to clamp the opposite end surfaces of the packaging material roll 100. After the threading of the packaging material roll 100 is completed, the clamping plates 41314 of the first clamping unit 4131 and the clamping plates 41314 of the second clamping unit 4132 move away from each other to release the packaging material roll 100.

[0078] Alternatively, one of the first clamping unit 4131 and the second clamping unit 4132 may be fixed relative to the movable platform 411 , and the clamping plate 41314 of the other one may move along the axial direction of the packaging material roll 100 .

[0079] In some embodiments, as Figure 3As shown, the linear drive element 41313 is a screw drive mechanism 4331. The output end of the screw motor is connected to the screw of the screw drive mechanism 4331. The screw nut of the screw drive mechanism 4331 is connected to the bottom end of the movable bracket 41312. The movable bracket 41312 is connected to the clamping plate 41314. The screw motor drives the screw 42113 to rotate, which in turn drives the screw nut to move linearly. The movable bracket 41312 moves in conjunction with the screw nut, and the clamping plate 41314 moves in conjunction with the movable bracket 41312, thereby driving the clamping plate 41314 into contact with or separation from the end surface of the packaging material roll 100.

[0080] Furthermore, if Figure 3 As shown, in the packaging material winding and threading shaft device 4 provided by the present invention, at least one of the first clamping unit 4131 and the second clamping unit 4132 is provided with a driving component 414. The shaft module 1 includes a shaft 11, a driving gear 12 and an opening and closing mechanism 13.

[0081] The driving gear 12 is provided at the end of the rotating shaft 11. The opening and closing mechanism 13 is provided at the middle of the rotating shaft 11. The driving component 414 is coupled to the opening and closing mechanism 13 by power to drive the opening and closing mechanism 13 to switch between the locked state and the released state.

[0082] When the opening and closing mechanism 13 is in the locked state, the opening and closing mechanism 13 is in contact with the packaging material roll 100. When the opening and closing mechanism 13 is in the separated state, the opening and closing mechanism 13 is separated from the packaging material roll 100.

[0083] It is understood that the shaft module 1 is used to pass through the center hole of the packaging material roll 100. The packaging material roll 100 is passed through the shaft so that the AGV transporter 200 can clamp the ends of the shaft module 1 to achieve the transfer of the packaging material roll 100. The shaft 11 is set through the center hole of the packaging material roll 100.

[0084] like Figure 3 As shown, the driving component 414 is provided in the clamping mechanism 413 and is used to drive the opening and closing mechanism 13 to switch between the locked state and the separated state. When the opening and closing mechanism 13 is in the locked state, the opening and closing mechanism 13 can lock the packaging material roll 100 to firmly fix the shaft module 1 in the center hole of the packaging material roll 100.

[0085] Specifically, if Figure 4 and Figure 5 As shown, the packaging material winding and threading shaft device 4 provided by the present invention has a driving component 414 including a power motor 4141 and a control gear 4142. The opening and closing mechanism 13 includes a clutch gear 131, a clutch disk 132, a fixed disk and a plurality of locking members 134.

[0086] The output end of the power motor 4141 is connected to the control gear 4142. The clutch gear 131, the clutch disc 132 and the fixed disc are sequentially sleeved on the rotating shaft 11. The control gear 4142 is configured to be engaged with the clutch gear 131, and the clutch gear 131 and the clutch disc 132 are connected to drive the clutch disc 132 to rotate relative to the rotating shaft 11. The fixed disc is connected to the rotating shaft 11. A plurality of locking members 134 are circumferentially arranged on the fixed disc, and the clutch disc 132 is respectively connected to the transmission ends of the plurality of locking members 134. The clutch disc 132 can control the plurality of locking members 134 in linkage when rotating, so that the opening and closing mechanism 13 can switch between a locked state and a separated state.

[0087] When the opening and closing mechanism 13 is in a locked state, the locking ends of each locking member 134 synchronously move away from the rotating shaft 11 to lock the packaging material roll 100; when the opening and closing mechanism 13 is in a separated state, the locking ends of each locking member 134 synchronously approach the rotating shaft 11 to release the locking restriction on the packaging material roll 100.

[0088] It is understood that the clutch gear 131, clutch plate 132, and fixed plate are all configured with a center hole to enable the clutch gear 131, clutch plate 132, and fixed plate to be coaxially arranged and sequentially sleeved on the circumferential wall of the rotating shaft 11. The clutch gear 131 and clutch plate 132 are coaxially connected and are both rotatably sleeved on the circumferential wall of the rotating shaft 11. When the clutch gear 131 receives a rotational driving force, the clutch gear 131 drives the clutch plate 132 to rotate relative to the rotating shaft 11. The fixed plate can be fixedly connected to the rotating shaft 11 via a key or locking bolt.

[0089] At the same time, since the clutch disc 132 and the fixed disc are coaxially arranged, when the plurality of locking members 134 are arranged along the circumference of the fixed disc, the plurality of locking members 134 are also arranged along the circumference of the clutch disc 132 .

[0090] Optionally, each locking member 134 can be movably mounted on the fixed disk, for example, rotatably mounted on the fixed disk, or movably mounted on the fixed disk along a specific linear direction. Alternatively, the clutch disk 132 can be connected to the transmission ends of each of the locking members 134 via a hinged or contact connection. In this manner, when the clutch disk 132 rotates relative to the rotating shaft 11, the clutch disk 132 can simultaneously apply force to the transmission ends of each of the locking members 134, causing the locking ends of each of the locking members 134 to synchronously abut or separate from the inner wall of the packaging material roll 100.

[0091] In practice, the opening and closing mechanism 13 is sleeved around the circumference of the rotating shaft 11 and, along with the rotating shaft 11, is inserted into the central hole of the packaging material roll 100. The operator applies a driving force to the clutch gear 131 using a rotary drive device, which drives the clutch disc 132 to rotate. The clutch disc 132 then controls the locking state between each locking member 134 and the packaging material roll 100.

[0092] When the locking ends of the multiple locking members 134 are separated from the inner wall of the packaging material roll 100, the distance between the locking ends of the multiple locking members 134 and the center of the fixed disk is less than or equal to the diameter of the fixed disk; when the locking ends of the multiple locking members 134 abut against the inner wall of the packaging material roll 100, the distance between the locking ends of each locking member 134 and the center of the fixed disk is greater than the diameter of the fixed disk.

[0093] The diameter of the fixing disk is smaller than or equal to the inner diameter of the central hole of the packaging material roll 100 .

[0094] For the rotating shaft module 1 shown in this embodiment, by configuring the rotating shaft module 1 with a rotating shaft 11, a driving gear 12 and an opening and closing mechanism 13, after the entire rotating shaft module 1 is inserted into the center hole of the packaging material roll 100, the opening and closing mechanism 13 is controlled to switch between a locked state and a separated state to control the locking state of the packaging material roll 100 by the opening and closing mechanism 13, so as to conveniently control the rotating shaft 11 and the packaging material roll 100 to be combined into one or separated based on the opening and closing mechanism 13. This design facilitates supporting the rotating shaft 11 of the rotating shaft module 1 on a transfer device to transport the packaging material roll 100, thereby preventing the packaging material roll 100 from shaking relative to the rotating shaft 11 during transportation.

[0095] As can be seen from the above, the rotating shaft module 1 shown in the present invention is not only convenient for the reliable transportation of the packaging material roll 100, but also convenient for driving the packaging material roll 100 to rotate, which facilitates the film tearing and label removal operations of the packaging material roll 100, and is beneficial to improving the production efficiency of the packaging material preparation production line.

[0096] In some embodiments, as Figure 5 As shown, the clutch disc 132 is provided with a plurality of arc-shaped guide portions 1321 along the circumferential direction, and the plurality of arc-shaped guide portions 1321 and the plurality of locking members 134 are arranged opposite to each other.

[0097] At least part of the locking member 134 is movably provided on the fixed disk, and the transmission end of the locking member 134 contacts the side wall of the arc-shaped guide portion 1321; along the extension direction from the head end to the end of the arc-shaped guide portion 1321, the distance between the side wall of the arc-shaped guide portion 1321 and the rotating shaft 11 gradually increases, so that in the process of the transmission end of the locking member 134 moving from the head end to the end of the arc-shaped guide portion 1321 relative to the arc-shaped guide portion 1321, the transmission end of the locking member 134 gradually moves away from the position where the rotating shaft 11 is located.

[0098] Specifically, the clutch disc 132 can rotate between a first position and a second position relative to the rotating shaft 11 . The rotation state of the clutch disc 132 will be described below in conjunction with the moving state of the locking member 134 .

[0099] like Figure 5 As shown, when the clutch disk 132 is in the first position, the transmission end of the locking member 134 contacts the side wall corresponding to the head end of the arc-shaped guide portion 1321; at this time, the side wall corresponding to the head end of the arc-shaped guide portion 1321 reaches the minimum distance relative to the rotating shaft 11, so that the distance between the locking end of the locking member 134 and the center of the fixed disk is less than or equal to the diameter of the fixed disk, so that the opening and closing mechanism 13 is in a separated state, and the locking ends of each locking member 134 are separated from the inner wall of the packaging material roll 100.

[0100] like Figure 5 As shown, when the clutch disk 132 is in the second position, the transmission end of the locking member 134 contacts the side wall corresponding to the end of the arc-shaped guide portion 1321; at this time, the side wall corresponding to the head end of the arc-shaped guide portion 1321 reaches the maximum distance relative to the rotating shaft 11, so that the distance between the locking end of the locking member 134 and the center of the fixed disk is greater than the diameter of the fixed disk, so that the opening and closing mechanism 13 is in a locked state, and the locking ends of each locking member 134 abut against the inner wall of the packaging material roll 100.

[0101] In some embodiments, as Figure 5 As shown, the rotating shaft module 1 further includes a positioning disk 14 ; the positioning disk 14 is connected to the rotating shaft 11 and is spaced apart from the opening and closing mechanism 13 .

[0102] When the opening and closing mechanism 13 is in a locked state, the locking ends of each locking member 134 on the opening and closing mechanism 13 abut against the first end of the packaging material roll 100; when the opening and closing mechanism 13 is in a separated state, the locking ends of each locking member 134 on the opening and closing mechanism 13 are separated from the first end of the packaging material roll 100; the positioning plate 14 is used to abut against the second end of the packaging material roll 100.

[0103] It is understandable that the distance between the positioning disc 14 and the opening and closing mechanism 13 is adapted to the axial width of the packaging material roll 100 .

[0104] When the shaft module 1 is inserted into the center hole of the packaging material roll 100, the end of the shaft 11 equipped with the opening and closing mechanism 13 is first inserted into the center hole of the packaging material roll 100. When the opening and closing mechanism 13 reaches the first end of the packaging material roll 100, the positioning plate 14 is located at the second end of the packaging material roll 100. At this time, the opening and closing mechanism 13 is controlled to be in a locked state, so that the locking ends of the locking members 134 on the opening and closing mechanism 13 can abut against the first end of the packaging material roll 100. Because the positioning plate 14 abuts against the second end of the packaging material roll 100, the positioning plate 14 not only defines the axial insertion position of the shaft module 1 relative to the packaging material roll 100, but also restricts the packaging material roll 100 to a position between the opening and closing mechanism 13 and the positioning plate 14, ensuring that the shaft module 1 and the packaging material roll 100 are integrated.

[0105] Correspondingly, when the opening and closing mechanism 13 is controlled to be in a separated state, the locking ends of the locking members 134 on the opening and closing mechanism 13 no longer abut against the first end of the packaging material roll 100. At this time, the rotating shaft module 1 can be easily pulled out from the center hole of the packaging material roll 100.

[0106] It should be noted here that since the packaging material roll 100 usually includes a paper roll and a paper tube, the paper roll is arranged on the outside of the paper tube. Therefore, when the opening and closing mechanism 13 is in a locked state, the locking end of each locking member 134 is axially abutted against one end of the paper tube, and the positioning plate 14 is axially abutted against the other end of the paper tube.

[0107] Furthermore, if Figure 2 and Figure 3 As shown, the clamping mechanism 413 is further provided with a lifting mechanism 415. The lifting mechanism 415 and the driving component 414 are arranged opposite to each other, and the lifting mechanism 415 is used to control the lifting of the driving component 414 so that the control gear 4142 is engaged with or separated from the clutch gear 131.

[0108] It is understood that the drive component 414 includes a power motor 4141 and a control gear 4142. The output end of the power motor 4141 is connected to the control gear 4142 to drive the control gear 4142 to rotate. The lifting mechanism 415 is provided on the first clamping unit 4131 or the second clamping unit 4132. The lifting mechanism 415 can be an electric push rod. The electric push rod extends in the vertical direction. One end of the electric push rod is fixed to the clamping mechanism 413, and the other end is provided with a mounting plate. The power motor 4141 is fixed to the mounting plate.

[0109] The electric push rod drives the mounting plate to rise, so that the driving component 414 rises to a position close to the clutch gear 131, thereby realizing the meshing connection between the control gear 4142 and the clutch gear 131. At this time, when the clutch gear 131 receives the rotational driving force input by the control gear 4142, the control opening and closing mechanism 13 is switched from the separation state to the locking state, ensuring that the opening and closing mechanism 13 is in contact with the inner wall of the packaging material roll 100, thereby combining the rotating shaft module 1 and the packaging material roll 100 into one.

[0110] The electric push rod drives the mounting plate to descend so that the control gear 4142 is separated from the clutch gear 131. At this time, the packaging material assembly formed by the rotating shaft module 1 and the packaging material roll 100 can be transferred, and then the packaging material assembly can be transferred to the next workstation through the AGV transport vehicle 200 to perform film tearing and label removal operations on the packaging material roll 100.

[0111] In the case where both the first clamping unit 4131 and the second clamping unit 4132 include: a fixed bracket 41311 , a movable bracket 41312 , a linear drive member 41313 and a clamping plate 41314 , the lifting mechanism 415 may be provided on the movable bracket 41312 .

[0112] like Figure 2 As shown, the support base 412 includes a first support plate 4121 and a second support plate 4122. The first support plate 4121 and the second support plate 4122 are respectively arranged on the movable platform 411. The first support plate 4121 and the second support plate 4122 form a "V"-shaped structure to support the bottom end of the packaging material roll 100.

[0113] It is understood that the first support plate 4121 and the second support plate 4122 are both fixed to the top of the mobile platform 411. The first support plate 4121 and the second support plate 4122 can be configured to be arranged at an obtuse angle, forming a "V" shape, which can adapt to the curvature of the bottom end of the packaging material roll 100 and prevent the packaging material roll 100 from rolling off. At the same time, the first support plate 4121 and the second support plate 4122 are arranged in a "V" shape so that the support base 412 can support a variety of packaging material rolls 100 of different diameters, providing good versatility.

[0114] like Figure 2 and Figure 3 As shown, the mobile platform 411 is movably mounted on a support rail 416. The support rail 416 extends between the packaging material turning device and the packaging material winding and threading shaft device 43. The mobile platform 411 is equipped with a travel drive mechanism 4111. The travel drive mechanism 4111 is used to drive the mobile platform 411 to move along the extension direction of the support rail 416.

[0115] It is understandable that there are two support rails 416. Correspondingly, two sliders are provided at opposite ends of the bottom of the mobile platform 411, and the two sliders are slidably provided on the two support rails 416 in a one-to-one correspondence. Figure 2 As shown, a travel drive mechanism 4111 is provided in the area between the two support rails 416 , and the travel drive mechanism 4111 drives the two sliders to move along the two support rails 416 respectively.

[0116] Optionally, the walking drive mechanism 4111 can be a gear rack drive mechanism, which includes a gear part and a rack part, and the gear part and the rack part are meshed. The gear part is arranged on the mobile platform 411, and the rack part is arranged on the ground and extends along the extension direction of the support rail 416.

[0117] like Figure 6 and Figure 7 As shown, the packaging material winding and threading device 4 provided by the present invention has a film tearing mechanism 421 comprising a driving platform 4211, a first robotic arm 4212, and a second robotic arm 4213. The first robotic arm 4212 and the second robotic arm 4213 are respectively disposed on the driving platform 4211, and the driving platform 4211 is used to drive the first robotic arm 4212 and the second robotic arm 4213 to move toward or away from each other along a straight line.

[0118] When the film tearing mechanism 421 is in the first film tearing state, the execution ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 are close to each other and connected to the protective film in the area where the central hole of the packaging material roll 100 is located.

[0119] When the film-tearing mechanism 421 is in the second film-tearing state, the execution ends 42121 of the first robot arm 4212 and the second robot arm 4213 move away from each other to tear off the protective film in the area where the central hole of the packaging material roll 100 is located.

[0120] It is understandable that before piercing the central hole of the packaging material roll 100, a manual or automatic piercing device can be used to tear off the protective film corresponding to the central hole of the packaging material roll 100. Figure 6 As shown, the packaging material roll 100 is supported on the supporting seat 412 , and two sets of film tearing mechanisms 421 are respectively provided at opposite ends of the packaging material roll 100 .

[0121] The driving platform 4211 extends in a direction parallel to the direction of movement of the mobile platform 411. The first robotic arm 4212 and the second robotic arm 4213 are movably mounted on the driving platform 4211. The driving platform 4211 drives the first robotic arm 4212 and the second robotic arm 4213 to move toward or away from each other along the direction of movement of the mobile platform 411.

[0122] When the film-tearing mechanism 421 is in the film-tearing state, the driving platform 4211 drives the first robotic arm 4212 and the second robotic arm 4213 toward each other, so that the execution ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 are both moved to the center hole of the packaging material roll 100, thereby facilitating the execution ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 to hook the protective film; then, the driving platform 4211 drives the first robotic arm 4212 and the second robotic arm 4213 away from each other, so that the execution ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 are respectively connected to the protective film and separated from each other, thereby completing the film-tearing operation on the protective film in the area where the center hole is located. In this way, the film-tearing mechanism 421 automatically simulates the manual film-tearing operation, thereby improving the efficiency of film-tearing.

[0123] The present invention provides a packaging material roll film tearing device 42, two sets of film tearing mechanisms 421 are arranged on opposite sides of the packaging material roll 100 along the axial direction of the packaging material roll 100, and the first robot arm 4212 and the second robot arm 4213 are respectively arranged on the driving platform 4211. When the film tearing mechanism 421 is in the first film tearing state, the driving platform 4211 drives the first robot arm 4212 and the second robot arm 4213 to move closer to each other, so that the execution ends 42121 of the first robot arm 4212 and the second robot arm 4213 move to the area where the center hole of the packaging material roll 100 is located. domain, and is connected to the protective film in the area where the center hole of the packaging material roll 100 is located; when the film tearing mechanism 421 is in the second film tearing state, the driving platform 4211 drives the execution ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 to move away from each other, so as to tear off the protective film in the area where the center hole of the packaging material roll 100 is located. The two sets of film tearing mechanisms 421 cooperate with each other, and there is no need to rely on manual film tearing, thereby realizing automatic film tearing of the protective film in the area where the center hole of the packaging material roll 100 is located, which is convenient for the subsequent shaft threading operation of the packaging material roll 100.

[0124] Specifically, if Figure 7 As shown, the driving platform 4211 includes: a guide platform 42111, a rotating motor 42112, a driving screw 42113, a first transfer seat 42114 and a second transfer seat 42115.

[0125] The rotating motor 42112 is mounted on the guide frame 42111. The driving screw 42113 is rotatably mounted on the guide frame 42111 and is power-coupled to the rotating motor 42112. The driving screw 42113 includes a first screw segment 42100 and a second screw segment 42200. The threads of the first screw segment 42100 and the second screw segment 42200 have opposite rotation directions.

[0126] The first transfer seat 42114 and the second transfer seat 42115 are movably provided on the guide platform 42111 along the axial direction of the driving screw 42113. The first transfer seat 42114 is threadedly connected to the first screw segment 42100, and the second transfer seat 42115 is threadedly connected to the second screw segment 42200.

[0127] The first robotic arm 4212 is disposed on the first transfer seat 42114 , the second robotic arm 4213 is disposed on the second transfer seat 42115 , and the axial direction of the driving screw 42113 is parallel to the end face of the packaging material roll 100 .

[0128] It is understandable that if Figure 6 and Figure 7 As shown, the guide platform 42111 is fixed on the platform on one side of the packaging material roll transfer trolley 41.

[0129] In some embodiments, a rotary motor 42112 is fixed to a guide frame 42111, driving a lead screw 42113 rotatably mounted on the guide frame 42111. The lead screw comprises a first lead screw segment 42100 and a second lead screw segment 42200, with opposite thread directions. A first transfer seat 42114 is sleeved over the first lead screw segment 42100 and threadedly connected thereto; a second transfer seat 42115 is sleeved over the second lead screw segment 42200 and threadedly connected thereto.

[0130] The output end of the rotating motor 42112 is connected to the driving screw 42113 to rotate the driving screw 42113, and then the driving screw 42113 drives the first transfer seat 42114 and the second transfer seat 42115 to approach or move away from each other along the axial direction of the driving screw 42113; the first robotic arm 4212 is arranged on the first transfer seat 42114, and the second robotic arm 4213 is arranged on the second transfer seat 42115, so that the first transfer seat 42114 and the second transfer seat 42115 respectively drive the first robotic arm 4212 and the second robotic arm 4213 to approach or move away from each other in a straight line direction, so as to facilitate the mutual cooperation between the first robotic arm 4212 and the second robotic arm 4213 to complete the film tearing operation of the packaging material roll 100.

[0131] In some embodiments, as Figure 6 As shown, the guide frame 42111 is a rectangular frame structure, and the driving screw 42113 is arranged on the inner side of the guide frame 42111 and extends along the length direction of the guide frame 42111.

[0132] The first transfer seat 42114 and the second transfer seat 42115 are respectively movably arranged on the guide frame 42111 along the length direction of the guide frame 42111. At least part of the first transfer seat 42114 and at least part of the second transfer seat 42115 are located on the inner side of the guide frame 42111 and are threadedly connected to the driving screw 42113.

[0133] It is understandable that if Figure 6 As shown, the drive screw 42113 is disposed on the inner side of the guide platform 42111 along its length. The guide platform 42111 is provided with a slide rail along its outer edge along its length. Correspondingly, the outer edges of the bottoms of the first transfer seat 42114 and the second transfer seat 42115 are each provided with a slider. The portion of the first transfer seat 42114 located on the inner side of the guide platform 42111 is sleeved over the first screw segment 42100, and the portion of the second transfer seat 42115 located on the inner side of the guide platform 42111 is sleeved over the second screw segment 42200. Therefore, when the rotating motor 42112 drives the driving screw 42113 to rotate, the first transfer seat 42114 and the second transfer seat 42115 are guided to move linearly along the length direction of the guide platform 42111 through the cooperation between the slide rail and the slider, thereby increasing the reliability of the connection between the first transfer seat 42114 and the second transfer seat 42115 and the driving screw 42113, improving the smoothness of the movement of the first robotic arm 4212 and the second robotic arm 4213, and this design ensures the structural compactness of the entire driving platform 4211.

[0134] In some embodiments, specifically, Figure 7 As shown, in the packaging material winding and threading shaft device 4 provided by the present invention, at least one of the first robotic arm 4212 and the second robotic arm 4213 includes a linear lifting module 42122 and a linear translation module 42123.

[0135] The linear lifting module 42122 is disposed on the driving platform 4211 . The slide of the linear lifting module 42122 is connected to the linear translation module 42123 . The actuator terminal 42121 is disposed on the slide of the linear translation module 42123 .

[0136] Among them, the slide of the linear lifting module 42122 is used to control the linear translation module 42123 to rise and fall in the vertical direction, and the slide of the linear translation module 42123 is used to control the axial translation of the execution terminal 42121 along the packaging material roll 100.

[0137] It is understandable that the specific structures of the first robotic arm 4212 and the second robotic arm 4213 can be the same. Taking the first robotic arm 4212 as an example, Figure 7As shown, the first robotic arm 4212 includes a linear lift module 42122 and a linear translation module 42123. The linear lift module 42122 is mounted vertically on the first transfer base 42114. A slide is provided along the extension of the linear lift module 42122. The linear translation module 42123 is movably mounted on the slide and extends horizontally.

[0138] The actuator end 42121 of the first robotic arm 4212 is mounted on the slide of the linear translation module 42123. The slide of the linear lift module 42122 drives the linear translation module 42123 to rise vertically, allowing the actuator end 42121 of the first robotic arm 4212, located on the linear translation module 42123, to rise to the height of the center hole of the packaging material roll 100. Furthermore, the slide of the linear translation module 42123 drives the actuator end 42121 of the first robotic arm 4212 to move axially along the packaging material roll 100, allowing the actuator end 42121 of the first robotic arm 4212 to reach the center hole of the packaging material roll 100 and connect with the protective film.

[0139] After the actuator end 42121 of the first robotic arm 4212 connects to the protective film, the slide of the linear translation module 42123 drives the actuator end 42121 of the first robotic arm 4212 radially away from the center hole of the packaging material roll 100, thereby tearing the protective film in the area of ​​the center hole of the packaging material roll 100. Next, the slide of the linear lifting module 42122 drives the linear translation module 42123 downward, causing the actuator end 42121 of the first robotic arm 4212 to return to its initial position, thereby providing operating space for the packaging material roll threading device 43. Thus, the actuator ends 42121 of the first robotic arm 4212 and the second robotic arm 4213 successively complete the first and second film-tearing states.

[0140] Optionally, the linear lifting module 42122 and the linear translation module 42123 are both linear motor modules, which are prior art and will not be described in detail here.

[0141] Specifically, if Figure 7 As shown, the packaging material winding and threading shaft device 4 provided by the present invention, the execution end 42121 includes a mechanical claw 4210 and a negative pressure adsorption head 42103.

[0142] The mechanical claw 4210 is used to hang on the protective film, and the negative pressure adsorption head 42103 is used to adsorb on the surface of the protective film.

[0143] It is understandable that if Figure 7As shown, the mechanical claw 4210 includes a connecting arm 42101 and a hook head 42102. One end of the connecting arm 42101 is connected to the slide of the linear translation module 42123, and the other end is connected to the hook head 42102. The hook head 42102 is used to hook on the protective film.

[0144] The execution end 42121 of the first robotic arm 4212 and the second robotic arm 4213 tears off the protective film by configuring a mechanical claw 4210. Specifically, one end of the connecting arm 42101 is movably provided on the slide of the linear translation module 42123, and the other end is fixedly connected to the hook head 42102. On the one hand, the connecting arm 42101 can provide support for the hook head 42102; on the other hand, the connecting arm 42101 can guide the hook head 42102 to move axially along the packaging material roll 100. The slide of the linear translation module 42123 drives the connecting arm 42101 to move in a direction close to the packaging material roll 100 to the area where the center hole of the packaging material roll 100 is located, thereby allowing the hook head 42102 to hook the protective film.

[0145] like Figure 7 As shown, connecting arm 42101 and hook head 42102 are arranged vertically, with connecting arm 42101 extending axially along the packaging material roll 100. One end of connecting arm 42101 spans the slide of linear translation module 42123 along the axial direction of packaging material roll 100 to ensure the stability of the connection between connecting arm 42101 and linear translation module 42123; the other end is exposed outside linear translation module 42123. Hook head 42102 is located on the portion of connecting arm 42101 exposed from linear translation module 42123 and is arranged perpendicular to hook head 42102. This allows hook head 42102 to adapt to the structural layout of first robotic arm 4212 and second robotic arm 4213, align with the center hole of packaging material roll 100, and then hook onto the protective film.

[0146] Furthermore, the execution terminal 42121 includes a negative pressure adsorption head 42103. The negative pressure adsorption head 42103 is extended along the axial direction of the packaging material roll 100, and the adsorption end of the negative pressure adsorption head 42103 is used to adsorb on the surface of the protective film.

[0147] It is understood that the negative pressure suction head 42103 is located on the portion of the connecting arm 42101 exposed from the linear translation module 42123 and is arranged side by side with the hook head 42102. The negative pressure suction head 42103 can move with the hook head 42102 to the area where the central hole of the packaging material roll 100 is located. The negative pressure suction head 42103 can absorb the protective film while the mechanical claw 4210 is tearing off the protective film. The two work together to ensure the reliability of the film tearing operation.

[0148] In some embodiments, as Figure 7As shown, multiple negative pressure adsorption heads 42103 are provided, and these multiple negative pressure adsorption heads 42103 are arranged side by side to simultaneously adsorb the protective film, thereby increasing the adsorption force on the protective film. Multiple negative pressure adsorption heads 42103 jointly adsorb the protective film, which further facilitates the hook head 42102 to successfully hook the protective film, thereby ensuring the accuracy and efficiency of film tearing by the packaging material roll film tearing device 42. Optionally, there can be three, four, or six negative pressure adsorption heads 42103, etc.

[0149] Furthermore, after the packaging roll film tearing device 42 tears off the protective film at the center hole of the packaging roll 100, the packaging roll shaft passing device 43 passes the shaft module 1 into the center hole of the packaging roll 100. Figure 8 、 Figure 9 and Figure 10 , the specific structure of the packaging material rolling shaft device 43 is introduced.

[0150] like Figure 8 and Figure 9 As shown, the packaging material winding and threading device 4 provided by the present invention includes a transfer robot 431. The transfer robot 431 includes a mechanical arm 4311, a plug 4312 and a clamp 4313.

[0151] The plug 4312 and the clamp 4313 are provided at the execution end 42121 of the robot arm 4311 . The clamp 4313 is used to clamp the shaft module 1 . The robot arm 4311 can control the movement of the execution end 42121 so that the execution end 42121 is in a first posture and a second posture.

[0152] When the execution terminal 42121 is in the first posture, the plug 4312 is inserted into the central hole of the packaging material roll 100 to pierce the protective film corresponding to the central hole area on the packaging material roll 100.

[0153] When the execution terminal 42121 is in the second posture, the shaft module 1 is inserted into the central hole of the packaging material roll 100 .

[0154] It is understandable that if Figure 1As shown, the packaging material roll 100 is supported on a support 412 in a vertical position with its central axis horizontally aligned. A transfer robot 431 is located on one side of the packaging material roll transfer vehicle 41. A robotic arm 4311 controls its actuator end 42121 to move to the area where the central hole of the packaging material roll 100 is located. The plug 4312 on the actuator end 42121 punctures the protective film corresponding to the central hole of the packaging material roll 100. This is the first posture of the actuator end 42121. Next, the robotic arm 4311 controls its actuator end 42121 to move to the storage area of ​​the shaft module 1. The clamp 4313 on the actuator end 42121 then grips the shaft module 1. The robotic arm 4311 then controls its actuator end 42121 to move to the area where the central hole of the packaging material roll 100 is located and inserts the shaft module 1 into the central hole of the packaging material roll 100. This is the second posture of the actuator end 42121.

[0155] The packaging material roll threading device 43 provided by the present invention has a robotic arm 4311 configured to be arranged on one side of the packaging material roll transfer trolley 41, and the packaging material roll transfer trolley 41 supports a vertical packaging material roll 100, and the plug 4312 and the clamp 4313 are arranged at the execution end 42121 of the robotic arm 4311. When the execution end 42121 is in the first posture, the robotic arm 4311 can control its execution end 42121 to move to the position where the center hole of the packaging material roll 100 is located. area, punctures the protective film through the plug 4312; when the execution terminal 42121 is in the second posture, the robotic arm 4311 can control its execution terminal 42121 to move to the storage place of the shaft module 1, clamp the shaft module 1 through the clamp 4313, and then control its execution terminal 42121 to pass the shaft module 1 into the center hole of the packaging material roll 100, thereby realizing the automation of the shaft threading operation of the packaging material roll 100, and improving the production efficiency of the entire packaging material preparation production line.

[0156] Specifically, if Figure 8 and Figure 9 As shown, the plug 4312 and the clamp 4313 are spaced apart from each other and are disposed on opposite sides of the execution end 42121.

[0157] It is understood that after hook head 42102 hooks onto the protective film, the robotic arm 4311 drives plug 4312 to move toward the protective film, thereby puncturing the protective film. The central axis of plug 4312 is parallel or collinear with the central axis of the rotating shaft module 1, ensuring a reasonable structural layout of the actuator end 42121. Plug 4312 and clamp 4313 avoid each other, ensuring that plug 4312 and clamp 4313 can respectively perform the membrane puncture operation and the clamping operation. The layout is convenient and facilitates the switching of the position of the robotic arm 4311.

[0158] Specifically, if Figure 9As shown, plug 4312 includes a plug body 43121 and a cutter 43122. The first end of plug body 43121 is connected to actuating end 42121, and the second end of plug body 43121 is configured as a conical head. Cutter 43122 is located on a sidewall of plug body 43121 and extends axially along the plug body 43121.

[0159] It is understood that the actuator end 42121 of the robotic arm 4311 is plate-shaped. The plug 4312 and the clamp 4313 are located at either end of the actuator end 42121. The first end of the plug body 43121 is rectangular to ensure a secure connection between the actuator end 42121 and the plug 4312. The second end of the plug body 43121 is conical to facilitate piercing the protective film.

[0160] Furthermore, a cutter 43122 is provided on the side wall of the conical head, extending parallel to the extension direction of the plug body 43121. The conical head and cutter 43122 work together to pierce the protective film, thereby preventing the plug 4312 from being unable to pierce the protective film and improving the efficiency of the transfer robot 431 in piercing the film and threading the shaft.

[0161] like Figure 1 As shown, a storage rack 432 is provided on the side of the transfer robot 431 away from the packaging material roll transfer vehicle 41, and a plurality of rotating shaft modules 1 are stored on the storage rack 432. Figure 8 As shown, the robotic arm 4311 is movably disposed on the workbench 433 along the extension direction of the storage rack 432 and can reach a position corresponding to the storage rack 432 .

[0162] It is understandable that if Figure 1 As shown, the transfer robot 431 is located between the packaging material roll transfer trolley 41 and the storage rack 432. The workbench 433 extends along the length of the storage rack 432. The robot arm 4311 is movably located on the workbench 433 and can reach in and grab each shaft module 1 on the storage rack 432.

[0163] Specifically, if Figure 10 As shown, the storage rack 432 includes multiple fixed brackets 4321 and multiple movable brackets 4322. The multiple fixed brackets 4321 are arranged side by side in a horizontal direction, and the multiple movable brackets 4322 are arranged on the multiple fixed brackets 4321 in a one-to-one correspondence. Each movable bracket 4322 stores multiple hinge modules 1 in order from top to bottom.

[0164] It is understood that the fixed bracket 4321 is used to support the movable bracket 4322. The movable bracket 4322 is used to store the shaft module 1. There are multiple fixed brackets 4321. The multiple fixed brackets 4321 are arranged side by side along the extension direction of the packaging material roll transfer carriage 41. Correspondingly, the multiple movable brackets 4322 are placed side by side in sequence along the length direction of the fixed bracket 4321. Each movable bracket 4322 holds multiple shaft modules 1. The multiple shaft modules 1 are placed in sequence from top to bottom along the vertical direction.

[0165] Among them, the mobile bracket 4322 is configured to be connected to the AGV cart 300. When the shaft module 1 on the storage rack 432 is used up, the mobile bracket 4322 carrying multiple shaft modules 1 is transported to the fixed bracket 4321 by the AGV cart 300 to meet the supply of the shaft module 1, ensuring that the transfer robot 431 can always clamp the shaft module 1, thereby improving the production efficiency of the entire packaging material preparation production line.

[0166] Specifically, if Figure 10 As shown, mobile bracket 4322 includes a first vertical support plate 43221, a second vertical support plate 43222, and a connecting rod 43223. The first vertical support plate 43221 and the second vertical support plate 43222 are arranged side by side, with the connecting rod 43223 connecting between the first vertical support plate 43221 and the second vertical support plate 43222. The first vertical support plate 43221 is provided with a plurality of first supporting positions in a vertical direction, while the second vertical support plate 43222 is provided with a plurality of second supporting positions in a vertical direction. The plurality of first supporting positions and the plurality of second supporting positions are arranged in a one-to-one relationship.

[0167] The first supporting position is supported on one end of the rotating shaft module 1 , and the second supporting position is supported on the other end of the rotating shaft module 1 .

[0168] It is understandable that if Figure 10 As shown, the specific structures of the first vertical support plate 43221 and the second vertical support plate 43222 can be identical. Taking the first vertical support plate 43221 as an example, the first vertical support plate 43221 is provided with multiple recesses along its height to form multiple first supporting positions. These multiple first supporting positions correspond one-to-one with the multiple second supporting positions on the second vertical support plate 43222. The two ends of each hinge module 1 are supported by the corresponding first and second supporting positions, respectively.

[0169] like Figure 8As shown, the robot arm 4311 includes a moving base 43111, a rotating arm 43112, a large arm 43113, a crank arm 43114, a small arm 43115, and a pitch arm 43116. The moving base 43111 is movably disposed on the workbench 433 along the extending direction of the storage rack 432. The moving base 43111 can move along the extending direction of the workbench 433. The first end of the rotating arm 43112 is arranged on the movable seat 43111, and the rotating arm 43112, the upper arm 43113, the small arm 43115, the crank arm 43114, the small arm 43115 and the pitching arm 43116 are connected in sequence, and then the movable seat 43111 drives the rotating arm 43112, the upper arm 43113, the small arm 43115, the crank arm 43114, the small arm 43115 and the pitching arm 43116 to move along the extension direction of the workbench 433, so as to clamp each rotating shaft module 1 on the storage rack 432.

[0170] The first end of the rotating arm 43112 is disposed on the movable seat 43111 . A vertical rotating motor is provided between the first end of the rotating arm 43112 and the movable seat 43111, and the rotating arm 43112 is driven to rotate relative to the movable seat 43111 around a vertical axis by the rotating motor; the second end of the rotating arm 43112 is connected to the first end of the large arm 43113, and a first horizontal rotating motor is provided between the second end of the rotating arm 43112 and the first end of the large arm 43113, and the large arm 43113 is driven to rotate relative to the rotating arm 43112 around a horizontal axis by the first horizontal rotating motor; the second end of the large arm 43113 is connected to the first end of the crank arm 43114, and a second horizontal rotating motor is provided between the second end of the large arm 43113 and the first end of the crank arm 43114, and the crank arm 43114 is driven to rotate relative to the large arm 43113 around a horizontal axis by the second horizontal rotating motor; the second end of the crank arm 43114 is connected to the first end of the small arm 43115, and the second end of the crank arm 43114 is moved along the small arm A rotating motor is provided in the extending direction of 43115, and the rotating motor drives the small arm 43115 to rotate around the central axis of the small arm 43115; further, the second end of the small arm 43115 is connected to the first end of the pitch arm 43116, and a pitch motor is provided between the second end of the small arm 43115 and the first end of the pitch arm 43116, and the pitch motor drives the pitch arm 43116 to perform a pitch motion relative to the small arm 43115; the pitch arm 43116 The second end is the execution end 42121 of the robotic arm 4311. Thus, through the mutual cooperation of the moving seat 43111, the rotating arm 43112, the upper arm 43113, the crooked arm 43114, the small arm 43115 and the pitching arm 43116, the execution end 42121 of the robotic arm 4311 can realize multi-directional movement to accurately obtain each rotating shaft module 1 on the storage rack 432, and can accurately insert the rotating shaft module 1 into the center hole of the packaging material roll 100.

[0171] In some embodiments, as Figure 8 As shown, a screw drive mechanism 4331 is provided on the workbench 433. The screw nut of the screw drive mechanism 4331 is connected to the moving seat 43111 to drive the moving seat 43111 to move relative to the workbench 433 along the extension direction of the storage rack 432.

[0172] It is understood that at least a portion of the movable base 43111 is fixedly connected to the screw nut of the screw drive mechanism 4331. The screw nut of the screw drive mechanism 4331 drives the movable base 43111 to move linearly along the length of the workbench 433, thereby enabling the actuator end 42121 of the robot arm 4311 to clamp the multiple shaft modules 1 on the storage rack 432.

[0173] The following combination Figure 11 and Figure 12 The specific structure of the packaging material roll transfer device 44 is introduced as follows: The packaging material roll transfer device 44 provided by the present invention includes a support stand 441 , a translation stand 442 and a supporting assembly 443 .

[0174] The support platform 441 has a first area 4411 and a second area 4412. The translation platform 442 is mounted on the support platform 441 and is capable of translating between the first area 4411 and the second area 4412. The first area 4411 of the support platform 441 is provided with a first notch 44111 for docking the packaging material roll transfer trolley 41. The support assembly 443 includes a first lifting bracket 4431 and a second lifting bracket 4432, which are spaced apart on the translation platform 442. When the translation platform 442 is in the first area 4411, the first and second lifting brackets 4431, 4432 are positioned on either side of the packaging material roll 100 and are capable of supporting the ends of the hinge module 1. The packaging material roll 100 is positioned outside the hinge module 1.

[0175] It is understandable that if Figure 11 As shown, the support stand 441 is fixed to one end of the packaging material roll transfer trolley 41 away from the packaging material roll 100 turning device. Figure 11 As shown, the support assembly 443 is provided on the translation platform 442, and the support assembly 443 is used to support the rotating shaft module 1 on the packaging material roll 100, so that the packaging material roll 100 moves from the first area 4411 to the second area 4412 along with the translation platform 442. The packaging material roll 100 is transferred to the next station by the AGV transporter 200.

[0176] like Figure 11As shown, the first area 4411 of the support platform 441 has a first notch 44111. The first notch 44111 allows the movable platform 411 to avoid the first notch 44111. The movable platform 411 is located at the first notch 44111. The support assembly 443 includes a first lifting bracket 4431 and a second lifting bracket 4432, both of which are disposed on the translation platform 442. When the translation platform 442 is in the first area 4411, the first lifting bracket 4431 and the second lifting bracket 4432 are respectively located on opposite sides of the packaging material roll 100 to lift the opposite ends of the rotating shaft module 1 on the packaging material roll 100. Then, the first lifting platform and the second lifting platform follow the translation platform 442 to move to the second area 4412 to transfer the packaging material roll 100 from the first area 4411 to the second area 4412.

[0177] The packaging material roll transfer device 44 provided by the present invention has a translation platform 442 arranged on the support platform 441 and capable of translation between the first area 4411 and the second area 4412, the first lifting bracket 4431 and the second lifting bracket 4432 are arranged at intervals on the translation platform 442, and the first area 4411 of the support platform 441 is provided with a first notch 44111 to provide a parking space for the packaging material roll transfer trolley 41, and the packaging material roll transfer trolley 41 supports a vertically arranged packaging material roll 100, the first lifting bracket 4431 and the second lifting bracket 4432 are respectively arranged on both sides of the packaging material roll 100 so as to respectively clamp the two ends of the rotating shaft module 1, so that the packaging material roll 100 can be transferred to the second area 4412 following the translation platform 442, which facilitates the AGV transport vehicle 200 to transfer the packaging material roll 100 to the next workstation, and the packaging material roll 100 does not need to be manually transferred, saving labor costs.

[0178] like Figure 11 and Figure 12 As shown, a linear drive mechanism 444 is provided between the support platform 441 and the translation platform 442. The linear drive mechanism 444 is used to drive the translation platform 442 to move between the first area 4411 and the second area 4412 along a linear direction.

[0179] It is understood that, specifically, the translation stage 442 is provided with a second notch, and when the translation stage 442 is in the first area 4411, the second notch overlaps with at least a portion of the first notch 44111. Figure 12 As shown, the translation stage 442 is stacked on the support stage 441. When the translation stage 442 is located in the first area 4411, the first and second gaps 44111 are connected to avoid the moving platform 411. At this time, the first and second lifting brackets 4431, 4432 are located on opposite sides of the packaging material roll 100 to support the ends of the rotating shaft module 1 on the packaging material roll 100.

[0180] In some embodiments, as Figure 12 As shown, the translation platform 442 includes a first frame 4421, a second frame 4422, and a third frame 4423. The first frame 4421 and the third frame 4423 are spaced apart from each other and arranged side by side. The first frame 4421 is perpendicularly arranged at one end of the second frame 4422, and the third frame 4423 is perpendicularly arranged at the other end of the second frame 4422. A second gap is formed between the first frame 4421, the second frame 4422, and the third frame 4423. The first frame 4421 and the third frame 4423 are movably arranged on the support platform 441 along a linear direction. The linear drive mechanism 444 is arranged between the second frame 4422 and the support platform 441.

[0181] It is understandable that if Figure 12 As shown, the first frame 4421 and the third frame 4423 are arranged side by side along the extension direction of the support platform 441. The ends of the second frame 4422 are respectively fixed to the first frame 4421 and the end of the third frame 4423 near the second area 4412 to ensure the stability of the translation platform 442. At the same time, a second gap is formed between the first frame 4421, the second frame 4422, and the third frame 4423 to avoid the mobile platform 411.

[0182] like Figure 12 As shown, the first lifting bracket 4431 is disposed on the first frame 4421 , and the second lifting bracket 4432 is disposed on the second frame 4422 , so that the first lifting bracket 4431 and the second lifting bracket 4432 can support both ends of the shaft module 1 and move to the second area 4412 along with the translation stage 442 .

[0183] Optionally, the linear drive mechanism 444 is a screw drive mechanism 4331. At least a portion of the second frame 4422 is connected to the screw nut of the screw drive mechanism 4331, so that the translation platform 442 can follow the screw nut of the screw drive mechanism 4331 to perform linear motion along the extension direction of the support platform 441.

[0184] Furthermore, if Figure 12 As shown, a positioning member 4413 is provided on the support platform 441. Positioning member 4413 is located on the side of the support platform 441 facing away from the packaging material roll transfer carriage 41. Positioning member 4413 is used to adjust the position of the AGV 200 relative to the support platform 441 so that when the translation platform 442 is in the second area 4412, the AGV 200 can receive the packaging material roll 100 supported by the support assembly 443.

[0185] It is understandable that, in order to ensure the balance of the entire packaging material roll transfer vehicle 41, generally, the translation platform 442 is arranged in the center, and the packaging material roll 100 is transferred to the middle of the second area 4412. Figure 12 As shown, positioning member 4413 is fixed to the side of support frame 441 facing away from packaging material roll transfer trolley 41. Positioning member 4413 and packaging material roll 100 are both located on the central axis of support frame 441. Positioning member 4413 is used to guide AGV 200 to a position corresponding to packaging material roll 100, facilitating successful support of AGV 200 on the receiving assembly and transport of packaging material roll 100 to the next workstation.

[0186] Specifically, if Figure 11 and Figure 12 As shown, the first lifting bracket 4431 and the second lifting bracket 4432 have the same structure, both including a linear slide module 44311 and a bracket 44312. The slide of the linear slide module 44311 is connected to the bracket 44312 to drive the bracket 44312 to rise and fall in the vertical direction. The bracket 44312 is used to support the end of the shaft module 1.

[0187] It is understandable that, taking the specific structure of the first lifting bracket 4431 as an example, Figure 11 and Figure 12 As shown, the bottom of the bracket 44312 is movably mounted on the slide of the linear slide module 44311, and the top of the bracket 44312 is used to support the end of the shaft module 1. The slide of the linear slide module 44311 drives the bracket 44312 to rise and fall in the vertical direction. Optionally, the linear slide module 44311 can be a screw drive mechanism 4331.

[0188] Specifically, if Figure 11 As shown, bracket 44312 includes an adapter portion 44301 and a supporting portion 44302. Supporting portion 44302 is disposed on adapter portion 44301 and is connected to the slide of linear slide module 44311 through adapter portion 44301. Supporting portion 44302 and the slide of linear slide module 44311 are spaced apart. A positioning groove 44303 is provided at the upper end of supporting portion 44302, and positioning groove 44303 is configured to adapt to shaft module 1.

[0189] It is understood that the bottom of the adapter portion 44301 is slidably disposed on the slide of the linear slide module 44311. The supporting portion 44302 is located between the slides of the linear slide module 44311 to ensure the balance of the bracket 44312 during movement.

[0190] like Figure 11As shown, the bottom of the support portion 44302 is fixed to the top of the adapter portion 44301. The middle area of ​​the top of the support portion 44302 is recessed downward to form a positioning groove 44303. The end of the hinge module 1 is supported at the bottom of the positioning groove 44303 and abuts against the outer wall of the hinge module 1 through the walls on opposite sides of the positioning groove 44303.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A packaging material winding and threading equipment, characterized in that: include: Packaging material roll transfer trolley, packaging material roll film tearing device and packaging material roll shaft threading device; The packaging material roll transfer trolley is used to support the vertically arranged packaging material roll and transport the packaging material roll to one side of the packaging material roll threading shaft device; The packaging material roll film tearing device includes two sets of film tearing mechanisms, which are arranged on opposite sides of the packaging material roll along the axial direction of the packaging material roll to tear off the protective film in the area where the central hole of the packaging material roll is located; The packaging material roll shaft threading device includes a transfer robot, which is used to pick up the shaft module and thread the shaft module into the center hole of the packaging material roll.

2. The packaging material winding and threading equipment according to claim 1 is characterized in that: The packaging material roll transfer trolley includes a mobile platform, a supporting seat and a clamping mechanism; The supporting seat and the clamping mechanism are respectively arranged on the mobile platform, and the supporting seat is used to support the packaging material roll; The clamping mechanism includes a first clamping unit and a second clamping unit; the first clamping unit and the second clamping unit are respectively arranged on both sides of the supporting seat, and clamp the packaging material roll along the axial direction of the packaging material roll.

3. The packaging material winding and threading shaft equipment according to claim 2, characterized in that: At least one of the first clamping unit and the second clamping unit is provided with a driving component; the rotating shaft module includes a rotating shaft, a driving gear and an opening and closing mechanism; The driving gear is provided at the end of the rotating shaft, the opening and closing mechanism is provided at the middle of the rotating shaft, and the driving component and the opening and closing mechanism are connected by power coupling to drive the opening and closing mechanism to switch between a locked state and a released state; When the opening and closing mechanism is in a locked state, the opening and closing mechanism is in contact with the packaging material roll; when the opening and closing mechanism is in a separated state, the opening and closing mechanism is separated from the packaging material roll.

4. The packaging material winding and threading equipment according to claim 3, characterized in that: The driving component includes a power motor and a control gear; the opening and closing mechanism includes a clutch gear, a clutch disc, a fixed disc and a plurality of locking parts; The output end of the power motor is connected to the control gear; the clutch gear, the clutch plate and the fixed plate are sequentially sleeved on the rotating shaft; the control gear is configured to be meshed with the clutch gear, and the clutch gear and the clutch plate are connected to drive the clutch plate to rotate relative to the rotating shaft; the fixed plate is connected to the rotating shaft; a plurality of locking members are circumferentially arranged on the fixed plate, and the clutch plate is respectively connected to the transmission ends of a plurality of locking members; the clutch plate can control the plurality of locking members in linkage when rotating, so that the opening and closing mechanism switches between a locked state and a disengaged state; When the opening and closing mechanism is in a locked state, the locking ends of each locking member synchronously move away from the rotating shaft to lock the packaging material roll; when the opening and closing mechanism is in a separated state, the locking ends of each locking member synchronously approach the rotating shaft to release the locking restriction on the packaging material roll.

5. The packaging material winding and threading shaft equipment according to claim 1, characterized in that: The film tearing mechanism includes a driving platform, a first robotic arm and a second robotic arm; the first robotic arm and the second robotic arm are respectively arranged on the driving platform, and the driving platform is used to drive the first robotic arm and the second robotic arm to move toward or away from each other in a straight line direction; When the film-tearing mechanism is in the first film-tearing state, the execution ends of the first robotic arm and the second robotic arm are close to each other and connected to the protective film in the area where the central hole of the packaging material roll is located; When the film-tearing mechanism is in the second film-tearing state, the execution ends of the first robotic arm and the second robotic arm are away from each other to tear off the protective film in the area where the central hole of the packaging material roll is located.

6. The packaging material winding and threading shaft equipment according to claim 5, characterized in that: The execution end includes a mechanical claw and a negative pressure adsorption head; The mechanical claw is used to be hung on the protective film, and the negative pressure adsorption head is used to be adsorbed on the surface of the protective film.

7. The packaging material winding and threading equipment according to claim 5, characterized in that: At least one of the first robotic arm and the second robotic arm includes a linear lifting module and a linear translation module; The linear lifting module is arranged on the driving platform, the slide of the linear lifting module is connected to the linear translation module, and the execution end is arranged on the slide of the linear translation module; The slide of the linear lifting module is used to control the lifting and lowering of the linear translation module in the vertical direction, and the slide of the linear translation module is used to control the axial translation of the execution end along the packaging material roll.

8. The packaging material winding and threading shaft equipment according to claim 1, characterized in that: The transfer robot includes a mechanical arm, a plug and a clamp; The plug and the clamp are provided at the execution end of the robotic arm, the clamp is used to clamp the shaft module, and the robotic arm can control the movement of the execution end so that the execution end is in a first posture and a second posture; When the execution end is in the first posture, the plug is inserted into the central hole of the packaging material roll to pierce the protective film on the packaging material roll corresponding to the central hole area; When the execution terminal is in the second posture, the rotating shaft module is inserted into the central hole of the packaging material roll.

9. The packaging material winding and threading shaft device according to any one of claims 1 to 8, characterized in that: Also includes: A packaging material roll transfer device, comprising a support frame, a translation frame and a supporting assembly; The support frame has a first area and a second area, and the translation stage is mounted on the support frame and can translate between the first area and the second area; The first area of ​​the support frame is provided with a first notch, and the first notch is used to dock the packaging material roll transfer trolley; the support assembly includes a first lifting bracket and a second lifting bracket, and the first lifting bracket and the second lifting bracket are spaced apart and arranged on the translation frame; When the translation stage is in the first area, the first lifting bracket and the second lifting bracket are respectively arranged on both sides of the packaging material roll and can be supported on both ends of the rotating shaft module.

10. The packaging material winding and threading shaft equipment according to claim 9, characterized in that: The first lifting bracket and the second lifting bracket have the same structure, both comprising a linear slide module and a bracket; The slide of the linear slide module is connected to the bracket to drive the bracket to rise and fall in the vertical direction; the bracket is used to support the end of the rotating shaft module.

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