Carbon fiber coil stacking and boxing gripper and method

Abstract

The invention discloses a carbon fiber coil stacking and boxing gripper and a carbon fiber coil stacking and boxing method. The gripper comprises a rack, a robot connecting flange, a large positioning clamping plate taking and placing device, a carbon fiber coil variable-pitch taking and placing device, a small positioning clamping plate taking and placing device, a guiding centering device and a paper clamping device, the distance can be automatically adjusted according to the distance of positioning openings of positioning clamping plates to take and place carbon fiber coils, and the functions of automatic paper clamping, centering correction and the like are achieved. During stacking, the paper clamping device is used for laying paper, the large positioning clamping plate taking and placing device is used for placing clamping plates, and the variable-pitch taking and placing device is used for stacking wire coils; during boxing, the small positioning clamping plate taking and placing device is used for placing clamping plates, the variable-pitch taking and placing device is used for placing wire coils, the guide centering device is used for correcting deflection, and then the clamping plate on the top layer is placed. The problems that in the prior art, the manual labor intensity is large, efficiency is low, and positioning is inaccurate are solved, the stacking function and the boxing function can be flexibly switched, the automation degree is high, and the production efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of carbon fiber material processing equipment, and specifically to a gripper and method for automated stacking and packing of carbon fiber filament rolls, and in particular to the mechanical structure design of the gripper, the collaborative working mechanism of various functional modules, and the corresponding stacking and packing methods. Background Art

[0002] In the field of carbon fiber production and processing, the stacking and packing of carbon fiber rolls are key links in subsequent storage and transportation. In traditional operations, the stacking process is usually as follows: manually lay the paper on the pallet, then place the large positioning pallet, and then put the carbon fiber rolls one by one into the positioning openings of the large positioning pallet. After stacking one layer, manually center the carbon fiber rolls and place the large positioning pallet, and repeat the above operations to stack multiple layers. When packing, the manual labor needs to first lay a small bottom positioning pallet in the carbon fiber carton, then pack and stack the carbon fiber rolls one by one, and finally align and lay the small top positioning pallet. Repeated handling and positioning operations make workers extremely tired, which leads to operational errors. Statistics show that the incidence rate of skew of carbon fiber rolls during manual stacking is about 28%, and the top pallet cannot be aligned during packing accounts for 35%, which seriously affects product quality and subsequent processes.

[0003] Currently, there is a lack of equipment in China that can simultaneously realize the stacking and boxing functions of carbon fiber filament rolls. Existing equipment can only stack or box, and cannot be flexibly switched according to production needs. As a result, enterprises need to equip multiple dedicated equipment, which increases equipment investment and floor space. Chinese patent CN118664630A discloses a multifunctional manipulator device for the overall boxing of carbon fiber filament rolls, including a connecting flange, an X-variable pitch assembly, a first Y-variable pitch assembly, a second Y-variable pitch assembly, and a positioning pallet pick-up and placement assembly device. The device is a multifunctional manipulator device for the overall boxing of carbon fiber filament rolls, which is used for boxing carbon fiber filament rolls and can lay the bottom layer of positioning pallets and adjust the stacking according to the spacing of different positioning openings on the positioning pallets. Because the paper tube around which the carbon fiber filament is wound has a gap fit with the upper and lower positioning pallet openings, the positioning length between the two is short, and the positioning pallets are made of multi-layer corrugated paper (insufficient rigidity), some of the carbon fiber filament rolls become skewed when boxing. When laying the top pallet, the carbon fiber filament roll paper tube cannot be inserted into the pallet opening, and the carbon fiber filament roll cannot be fixed. The device was unable to accurately align the carbon fiber filament roll when picking up the top pallet. It also lacked a paper clamping mechanism, which was not suitable for paper clamping and could not accommodate different functions such as palletizing and boxing. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the present invention aims to solve the problems of low degree of automation, low efficiency, inaccurate positioning, and single function in the stacking and packing process of carbon fiber rolls in the prior art, and provide a carbon fiber roll stacking and packing gripper that integrates multiple functions and can flexibly switch operating modes.

[0005] To achieve the above-mentioned objectives, the present invention provides a carbon fiber filament roll stacking and packing gripper, which is characterized in that it includes a frame, a robot connecting flange, a large positioning pallet picking and placing device, a carbon fiber filament roll variable pitch picking and placing device, a small positioning pallet picking and placing device, a guide centering device and a paper clamping device; the robot connecting flange is arranged above the frame for connecting to the end of the robot arm; the large positioning pallet picking and placing device is arranged on both sides of the frame for grabbing large positioning pallets; the carbon fiber filament roll variable pitch picking and placing device is arranged directly below the frame for automatically adjusting the spacing according to the spacing of the positioning pallet positioning ports to pick up and place the carbon fiber filament roll; the small positioning pallet picking and placing device and the guide centering device are arranged on one side of the frame and are perpendicular to the robot connecting flange surface, and the two are used in combination; the paper clamping device is used to take paper from the paper laying machine and lay it on a pallet.

[0006] Preferably, the large positioning pallet picking and placing device includes at least two sets of cylinders and multiple sets of suction cup assemblies, and the cylinders are retractable to adjust the position of the suction cup assemblies; the suction cup assemblies include guide rails, drag chains, brackets and vacuum suction cups.

[0007] Preferably, the carbon fiber filament roll variable pitch picking and placing device includes a clamping module, a fixed jaw cylinder in the middle and synchronously movable jaw cylinders on both sides; the fixed position jaw is installed at the end of the fixed jaw cylinder in the middle, and the follow-up jaw is installed at the end of the synchronously movable jaw cylinders on both sides.

[0008] Preferably, the small positioning pallet picking and placing device includes a plurality of vacuum suction cups with telescopic rods and proximity switches, which are used to grab the small positioning pallet for packing.

[0009] Preferably, the guide and centering device includes a retractable guide device, which is driven by a three-axis cylinder to be inserted into the carbon fiber filament paper roll for centering correction.

[0010] Preferably, the guide and centering device works in conjunction with the small positioning card taking and placing device, the guide device retracts when sucking the small positioning card, and extends to center the carbon fiber coil when placing the card.

[0011] Preferably, the paper clamping device includes multiple sets of two-finger clamping cylinders and two-finger clamping claws for clamping paper.

[0012] Another aspect of the present invention provides a carbon fiber filament stacking method, which uses the above-mentioned carbon fiber filament stacking and boxing gripper, including the steps of:

[0013] The paper clamping device clamps the paper from the paper laying machine and lays it on the tray;

[0014] The cylinder of the large positioning card picking and placing device extends, so that the suction cup is located below the carbon fiber coil variable pitch picking and placing device, sucking the large positioning card and placing it on the paper;

[0015] The cylinder of the large positioning card plate pick-up and placement device is retracted, and the carbon fiber coil variable pitch pick-up and placement device grabs the carbon fiber coil, adjusts the spacing according to the spacing of the positioning card plate positioning openings, and places it on the large positioning card plate.

[0016] The present invention also provides a carbon fiber filament roll packing method, which uses the above-mentioned carbon fiber filament roll stacking and packing gripper, including the steps of:

[0017] The small positioning pallet picking and placing device picks up the small positioning pallet and places it in the carton;

[0018] The carbon fiber coil variable pitch pick-up and placement device grabs the carbon fiber coil and places it on a small positioning card;

[0019] The guide centering device extends the guide rod to correct the skewed carbon fiber coil;

[0020] The small positioning pallet pick-and-place device places the top small positioning pallet to complete the packing.

[0021] Preferably, after the carbon fiber roll is placed on the small positioning card plate, if it is skewed, the cylinder of the guide centering device is extended, and the carbon fiber roll is forcibly centered using the guide device to ensure that the top small positioning card plate is aligned with the carbon fiber roll.

[0022] Finally, the present invention also provides an intelligent logistics system, including the aforementioned carbon fiber filament stacking and packing gripper, AGV and scheduling system; wherein, the AGV serves as a mobile platform; the carbon fiber filament stacking and packing gripper serves as an execution terminal; and the scheduling system coordinates the work of multiple AGVs and carbon fiber filament stacking and packing grippers.

[0023] Compared with the prior art, the present invention has the following significant beneficial effects:

[0024] (1) Functional integration and flexible switching: The gripper of the present invention integrates the pick-and-place device for large and small positioning pallets, allowing flexible selection of palletizing or boxing functions according to production needs. The original manual changeover time was 5 minutes, with 3-5 changes per day, requiring 2-3 people to coordinate. Now, when changing between different boxing and palletizing positioning pallets, the changeover can be rapid without affecting each other, greatly improving the versatility and production efficiency of the equipment.

[0025] (2) Precise positioning and centering: The carbon fiber roll variable distance pick-up and placement device can automatically adjust the spacing according to the spacing of the positioning card plate positioning openings to ensure that the carbon fiber roll is accurately placed; the guide centering device can force the carbon fiber roll that is skewed during the packing process to be centered, so that the top small positioning card plate and the carbon fiber roll are accurately aligned, effectively solving the problem of the top card plate being unable to align in the existing technology (in the existing technology, on average, one jam will occur in every three groups), thereby improving the stability and reliability of the packaging.

[0026] (3) Automatic paper clamping function: The setting of the paper clamping device realizes the automatic grabbing and laying of paper without manual operation, which reduces labor costs and labor intensity, while improving the accuracy and consistency of paper laying.

[0027] (4) Efficient operation: The variable-pitch pick-and-place device for carbon fiber rolls can grab multiple rolls of carbon fiber rolls at the same time. Compared with manual labor, which can only grab one roll at a time (a single roll weighs 4 kg, and the average manual grabbing time is 15 seconds. The robot has 6 rolls per box, and the time is 50 seconds), it greatly improves the operating efficiency, speeds up the production rhythm, and meets the requirements of rapid packaging of carbon fiber rolls.

[0028] (5) Reduce costs and maintenance difficulty: The gripper integrates multiple functional devices. When used with a manipulator or other multi-axis conveying mechanism, it is more flexible, convenient, takes up less space, and is stable and reliable. Since palletizing and packing share a carbon fiber coil pick-up and placement device, there is no need to set up an additional pick-up and placement device when unloading the carbon fiber coil, which reduces equipment costs (and manual maintenance difficulty (saving one robot, which costs about 200,000 yuan and annual maintenance costs of about 20,000 yuan).

[0029] (6) Reduced labor intensity: The present invention realizes the automated operation of stacking and packing carbon fiber filament rolls, avoiding the need for personnel to lift heavy carbon fiber filament rolls during manual packing, greatly reducing the labor intensity of workers (a single roll weighs 4 kg, and the daily output is about 5,000 rolls, and the robot can operate uninterruptedly), and improving the working environment. The following will further explain the concept, specific structure and technical effects of the present invention in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a general structural layout diagram of a preferred embodiment of the present invention;

[0031] Figure 2 A front view of the overall structure of a preferred embodiment of the present invention;

[0032] Figure 3 This is a structural diagram of a large positioning pallet pick-and-place device;

[0033] Figure 4This is a schematic diagram of the structure of a variable pitch pick-up and placement device for a carbon fiber coil;

[0034] Figure 5 This is a structural diagram of a small positioning pallet pick-and-place device;

[0035] Figure 6 It is a structural diagram of the centering and positioning device;

[0036] Figure 7 Schematic diagram of the paper clamping device structure;

[0037] Figure 8 This is a schematic diagram of the carbon fiber filament roll stacking structure;

[0038] Figure 9 This is a schematic diagram of a gripper grabbing a large positioning pallet;

[0039] Figure 10 Schematic diagram of a gripper grabbing a carbon fiber coil;

[0040] Figure 11 This is a schematic diagram of a gripper grabbing a small positioning pallet;

[0041] Figure 12 This is a box of carbon fiber yarn rolls after packing.

[0042] Wherein: 1. Frame; 2. Connecting flange; 3. Large positioning pallet pick-up and placement device; 4. Carbon fiber filament roll pitch-variable pick-up and placement device; 5. Small positioning pallet pick-up and placement device; 6. Centering and positioning device; 7. Paper clamping device; 8. Tray; 9. Paper; 10. Large positioning pallet; 11. Carbon fiber filament roll; 12. Carton; 13. Small positioning pallet; 14. Pallet;

[0043] 3-1, cylinder; 3-2, guide rail; 3-3, drag chain; 3-4, bracket; 3-5, vacuum suction cup;

[0044] 4-1, clampable module; 4-2, fixed position clamp; 4-3, follow-up clamp;

[0045] 5-1. Vacuum suction cup with telescopic rod; 5-2. Proximity switch;

[0046] 6-1. Three-axis cylinder; 6-2. Guide device;

[0047] 7-1. Two-finger gripper cylinder; 7-2. Two-finger gripper. DETAILED DESCRIPTION

[0048] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0049] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0050] Example 1: Carbon fiber filament roll stacking and packing gripper

[0051] The present invention provides a carbon fiber filament stacking and packing gripper, such as Figure 1 and Figure 2 As shown, the gripper includes a frame 1, a robot connection flange 2, a large positioning pallet pick-up and placement device 3, a carbon fiber coil variable pitch pick-up and placement device 4, a small positioning pallet pick-up and placement device 5, a guide and centering device 6, and a paper clamping device 7. The robot connection flange 2 is located above the frame 1 and is used to connect to the end of the robot arm to achieve movement and positioning of the entire gripper.

[0052] Large positioning card pick-up and placement devices 3 are arranged on both sides of the frame 1, such as Figure 3 As shown, it is used to grab a large positioning pallet 10. The large positioning pallet picking and placing device 3 includes at least two sets of cylinders 3-1 and multiple sets of suction cup assemblies. The cylinder (3-1) can be extended and retracted to adjust the position of the suction cup assembly; the suction cup assembly includes a guide rail 3-2, a drag chain 3-3, a bracket 3-4 and a vacuum suction cup 3-5. When it is necessary to pick up a large pallet, the vacuum suction cup 3-5 moves downward along the guide rail 3-2 to the working position in the deep cylinder. When the robot drives the gripper to the large pallet position, the vacuum suction cup 3-5 generates negative pressure suction by the vacuum generator to pick up the large pallet. When the robot drives the gripper and the large pallet to the stacking position, the vacuum generator blows air to generate positive pressure, and the large pallet is detached. If it is not necessary to pick up the large pallet, the cylinder 3-1 drives the vacuum suction cup 3-5 to retract to the top of the mechanism's clamping claw, which does not affect the clamping claw's taking of the carbon fiber filament roll.

[0053] In actual operation, when stacking is required, the cylinder 3-1 extends to position the vacuum suction cup 3-5 below the carbon fiber coil variable pitch pick-up and place device 4, as shown in FIG. Figure 9 As shown in the figure, after vacuum cup 3-5 has absorbed large positioning card 10 and the vacuum sensor detects stable vacuum pressure, the gripper transfers large positioning card 10 and places it on paper 9 on tray 8. Once placed, cylinder 3-1 retracts, positioning vacuum cup 3-5 above carbon fiber roll variable pitch placement device 4, making room for subsequent placement of carbon fiber roll 11.

[0054] The carbon fiber coil pitch-varying pick-up and placement device 4 is located directly below the frame 1. Figure 4As shown, it is used to automatically adjust the spacing according to the spacing between the positioning openings of the positioning card to pick up and place the carbon fiber spool 11. The carbon fiber spool variable pitch picking and placing device 4 includes a clamping module 4-1, a central fixed clamping cylinder, and clamping cylinders that can be moved synchronously on both sides; the fixed position clamping jaw 4-2 is installed at the end of the central fixed clamping cylinder, and the follower clamping jaw 4-3 is installed at the end of the clamping cylinders that can be moved synchronously on both sides. The clamping cylinders that can be moved synchronously on both sides can move synchronously to adjust the spacing. The adjustment range of the spacing is 0-500mm to adapt to the spacing of different positioning card positioning openings.

[0055] In actual operation, the device first adjusts the position of the follower clamps 4-3 on both sides according to the preset spacing between the positioning openings of the positioning card, and then the three sets of clamps act simultaneously to clamp the three rolls of carbon fiber filament 11. The clamps are made of flexible material to avoid damaging the surface of the carbon fiber filament roll. After clamping, the gripper transfers the carbon fiber filament roll 11 and accurately places it in the positioning opening of the positioning card, as shown in the figure. Figure 10 shown.

[0056] The small positioning card picking and placing device 5 and the guide centering device 6 are arranged on one side of the frame 1 and are perpendicular to the robot connection flange 2. Figure 5 and Figure 6 The small positioning pallet pick-up and placement device 5 includes multiple vacuum suction cups 5-1 with telescopic rods for grabbing small positioning pallets 12 for packing. The guide and centering device 6 includes a telescopic guide device 6-2, which is driven by a cylinder to insert into the paper tube of the carbon fiber filament roll 11 for centering correction.

[0057] In a packing operation, such as Figure 11 As shown, when the small positioning card pick-up and placement device 5 picks up the small positioning card 12, the guide rod of the guide centering device 6 is retracted. After the small positioning card 12 is placed in the carton, the carbon fiber roll variable pitch pick-up and placement device 4 places the carbon fiber roll 11 on the small positioning card 12. If the carbon fiber roll 11 becomes skewed, the guide rod of the guide centering device 6 extends and inserts into the paper tube of the carbon fiber roll 11 to forcefully correct it and ensure that the top small positioning card 12 is accurately aligned and placed.

[0058] like Figure 7 As shown, the paper clamping device 7 includes three sets of two-finger clamping cylinders and clamping claws, each set of which can be controlled independently. The clamping claws are made of non-slip material to ensure that they can firmly clamp the paper 9 without damaging the paper surface.

[0059] During the palletizing operation, the paper clamping device 7 first picks up a sheet of paper 9 from the paper laying machine, then the gripper moves to the top of the tray 8, releases the gripper and lays the paper 9 flat on the tray 8. During the paper laying process, the gripper will press down slightly to ensure that the paper 9 is in full contact with the tray 8 to avoid wrinkling or shifting.

[0060] Example 2: Carbon fiber filament roll stacking method

[0061] The carbon fiber filament roll stacking method of the present invention comprises the following steps:

[0062] Step 1: The paper clamping device 7 picks up the paper 9 from the paper laying machine and lays it on the tray 8. Figure 7 As shown, the three groups of clamps act simultaneously to firmly clamp the edge of the paper 9, and then move it smoothly to the top of the tray 8 for precise placement.

[0063] Step 2: Extend the cylinder of the large positioning card pick-up and placement device 3 so that the suction cup is located below the carbon fiber coil variable pitch pick-up and placement device 4, as shown in the figure. Figure 9 The suction cup absorbs the large positioning card plate 10 , and after the vacuum sensor confirms that the suction is firm, the large positioning card plate 10 is transferred and placed on the paper 9 on the tray 8 .

[0064] Step 3: The cylinder of the large positioning card plate pick-up and placement device 3 retracts to make room for the carbon fiber coil pitch-variable pick-up and placement device 4. The carbon fiber coil pitch-variable pick-up and placement device 4 adjusts the distance between the grippers according to the distance between the positioning holes on the large positioning card plate 10, and then grabs three carbon fiber coils 11 at the same time. Figure 10 shown.

[0065] Step 4: The gripper accurately places the carbon fiber filament roll 11 in the positioning opening of the large positioning card plate 10 to ensure that each roll of carbon fiber filament roll 11 is accurately positioned.

[0066] Step 5: Repeat steps 2-4 to perform multi-layer stacking. After each layer of carbon fiber filament roll 11 is stacked, a large positioning pallet 10 is placed first, and then the next layer of carbon fiber filament roll 11 is stacked until the preset number of stacking layers is reached.

[0067] Example 3: Carbon fiber filament roll packing method

[0068] The carbon fiber filament roll packing method of the present invention comprises the following steps:

[0069] Step 1: The small positioning card picking and placing device 5 picks up the small positioning card 12. At this time, the guide rod of the guide centering device 6 is in a retracted state. Figure 11 After the vacuum sensor confirms that the suction is firm, the small positioning card plate 12 is transferred and placed at the bottom of the carton.

[0070] Step 2: The carbon fiber coil variable pitch pick-up and placement device 4 adjusts the distance between the clamps according to the distance between the positioning holes on the small positioning card plate 12, and then grabs three carbon fiber coils 11 at the same time. Figure 10 shown.

[0071] Step 3: The gripper places the carbon fiber filament roll 11 on the small positioning cardboard 12 in the carton. Since the positioning cardboard is made of multiple layers of corrugated paper and is not rigid enough, part of the carbon fiber filament roll 11 may be skewed.

[0072] Step 4: The guide rod of the guide centering device 6 is extended and inserted into the paper tube of the skewed carbon fiber filament roll 11 to force the centering correction, such as Figure 6 The diameter of the guide rod is slightly smaller than the inner diameter of the paper tube to ensure smooth insertion and centering.

[0073] Step 5: The small positioning card picking and placing device 5 absorbs the top small positioning card 12, and the guide rod of the guide centering device 6 extends again to ensure that the top small positioning card 12 is accurately aligned with the centered carbon fiber coil 11 and then placed.

[0074] Step 6: Repeat steps 2-5 until the entire box is packed. For multi-layer packing, each layer needs to be aligned to ensure the top layer of pallets is placed accurately.

[0075] Example 4: Switching method between palletizing and boxing functions

[0076] The gripper of the present invention can flexibly switch between palletizing and boxing functions according to production requirements. The specific switching method is as follows:

[0077] When switching from palletizing to boxing:

[0078] Confirm that the cylinder of the large positioning card pick-up and placement device 3 is in the retracted state and the suction cup is located above the carbon fiber coil variable pitch pick-up and placement device 4;

[0079] Activate the small positioning pallet pick-up and placement device 5 and the guide centering device 6;

[0080] Adjust the preset value of the distance between the grippers of the carbon fiber coil variable pitch pick-up and placement device 4 to the distance in the packing mode;

[0081] The paper clamping device 7 automatically enters the standby state and does not participate in the packing operation.

[0082] When you need to switch from the packing function to the palletizing function:

[0083] Confirm that the guide rod of the guide centering device 6 is in the retracted state;

[0084] Activate the large positioning card picking and placing device 3 and the paper clamping device 7;

[0085] Adjust the preset value of the distance between the grippers of the carbon fiber coil variable pitch pick-up and placement device 4 to the distance in the stacking mode;

[0086] The small positioning pallet picking and placing device 5 automatically enters the standby state and does not participate in the palletizing operation.

[0087] The function switching process can be completed with one click through the control system, and the initial position and status of all devices are monitored in real time by sensors to ensure that the switching process is safe and reliable.

[0088] Example 5: Variable-pitch pick-up and placement method for carbon fiber spools

[0089] The variable pitch pick-up and placement method of the carbon fiber coil variable pitch pick-up and placement device 4 comprises the following steps:

[0090] Step 1: Read the preset positioning port spacing parameters from the control system based on the current operation mode (palletizing or packing) and positioning pallet type.

[0091] Step 2: The servo motor drives the follower grippers 4-3 on both sides to move along the guide rails and adjust to the target spacing. During the movement, the encoder provides real-time position feedback to ensure accurate spacing adjustment.

[0092] Step 3: After the spacing is adjusted, the three sets of gripper cylinders operate simultaneously to clamp the carbon fiber filament roll 11. The clamping force is monitored by a pressure sensor to ensure that it is strong enough without damaging the carbon fiber filament roll.

[0093] Step 4: The gripper transfers the carbon fiber filament roll 11 to the target position (above the large positioning card plate 10 or the small positioning card plate 12), the clamping cylinder is released, and the carbon fiber filament roll 11 falls accurately into the positioning port.

[0094] Step 5: For the packing operation, if the vision system detects that the carbon fiber coil 11 is skewed after being placed, the guide centering device 6 will automatically start the centering correction program.

[0095] Example 6: Automatic centering correction method

[0096] The automatic centering correction method of the guide centering device 6 includes the following steps:

[0097] Step 1: A visual system or sensor detects the skew of the carbon fiber coil 11 and determines the position of the coil that needs to be corrected.

[0098] Step 2: The cylinder of the guide centering device 6 drives the guide rod to extend. The front end of the guide rod is designed with a tapered guide structure to facilitate the insertion of the slightly offset carbon fiber filament paper roll.

[0099] Step 3: After the guide rod is fully inserted into the paper tube, it moves slightly along the preset centering path, driving the carbon fiber filament roll 11 back to the correct position. During the movement, the force sensor monitors the resistance to avoid overcorrection.

[0100] Step 4: After confirming that the carbon fiber filament roll 11 has been centered, the guide rod is retracted to prepare for placing the top small positioning card plate 12.

[0101] Step 5: When placing the top small positioning card plate 12, the guide rod is slightly extended again to ensure that the card plate positioning port is accurately aligned with the paper tube of the carbon fiber filament roll 11 and then fully retracted.

[0102] This method effectively solves the problem that carbon fiber filament rolls are easily skewed during packing, resulting in the top layer pallet being unable to be aligned, thereby improving the packing quality and efficiency.

[0103] Example 7: Intelligent Logistics System

[0104] The intelligent logistics system of this embodiment includes the carbon fiber filament stacking and packing gripper of embodiment 1, AGV (automatic guided vehicle) and scheduling system; wherein AGV serves as a mobile platform; the carbon fiber filament stacking and packing gripper of this embodiment serves as an execution terminal; the scheduling system coordinates the work of multiple AGVs and carbon fiber filament stacking and packing grippers

[0105] Workflow:

[0106] The AGV carries the gripper and moves to the material retrieving station;

[0107] The gripper completes the pick-up and placement operations of the carbon fiber coil;

[0108] AGV transports full stacks or boxes to designated locations;

[0109] The whole process is unmanned and automatically dispatched.

[0110] This embodiment of the intelligent logistics system has a quick docking interface to ensure the precise positioning of the AGV and the gripper; wireless communication transmits control signals and status information in real time; and intelligent path planning avoids collisions and congestion.

[0111] Application effect:

[0112] In a certain smart factory, five AGVs equipped with this gripper have realized automated logistics in the entire carbon fiber production area, reducing the number of logistics personnel by 12, increasing logistics efficiency by three times, and reducing the error rate to below 0.1%.

[0113] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention can be made by one of ordinary skill in the art without inventive effort. Therefore, any technical solution that can be derived by one of ordinary skill in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A carbon fiber coil stacking and packing gripper, characterized in that: The invention comprises a frame (1), a robot connecting flange (2), a large positioning card picking and placing device (3), a carbon fiber coil pitch-varying picking and placing device (4), a small positioning card picking and placing device (5), a guide centering device (6) and a paper clamping device (7); the robot connecting flange (2) is arranged above the frame (1) and is used to be connected to the end of the robot arm; the large positioning card picking and placing device (3) is arranged on both sides of the frame (1) and is used to grab the large positioning card; the carbon fiber coil pitch-varying picking and placing device (4) is arranged directly below the frame (1) and is used to automatically adjust the spacing according to the spacing of the positioning card positioning openings to pick up and place the carbon fiber coil; the small positioning card picking and placing device (5) and the guide centering device (6) are arranged on one side of the frame (1) and are perpendicular to the surface of the robot connecting flange (2), and the two are used in combination; the paper clamping device (7) is used to take paper from a paper laying machine and lay it on a tray (8).

2. The carbon fiber filament roll stacking and packing gripper according to claim 1, characterized in that: The large positioning card picking and placing device (3) comprises at least two sets of cylinders (3-1) and multiple sets of suction cup assemblies, wherein the cylinders (3-1) are retractable to adjust the positions of the suction cup assemblies; the suction cup assemblies comprise guide rails (3-2), drag chains (3-3), brackets (3-4) and vacuum suction cups (3-5).

3. The carbon fiber filament roll stacking and packing gripper according to claim 1, characterized in that: The carbon fiber coil variable pitch taking and placing device (4) comprises a clamping module (4-1), a clamping claw cylinder fixed in the middle, and clamping claw cylinders that can be moved synchronously on both sides; the position-fixed clamping claw (4-2) is installed at the end of the clamping claw cylinder fixed in the middle, and the follower clamping claw (4-3) is installed at the end of the clamping claw cylinders that can be moved synchronously on both sides.

4. The carbon fiber filament roll stacking and packing gripper according to claim 1, characterized in that: The small positioning card picking and placing device (5) comprises a plurality of vacuum suction cups (5-1) with telescopic rods and proximity switches (5-2), and is used for grabbing the small positioning card (12) for packing.

5. The carbon fiber filament roll stacking and packing gripper according to claim 1, characterized in that: The guide centering device (6) comprises a retractable guide device (6-2) which is driven by a three-axis cylinder (6-1) to be inserted into the paper tube of the carbon fiber filament roll (11) for centering correction.

6. The carbon fiber filament roll stacking and packing gripper according to claim 5, characterized in that: The guide centering device (6) works in conjunction with the small positioning card board placement device (5); the guide device (6-2) retracts when sucking the small positioning card board (12) and extends to center the carbon fiber coil (11) when placing the card board.

7. The carbon fiber filament roll stacking and packing gripper according to claim 1, characterized in that: The paper clamping device (7) comprises a plurality of groups of two-finger clamping claw cylinders (7-1) and two-finger clamping claws (7-2) for clamping paper (9).

8. A carbon fiber filament stacking method, using the carbon fiber filament stacking and packing gripper according to any one of claims 1 to 7, comprising the steps of: The paper clamping device (7) clamps paper (9) from the paper laying machine and lays it on the tray (8); The cylinder (3-1) of the large positioning card plate pick-up and placement device (3) is extended, so that the vacuum suction cup (3-5) is located below the carbon fiber coil pitch-variable pick-up and placement device (4), sucking the large positioning card plate (10) and placing it on the paper (9); The cylinder (3-1) of the large positioning card plate pick-up and placement device (3) retracts, and the carbon fiber coil variable pitch pick-up and placement device (4) grabs the carbon fiber coil (11), and after adjusting the distance between the position fixing clamp (4-2) and the follower clamp (4-3) according to the distance between the positioning card plate positioning openings, places it on the large positioning card plate (10).

9. A method for packing carbon fiber coils, using the carbon fiber coil stacking and packing gripper according to any one of claims 1 to 7, comprising the steps of: The small positioning card picking and placing device (5) sucks the small positioning card (12) and places it in the carton (13) through a vacuum suction cup (5-1) with a telescopic rod; The carbon fiber coil variable pitch pick-up and placement device (4) grabs the carbon fiber coil (11) and places it on the small positioning card (12); the guide centering device (6) extends the guide device (6-2) to correct the skewed carbon fiber coil (11); The small positioning card board taking and placing device (5) places the top small positioning card board (12) to complete the packing.

10. The packing method according to claim 9, characterized in that: After the carbon fiber filament roll (11) is placed on the small positioning card plate (12), if it is skewed, the three-axis cylinder (6-1) of the guide centering device (6) is extended, and the carbon fiber filament roll (11) is forcibly centered using the guide device (6-2) to ensure that the top small positioning card plate (12) is aligned with the carbon fiber filament roll (11).

11. An intelligent logistics system, characterized in that: It comprises the carbon fiber filament roll stacking and packing gripper, AGV and scheduling system as described in any one of claims 1-7; wherein, the AGV serves as a mobile platform; the carbon fiber filament roll stacking and packing gripper serves as an execution terminal; and the scheduling system coordinates the work of multiple AGVs and carbon fiber filament roll stacking and packing grippers.

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