Electrolytic copper foil roll automatic conveying device and method thereof

Abstract

The invention relates to an electrolytic copper foil roll automatic conveying device and method, and belongs to the technical field of electrolytic copper foil roll conveying, and the method comprises the steps that S1, a three-axis robot, an inner tensioning main shaft and a follow-up lifting mechanism with a force sensor below are configured, and the main shaft is connected with the lifting mechanism through a guide rail; s2, the robot drives a main shaft to be inserted into the copper foil roll core and expand and tighten; s3, the lifting mechanism ascends to be attached to the copper foil roll, and when the pressure reaches a threshold value, the height is locked, and synchronization with the main shaft is achieved; and S4, conveying to a stacking position, hovering in a Z-axis low position, preferentially retracting and separating the lifting mechanism, slightly descending in the Z-axis position, and finally retracting the main shaft. The levelness of a copper foil reel line is guaranteed, additional damping is provided by contact friction between the bracket and the surface of a coiled material, radial jumping and axial movement caused by transportation inertia are effectively restrained, and the coiling quality of the whole process from slitting to stacking is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of electrolytic copper foil roll conveying, specifically to an automatic conveying device and method for electrolytic copper foil rolls. Background Technology

[0002] With the continuous development of new energy and electronic manufacturing technologies, the production weight of electrolytic copper foil rolls has increased significantly, and the application of heavy-duty rolls is becoming increasingly common. The complexity brought about by this heavy-duty working condition poses many challenges to automated production lines, especially in the automatic gripping, conveying, and stacking management of finished rolls.

[0003] Currently, the industry typically uses industrial robots equipped with single-end cantilever expansion shafts to perform copper foil roll handling operations. The equipment usually controls the expansion shaft to insert into the paper tube core of the copper foil roll, generating friction through radial expansion to rigidly grip and lift the roll, and then move it to a designated pallet or workstation for stacking.

[0004] However, traditional single-end cantilever gripping and conveying methods rely primarily on a single point of force on the core, which has significant limitations when handling heavy, wide copper foil rolls. Due to gravity, the cantilever structure inevitably experiences end sag and deflection, causing the axis of the roll to tilt during air transport. This tilt easily induces loosening between the layers of the copper foil roll, leading to relative displacement between the inner and outer layers under transport inertia, resulting in a tower-shaped interlayer slippage defect that severely affects product quality. Furthermore, to overcome the risk of slippage under heavy loads, traditional expansion shafts often require applying extremely high radial tension, which can easily cause elliptical deformation or even cracking of the low-strength paper tube core. In the final stacking stage, due to load deformation and mechanical springback, the gripping mechanism is prone to spatial interference with the bottom of the roll or pallet during unloading, making it difficult to pull the shaft out or scratch the copper foil end face, hindering a smooth soft landing.

[0005] Therefore, how to solve the problems of axial tilt and interlayer slippage during the transportation of heavy-duty copper foil rolls, and avoid damage to the core and stacking interference, has become an urgent problem to be solved in this field.

[0006] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic conveying device and method for electrolytic copper foil rolls, so as to solve the problems mentioned in the background art. The technical solution of this invention is as follows:

[0008] An automated feeding method for electrolytic copper foil rolls includes:

[0009] S1. Set up a three-axis Cartesian coordinate robot, an internal tensioning spindle, and a follower lifting mechanism. The internal tensioning spindle is horizontally installed at the Z-axis end of the three-axis Cartesian coordinate robot. The follower lifting mechanism is located directly below the internal tensioning spindle. The follower lifting mechanism and the internal tensioning spindle are connected by a linear guide rail to achieve relative vertical movement. A force sensor is set at the bottom of the follower lifting mechanism.

[0010] S2. Control the three-axis rectangular coordinate robot to drive the inner tensioning spindle to insert into the core of the copper foil roll, and drive the inner tensioning spindle to expand radially to rigidly tension the inner wall of the core.

[0011] S3. Start the follow-up lifting mechanism to move upward to fit the bottom outer circle of the copper foil roll. The force sensor monitors the reaction force on the follow-up lifting mechanism in real time. When the value of the force sensor reaches the preset support threshold, the follow-up lifting mechanism locks the current height and moves synchronously with the inner tensioning spindle.

[0012] S4. Control the three-axis Cartesian coordinate robot to transport the copper foil roll to the top of the stacking position, control the Z-axis to descend to the low position hovering height, prioritize control the follow-up lifting mechanism to actively descend and retract until it is completely separated from the surface of the copper foil roll, then control the Z-axis to continue to descend slightly until the copper foil roll falls into the pallet, and finally control the inner tensioning spindle to retract and retract.

[0013] Preferably, step S2 includes the following prior to:

[0014] S2.1 A radial floating interface is set, wherein the internal tensioning spindle is connected to the end of the Z-axis through the radial floating interface. The radial floating interface adopts a through hole-bolt clearance fit structure. A preset gap is reserved on one side between the through hole and the bolt, and a self-centering spring is sleeved on the bolt.

[0015] In step S2, if there is a positional deviation when the internal tension spindle is inserted, the alignment error is compensated by the passive lateral displacement generated by the radial floating interface.

[0016] Preferably, in step S2, the internal tensioning spindle includes a spindle housing, a drive rod, a tensioning pad, and a radial return spring. The drive rod is provided with an active wedge surface, and the tensioning pad is provided with a driven wedge surface. When the drive rod moves axially, it drives the tensioning pad to expand radially.

[0017] Preferably, step S3 includes:

[0018] Set a support threshold, where the support threshold is the force value that can overcome the sagging torque generated by the gravity of the inner tension spindle cantilever and is less than the total weight of the copper foil roll;

[0019] Start and control the follow-up lifting mechanism to move upward, and use a force sensor to perform closed-loop control using the contact force threshold determination method;

[0020] When the reaction force reaches the support threshold, the feeding action of the follow-up lifting mechanism stops. The auxiliary support force provided by the follow-up lifting mechanism transforms the force model of the internal tensioning main shaft from a cantilever beam into a mechanically equivalent simply supported beam.

[0021] Preferably, the range of the support threshold setting in step S3 is 80N to 100N.

[0022] Preferably, step S4 includes:

[0023] Control the Z-axis to descend until the bottom of the copper foil roll is at a preset safe distance from the surface of the tray and then remain suspended.

[0024] The follow-up lifting mechanism is executed to avoid an obstacle, driving the follow-up lifting mechanism to descend and reset.

[0025] Control the Z-axis to slowly and gradually decrease, and monitor the load value of the Z-axis;

[0026] When the load value on the Z-axis drops sharply, it is determined that the copper foil roll has completed the load transfer, and the internal tensioning spindle is released from tension.

[0027] Preferably, in step S2, the gripping force is determined to meet the standard by detecting the motor current or hydraulic oil pressure that drives the internal tensioning spindle, based on the positive correlation between load and output torque.

[0028] Preferably, the follow-up lifting mechanism adopts a V-shaped bracket, and the force sensor is connected in series between the bottom of the V-shaped bracket and the drive module.

[0029] An automatic conveying device for electrolytic copper foil rolls includes:

[0030] A three-axis Cartesian coordinate robot used to provide movement in the X, Y, and Z axes;

[0031] A composite gripping module is installed at the Z-axis end of a three-axis Cartesian coordinate robot;

[0032] And the central control system;

[0033] The composite gripping module includes a horizontally arranged inner tensioning spindle and a follow-up lifting mechanism located directly below the inner tensioning spindle;

[0034] Among them, the inner tensioning spindle is used to rigidly grip the core, and the follow-up lifting mechanism is used to provide auxiliary flexible support. The follow-up lifting mechanism is connected to the inner tensioning spindle through a linear guide rail.

[0035] The central control system is electrically connected to the three-axis Cartesian coordinate robot, the internal tensioning spindle, and the follow-up lifting mechanism, and is used to control the above mechanisms to execute the steps of the method described in claim 1 based on sensor feedback.

[0036] Preferably, a radial floating interface that allows radial floating is provided between the inner tensioning spindle and the end of the Z-axis, and a force sensor for monitoring the vertical support force is provided on the follow-up lifting mechanism.

[0037] Compared with the prior art, the present invention has the following improvements and advantages:

[0038] 1. This solution alters the stress state during the roll material transport process by configuring a follow-up lifting mechanism directly below the internal tensioning spindle and utilizing closed-loop force control logic implemented by a force sensor. The active auxiliary support force applied by the follow-up lifting mechanism at the far end of the roll material transforms the stress model from an unstable single-end cantilever beam to a stable simply supported beam at both ends. This structure not only physically eliminates the deflection deformation of the spindle and ensures the horizontality of the copper foil roll axis, but also provides additional damping through the contact friction between the bracket and the roll material surface, effectively suppressing radial runout and axial movement caused by transport inertia, and ensuring the roll shape quality throughout the entire process from slitting to stacking.

[0039] 2. This solution solves the mechanical interference problem of the bottom lifting structure in the stacking process by using a specific low-position hovering control sequence combined with the priority avoidance control of the bracket. The control system executes the action sequence of low-position hovering, active downward retraction of the follow-up lifting mechanism, and micro-dropping of the Z-axis. Before the coil material contacts the pallet, the bottom follow-up lifting mechanism is withdrawn in advance by utilizing the short-term independent load-bearing capacity of the internal tensioning spindle. This strategy of trading space for time achieves interference-free vertical placement without the need for an additional lateral movement mechanism, which not only ensures the stacking verticality under the B65G standard, but also completely avoids the risk of the V-shaped bracket scratching the surface of the finished copper foil.

[0040] 3. The internal tensioning spindle of this solution adopts a mechanical expansion structure with a drive rod driving a wedge-shaped surface, replacing the traditional inflatable airbag structure. Utilizing the force-increasing principle of the wedge-shaped surface's inclined plane, the axial tensile force is converted into a high-strength radial rigid support force, significantly improving the load limit. At the same time, the friction self-locking angle characteristic of the wedge-shaped surface, combined with its design, provides the system with a power failure protection function. That is, in the event of an unexpected failure of the drive source, the mechanical self-locking force can still maintain the tensioned state, preventing the heavy copper foil roll from falling and establishing a reliable passive safety redundancy. In addition, the design of the large-area tensioning pad reduces the contact pressure per unit area, effectively preventing the paper tube core from undergoing elliptical deformation.

[0041] 4. This solution incorporates a clearance fit structure with a self-centering spring at the connection between the internal tensioning spindle and the Z-axis end. The radial floating interface provides the rigid actuator with passive compliance capability in the radial plane. When the spindle guide head contacts the core and generates a lateral force, this mechanism allows the spindle to overcome the spring preload and generate an appropriate amount of physical lateral displacement, automatically compensating for the coaxiality error between the robot's positioning coordinates and the actual center of the core. This flexible tolerance design not only protects the integrity of the material but also reduces the stringent requirements for the robot's absolute repeatability positioning accuracy, thus improving the overall robustness of the system. Attached Figure Description

[0042] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0043] Figure 1 This is a schematic diagram of the overall external structure of the device;

[0044] Figure 2 This is a schematic diagram of the composite grasping module;

[0045] Figure 3 This is a schematic diagram of the drive rod and its connecting structure;

[0046] Figure 4 This is a schematic diagram of the process flow of the method of the present invention.

[0047] In the diagram: 100, Three-axis Cartesian coordinate robot; 130, Z-axis; 200, Composite gripping module; 210, Internal tension spindle; 211, Spindle housing; 212, Drive rod; 213, Tensioning bearing; 214, Return spring; 220, Follow-up lifting mechanism; 221, V-shaped bracket; 222, Force sensor; 223, Drive module; 230, Linear guide rail. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0049] Example 1:

[0050] Please see Figure 1-4 This invention provides an automatic feeding method for electrolytic copper foil rolls, comprising:

[0051] S1. A three-axis Cartesian coordinate robot 100, an internal tensioning spindle 210, and a follower lifting mechanism 220 are set up. The internal tensioning spindle 210 is horizontally installed at the end of the Z-axis 130 of the three-axis Cartesian coordinate robot 100. The follower lifting mechanism 220 is located directly below the internal tensioning spindle 210. The follower lifting mechanism 220 and the internal tensioning spindle 210 are connected by a linear guide rail 230 to achieve relative vertical movement. A force sensor 222 is set at the bottom of the follower lifting mechanism 220.

[0052] S2. Control the three-axis rectangular coordinate robot 100 to drive the inner tensioning spindle 210 to insert into the core of the copper foil roll, and drive the inner tensioning spindle 210 to expand radially to rigidly tension the inner wall of the core.

[0053] S3. Start the follow-up lifting mechanism 220 to move upward to fit the bottom outer circle of the copper foil roll. The force sensor 222 monitors the reaction force on the follow-up lifting mechanism 220 in real time. When the value of the force sensor 222 reaches the preset support threshold, the follow-up lifting mechanism 220 locks the current height and moves synchronously with the inner tensioning spindle 210.

[0054] S4. Control the three-axis rectangular coordinate robot 100 to transport the copper foil roll to the top of the stacking position, control the Z-axis 130 to descend to the low position hovering height, prioritize control the follow-up lifting mechanism 220 to actively descend and retract until it is completely separated from the surface of the copper foil roll, then control the Z-axis 130 to continue to descend slightly until the copper foil roll falls into the pallet, and finally control the inner tensioning spindle 210 to retract and retract.

[0055] This embodiment provides a conveying method to solve the problems of tower-shaped interlayer slippage and stacking interference that easily occur in the automated conveying of heavy electrolytic copper foil rolls, such as 500kg rolls. In view of the problems of roll axis tilting and loosening caused by single-end cantilever gripping in the prior art, this embodiment constructs a composite conveying system with rigid inner gripping as the main component and flexible outer support as the auxiliary component.

[0056] In step S1, the hardware foundation is constructed, and a three-axis Cartesian robot 100 is configured as the motion carrier, providing spatial degrees of freedom in the X, Y, and Z dimensions. A composite gripping module 200 is integrated at the end of the Z-axis 130. This module includes an internally tensioned main shaft 210 for bearing weight and a follower lifting mechanism 220 for balancing torque. The key is that the two are physically connected through a linear guide rail 230, so that the follower lifting mechanism 220 can both follow the main shaft for macroscopic synchronous transport and perform independent microscopic vertical floating relative to the main shaft, providing a mechanical basis for subsequent force control compensation.

[0057] In step S2, rigid gripping is performed; the robot is controlled to insert the inner tensioning spindle 210 along the core axis; at this time, the inner tensioning spindle 210 expands radially, establishes a high-strength static friction connection with the inner wall of the core, bears 100% of the gravity load of the copper foil roll, and ensures the initial positioning of the roll in space.

[0058] In step S3, an active torque balancing mechanism is introduced; the follow-up lifting mechanism 220 is activated to actively move upward. When it contacts the outer circle of the bottom of the copper foil roll, the force sensor 222 provides closed-loop feedback. Once the detected reaction force reaches the preset support threshold, which is sufficient to overcome the downward torque generated by the cantilever gravity, the system immediately locks the vertical height of the follow-up lifting mechanism 220. At this time, the follow-up lifting mechanism 220 provides an additional physical fulcrum at the far end of the copper foil roll, transforming the force model from an unstable cantilever beam into a stable mechanically equivalent simply supported beam, physically eliminating the axial tilt, and using contact friction damping to suppress interlayer slippage caused by transport inertia.

[0059] In step S4, interference-free stacking logic is executed. When the copper foil roll reaches the stacking position, to solve the technical problem that the lifting mechanism may be pressed under the bottom of the roll and cannot be pulled out, a specific timing control is adopted: first, the Z-axis 130 is lowered to a low position and hovered, for example, 5mm away from the pallet, at which point the roll has not yet contacted the pallet; the follow-up lifting mechanism 220 is driven to actively retract and completely exit the stacking area; then the Z-axis 130 performs a slight descent action to complete the placement. This timing strategy avoids the risk of interference between the mechanical structure and the stacking action by trading space for time, and achieves high-precision vertical stacking.

[0060] The steps preceding S2 include:

[0061] S2.1 A radial floating interface is provided, wherein the internal tensioning spindle 210 is connected to the end of the Z-axis 130 through the radial floating interface. The radial floating interface adopts a through hole-bolt clearance fit structure. A preset gap is reserved on one side between the through hole and the bolt, and a self-centering spring is sleeved on the bolt.

[0062] In step S2, if there is a positional deviation when the inner tension spindle 210 is inserted, the alignment error is compensated by the passive lateral displacement generated by the radial floating interface.

[0063] This embodiment addresses the problem that copper foil roll cores, which are typically paper tubes, are easily damaged by rigid impacts, by introducing a flexible tolerance mechanism into the rigid connection.

[0064] In step S2.1, the mechanical connection interface is improved by setting a radial floating interface; at the connection between the internal tension spindle 210 flange and the Z-axis 130 mounting plate, the traditional tight fit is abandoned, and a through-hole-bolt clearance fit structure is adopted; a physical gap of 3mm to 5mm is reserved on one side between the bolt shank and the mounting hole, and a high-stiffness self-centering spring is set; the self-centering spring is preferably a bidirectional opposing disc spring or a high-stiffness conical spring, which is used to keep the bolt in the geometric center position of the through hole through elastic restoring force when no external force is applied; under normal conditions, the spring force keeps the spindle in the geometric center;

[0065] During the insertion process in step S2, if there is a coaxiality deviation between the spindle and the core due to cumulative equipment error or roll material placement error, the guide structure at the front end of the spindle will contact the core port first.

[0066] When the conical guide head at the front end of the spindle is pressed into the core port, its inclined surface decomposes the axial feed force into a radial component. When the lateral component generated by the contact exceeds the preload of the self-centering spring, it forces the spindle to passively move laterally within the reserved gap range, thereby achieving alignment. This design converts the rigid collision energy that may cause the core to tear into the elastic potential energy of the spring, realizing automatic physical compensation for alignment errors and effectively protecting the fragile paper tube core.

[0067] In step S2, the inner tensioning spindle 210 includes a spindle housing 211, a drive rod 212, a tensioning pad 213, and a radial return spring 214. The drive rod 212 is provided with an active wedge surface, and the tensioning pad 213 is provided with a driven wedge surface. When the drive rod 212 moves axially, it drives the tensioning pad 213 to expand radially.

[0068] This embodiment details the specific implementation of the internally tensioned spindle 210 adapted to heavy-duty, 500kg-class working conditions, aiming to solve the problem of insufficient load capacity of traditional air bearings;

[0069] In step S2, the inner tensioning spindle 210 adopts a mechanical wedge-type force-increasing structure; its core components include a drive rod 212 set inside and tensioning pads 213 distributed around the circumference; the drive rod 212 has an active wedge surface precisely machined on it, and the tensioning pads 213 have a corresponding driven wedge surface machined on their inner side;

[0070] During operation, the pull rod 212 is driven by hydraulic or electric motor to move axially. Utilizing the principle of inclined plane force amplification, the axial tension is converted into a huge radial expansion force of the tensioning pad 213. This structure has two significant advantages: First, by utilizing the frictional self-locking angle between the wedge-shaped surfaces, even in the event of an unexpected failure of the drive source, the radial tension force will not disappear instantly, preventing the heavy-duty copper foil roll from falling. Second, through the large-area contact of the tensioning pad 213, while providing sufficient static friction to grip heavy objects, it effectively reduces the pressure on the inner wall of the paper tube per unit area according to the pressure formula P=F / S, preventing the paper tube from undergoing elliptical deformation due to excessive force. The radial return spring 214 is used to forcibly pull back the tensioning pad 213 during unloading, ensuring that the spindle can exit smoothly.

[0071] The steps in S3 include:

[0072] Set a support threshold, wherein the support threshold is a force value that can overcome the sagging torque generated by the cantilever gravity of the inner tension spindle 210 and is less than the total weight of the copper foil roll;

[0073] Start and control the follow-up lifting mechanism 220 to move upward, and use the force sensor 222 to perform closed-loop control using the contact force threshold determination method;

[0074] When the reaction force reaches the support threshold, the feeding action of the follow-up lifting mechanism 220 is stopped. The force model of the inner tensioning main shaft 210 is transformed from a cantilever beam to a simply supported beam with equivalent mechanical performance by the auxiliary support force provided by the follow-up lifting mechanism 220.

[0075] This embodiment further refines the force control logic of the follow-up lifting mechanism 220, and solves the technical contradiction that excessive lifting force causes the roll material to detach from the main shaft or insufficient lifting force cannot correct the deflection.

[0076] In step S3, the control system adopts the contact force threshold determination method; a precise support threshold is set, the physical meaning of which is that the reverse torque generated is sufficient to offset the cantilever sag of the inner tensioning spindle 210 due to its own weight and load, but its absolute value is much smaller than the total weight of the copper foil roll, for example, only 1.5%-2% of the total weight, so as to ensure that the main weight of the copper foil roll is still borne by the inner tensioning spindle 210.

[0077] Specifically, the support threshold is calculated based on the bending stiffness and cantilever length of the internal tensioning spindle 210. Its physical meaning is: the vertical correction force required to restore the elastic deflection caused by the self-weight at the end of the internal tensioning spindle 210 to zero under no-load or load conditions.

[0078] During execution, the follow-up lifting mechanism 220 moves upward, and the force sensor 222 collects the pressure at the contact interface in real time. The controller compares the collected value with the set threshold at high frequency. Once the threshold is reached, it indicates that the bracket has provided appropriate auxiliary support, and the controller immediately cuts off the power to the drive motor and locks the position. In essence, this operation adds a hinge support to the free end of the cantilever beam, transforming it into a simply supported beam model, thereby fundamentally eliminating the end deflection during long-distance cantilever conveying and ensuring the horizontality of the copper foil roll axis.

[0079] In step S3, the support threshold is set within the range of 80N to 100N;

[0080] This embodiment provides a specific preferred range for the support threshold; based on the analysis of measured data from a 500kg standard electrolytic copper foil roll, the support threshold is set between 80N and 100N.

[0081] Within this numerical range, the upward lifting force provided by the follow-up lifting mechanism 220 can effectively compensate for the slight sagging caused by the elastic deformation of the main shaft steel, typically within the range of 1-3mm, so that the main shaft returns to a horizontal state. At the same time, this value is far below the critical force value that may cause the copper foil roll to be lifted and detached from the reference surface of the inner tensioning main shaft 210. Selecting 80N to 100N as the anti-shake support threshold is the best balance point between ensuring transportation stability and maintaining the positioning reference, effectively preventing up-and-down bumps during transportation.

[0082] The steps in S4 include:

[0083] Control the Z-axis to descend 130 degrees until the bottom of the copper foil roll is at a preset safe distance from the surface of the tray and then remain suspended.

[0084] It should be noted that the safe distance It must be set to be greater than the maximum end deflection value of the internal tension spindle 210 when it is used as a single-end cantilever beam under full load. That is, satisfying This is to prevent the roll material from sag and collide with the pallet due to the elastic deformation of the main shaft when the follow-up lifting mechanism 220 is removed.

[0085] The follow-up lifting mechanism 220 is executed to avoid an obstacle, driving the follow-up lifting mechanism 220 to descend and reset;

[0086] Control the Z-axis 130 to descend slowly and gradually, and monitor the load value of the Z-axis 130;

[0087] When the load value of Z-axis 130 drops sharply, it is determined that the copper foil roll has completed the load transfer, and the internal tensioning spindle 210 is released from the tensioning state.

[0088] This embodiment describes in detail the stacking control strategy to avoid mechanical interference and achieve a soft landing;

[0089] In step S4, the system first controls the Z-axis 130 to descend rapidly to a low hovering point, which is defined as the bottom of the copper foil roll being only 5mm away from the surface of the target tray; hovering at this height is intended to create space for the follow-up lifting mechanism 220 to exit.

[0090] When the bracket avoidance command is executed, the follow-up lifting mechanism 220 is driven to move downwards and reset independently, so that it is completely separated from the bottom of the copper foil roll; at this time, the copper foil roll briefly returns to the state of being gripped by only one arm of the inner tensioning spindle 210.

[0091] The Z-axis 130 is controlled to perform micro-lowering movements at extremely low speeds, such as 1-5 mm / s; during this process, the system monitors the load current or torque value of the Z-axis 130 servo motor in real time.

[0092] The controller has a load change rate threshold set internally. When the load decrease slope per unit time exceeds this threshold, it is determined to be a load drop.

[0093] When a sudden drop in the load value of Z-axis 130 is detected, it indicates that the bottom of the copper foil roll has contacted the tray and the weight has been transferred from Z-axis 130 to the tray. Based on this, the system determines that the placement is complete and then instructs the internal tension spindle 210 to retract the wedge block to complete the unloading. This logic ensures that the roll material is placed without impact or scratches and completely solves the engineering problem of the tray being pressed down and unable to be removed.

[0094] In step S2, the gripping force is judged to meet the standard based on the positive correlation between load and output torque by detecting the motor current or hydraulic oil pressure that drives the internal tensioning spindle 210 to operate.

[0095] This embodiment provides a detection method to ensure gripping safety; in order to prevent slippage accidents caused by insufficient driving force during the inner hole locking process in step S2, the system introduces an indirect torque detection mechanism;

[0096] Because the actuator that drives the internal tensioning spindle 210 has an output force that is proportional to the load, the system monitors the drive current value of the motor or the oil pressure value of the hydraulic system in real time. The controller has preset current ranges or oil pressure ranges corresponding to the reliable gripping force. Only when the real-time monitored value stably falls into the range can the system confirm that the gripping action is completed. Based on the linear correspondence between the output force of the actuator and the load, subsequent lifting actions are allowed. This non-contact detection method does not require the installation of expensive force sensors inside the rotating parts, and can verify the tensioning state of the mechanical wedge at low cost and with high reliability.

[0097] The follow-up lifting mechanism 220 adopts a V-shaped bracket 221, and the force sensor 222 is connected in series between the bottom of the V-shaped bracket 221 and the drive module 223;

[0098] This embodiment optimizes and limits the specific structure of the follow-up lifting mechanism 220;

[0099] The follow-up lifting mechanism 220 adopts a V-shaped bracket 221 structure; the geometric characteristics of the V-shaped groove have an automatic centering function. When it moves upward and contacts the circular copper foil roll, it can naturally adapt to rolls of different diameters and help limit the lateral rolling of the roll.

[0100] In terms of sensor arrangement, force sensors 222 are connected in series between the bottom of the V-shaped bracket 221 and the drive module 223 below it, such as a cylinder or lead screw slide. This series arrangement allows the sensors to directly bear and detect all the vertical reaction forces on the bracket, avoiding measurement errors caused by friction of the linkage mechanism or lateral force components. This ensures that the force data fed back to the control system is true and accurate, thereby guaranteeing the accurate execution of the above force control logic.

[0101] Example 2:

[0102] Please see Figure 1-3 An automatic conveying device for electrolytic copper foil rolls, comprising:

[0103] A three-axis Cartesian coordinate robot 100 is used to provide motion in the X, Y, and Z axes in 130 directions;

[0104] The composite gripping module 200 is installed at the end of the Z-axis 130 of the three-axis Cartesian coordinate robot 100;

[0105] The composite gripping module 200 includes a horizontally arranged inner tensioning spindle 210 and a follow-up lifting mechanism 220 located directly below the inner tensioning spindle 210;

[0106] Among them, the inner tensioning spindle 210 is used to rigidly grip the core, and the follow-up lifting mechanism 220 is used to provide auxiliary flexible support. The follow-up lifting mechanism 220 and the inner tensioning spindle 210 are connected through the linear guide rail 230.

[0107] This embodiment provides a hardware device entity for implementing the above-described conveying method; the automatic conveying device for electrolytic copper foil rolls mainly consists of a three-axis Cartesian coordinate robot 100 and a composite gripping module 200;

[0108] The three-axis Cartesian coordinate robot 100 constructs a gantry or cantilever motion frame and provides linear motion capability in three orthogonal directions (X, Y, and Z) through a high-precision servo drive system, covering the entire working space from the material picking point of the slitting machine to the finished product pallet stacking point.

[0109] The composite gripping module 200, as the core execution end, is rigidly mounted on the lifting slide plate of the Z-axis 130. The module innovatively integrates two functional units: a horizontally extending inner tensioning spindle 210, which serves as the main load-bearing component and is used to perform rigid gripping deep into the core; and a follow-up lifting mechanism 220 located directly below the spindle, which serves as an auxiliary balancing component and is used to lift the outside of the roll material. The two are connected by a precision linear guide rail 230. This connection method restricts all degrees of freedom except the vertical direction, ensuring that the follow-up lifting mechanism 220 can only move vertically relative to the spindle, thereby achieving a composite conveying function that combines rigidity and flexibility.

[0110] A radial floating interface that allows radial floating is provided between the end of the internal tensioning spindle 210 and the Z-axis 130, and a force sensor 222 for monitoring the vertical support force is provided on the follow-up lifting mechanism 220.

[0111] This embodiment provides a detailed description of the key connection nodes and sensing units of the device;

[0112] At the connection between the internal tension spindle 210 and the Z-axis 130, a radial floating interface is integrated; the interface contains clearance-fit fasteners and elastic reset elements, which allow the spindle to generate millimeter-level radial floating displacement when subjected to external radial force, thereby giving the device fault-tolerant alignment capability and avoiding damage to expensive copper foil products or equipment spindles from hard impacts.

[0113] A high-sensitivity force sensor 222 is integrated into the follow-up lifting mechanism 220. This sensor is configured to sense the contact pressure between the bracket and the copper foil roll in real time and transmit analog or digital signals to the central controller. This sensor is the hardware foundation for realizing closed-loop force control and simply supported beam conversion logic, enabling the device to sense the load status and intelligently adjust the lifting force accordingly, ensuring the stability of the conveying process and the safety of the stacking action.

[0114] Example 3:

[0115] Based on the foregoing embodiments, the automatic conveying device for electrolytic copper foil rolls of the present invention further includes a central control system; the central control system is electrically connected to the three-axis rectangular coordinate robot 100, the drive component of the internal tensioning spindle 210, the drive module 223 of the follow-up lifting mechanism 220, and the force sensor 222.

[0116] Specifically, the central control system includes, but is not limited to, a PLC programmable logic controller, an industrial computer, or an embedded control board, which integrates the following logic control modules to execute the conveying method of the present invention:

[0117] Closed-loop force control module: This module is connected to the force sensor 222 and the drive module 223. This module is configured to receive the pressure values ​​fed back by the force sensor 222 in real time and compare them with a preset support threshold, such as 80N-100N, using PID calculations. When the detected pressure value is less than the support threshold, the module outputs a command to control the drive module 223 to continue moving upwards; when the pressure value reaches or slightly exceeds the support threshold, the module immediately outputs a braking command to lock the height of the drive module 223, thereby achieving the flexible support and deflection compensation in step S3.

[0118] Load monitoring and placement judgment module: This module communicates with the Z-axis servo drive of the three-axis Cartesian coordinate robot 100; in the stacking stage of step S4, this module collects the current load or output torque data of the Z-axis motor in real time; when it detects that the load value of the Z-axis slowly decreases and the slope exceeds the preset value, the module determines that the bottom of the copper foil roll has contacted the tray, and then sends a retraction command to the inward tensioning spindle 210 to complete the automatic unloading;

[0119] Grasping Safety Interlock Module: This module is used for safety detection in step S2. It determines whether the radial tension force meets the standard by detecting the current value of the drive motor of the inner tension spindle 210 or the oil pressure value of the hydraulic system; only when the tension force signal is within the safe range will this module allow the three-axis Cartesian coordinate robot 100 to perform subsequent lifting actions to prevent the roll material from slipping.

[0120] Timing logic control module: This module is used to coordinate the multi-axis linkage timing in step S4; the specific logic is as follows: after the Z-axis descends to the low position hovering point, this module forcibly locks the Z-axis movement, prioritizes sending a command to drive the follow-up lifting mechanism 220 to fully retract, and after the retraction signal is confirmed, the Z-axis is unlocked to perform a micro-descent movement. This logic avoids mechanical interference between the V-shaped bracket 221 and the stacking movement.

[0121] Through the overall control of the aforementioned central control system, a deep integration of mechanical structure movements and sensor feedback data is achieved, ensuring the automation and intelligence of the entire conveying process.

[0122] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic feeding method for electrolytic copper foil rolls, characterized in that, include: S1. A three-axis Cartesian coordinate robot (100), an internal tension spindle (210), and a follower lifting mechanism (220) are set up. The internal tension spindle (210) is horizontally installed at the end of the Z-axis (130) of the three-axis Cartesian coordinate robot (100). The follower lifting mechanism (220) is located directly below the internal tension spindle (210). The follower lifting mechanism (220) and the internal tension spindle (210) are connected by a linear guide rail (230) to achieve relative vertical movement. A force sensor (222) is set at the bottom of the follower lifting mechanism (220). S2. Control the three-axis rectangular coordinate robot (100) to drive the inner tensioning spindle (210) to insert into the core of the copper foil roll, and drive the inner tensioning spindle (210) to expand radially to rigidly tension the inner wall of the core; S3. Start the follow-up lifting mechanism (220) to move upward to fit the bottom outer circle of the copper foil roll. The force sensor (222) monitors the reaction force on the follow-up lifting mechanism (220) in real time. When the value of the force sensor (222) reaches the preset support threshold, the follow-up lifting mechanism (220) locks the current height and moves synchronously with the inner tensioning spindle (210). S4. Control the three-axis rectangular coordinate robot (100) to transport the copper foil roll to the stacking position, control the Z-axis (130) to descend to the low position hovering height, prioritize control the follow-up lifting mechanism (220) to actively descend and retract until it is completely separated from the surface of the copper foil roll, then control the Z-axis (130) to continue to descend slightly until the copper foil roll falls into the tray, and finally control the inner tensioning spindle (210) to retract and retract.

2. The automatic conveying method for electrolytic copper foil rolls according to claim 1, characterized in that, The steps preceding S2 include: S2.1 A radial floating interface is set, wherein the internal tensioning spindle (210) is connected to the end of the Z-axis (130) through the radial floating interface. The radial floating interface adopts a through hole-bolt clearance fit structure. A preset gap is reserved on one side between the through hole and the bolt, and a self-centering spring is sleeved on the bolt. In step S2, if there is a positional deviation when the internal tension spindle (210) is inserted, the alignment error is compensated by the passive lateral displacement generated by the radial floating interface.

3. The automatic conveying method for electrolytic copper foil rolls according to claim 1, characterized in that, In step S2, the internal tensioning spindle (210) includes a spindle housing (211), a drive rod (212), a tensioning pad (213), and a radial return spring (214). The drive rod (212) is provided with an active wedge surface, and the tensioning pad (213) is provided with a driven wedge surface. When the drive rod (212) moves axially, it drives the tensioning pad (213) to expand radially.

4. The automatic conveying method for electrolytic copper foil rolls according to claim 1, characterized in that, The steps in S3 include: Set a support threshold, wherein the support threshold is a force value that can overcome the downward torque generated by the cantilever gravity of the inner tension spindle (210) and is less than the total weight of the copper foil roll; Start and control the follow-up lifting mechanism (220) to move upward, and use the force sensor (222) to perform closed-loop control using the contact force threshold determination method; When the reaction force reaches the support threshold, the feeding action of the follow-up lifting mechanism (220) stops, and the force model of the inner tensioning main shaft (210) is transformed from a cantilever beam to a simply supported beam with equivalent mechanical properties by the auxiliary support force provided by the follow-up lifting mechanism (220).

5. The automatic conveying method for electrolytic copper foil rolls according to claim 4, characterized in that, In step S3, the support threshold is set within the range of 80N to 100N.

6. The automatic feeding method for electrolytic copper foil rolls according to claim 1, characterized in that, The steps in S4 include: Control the Z-axis (130) to descend until the bottom of the copper foil roll is at a preset safe distance from the surface of the tray and remains suspended; The follow-up lifting mechanism (220) is executed to avoid an obstacle, and the follow-up lifting mechanism (220) is driven to descend and reset. Control the Z-axis (130) to slowly descent and monitor the load value of the Z-axis (130); When the load value of the Z-axis (130) drops sharply, it is determined that the copper foil roll has completed the load transfer, and the internal tensioning spindle (210) is released from the tensioning state.

7. The automatic feeding method for electrolytic copper foil rolls according to claim 1, characterized in that, In step S2, the gripping force is judged to meet the standard based on the positive correlation between load and output torque by detecting the motor current or hydraulic oil pressure of the drive internal tension spindle (210).

8. The automatic conveying method for electrolytic copper foil rolls according to claim 1, characterized in that, The follow-up lifting mechanism (220) adopts a V-shaped bracket (221), and the force sensor (222) is connected in series between the bottom of the V-shaped bracket (221) and the drive module (223).

9. An automatic conveying device for electrolytic copper foil rolls, characterized in that, include: A three-axis Cartesian coordinate robot (100) is used to provide motion in the X, Y, and Z axis (130) directions; A composite gripping module (200) is installed at the end of the Z-axis (130) of a three-axis Cartesian coordinate robot (100); And the central control system; The composite gripping module (200) includes a horizontally arranged inner tensioning spindle (210) and a follow-up lifting mechanism (220) located directly below the inner tensioning spindle (210). Among them, the inner tensioning spindle (210) is used to rigidly grip the core, and the follower lifting mechanism (220) is used to provide auxiliary flexible support. The follower lifting mechanism (220) and the inner tensioning spindle (210) are connected by a linear guide rail (230). The central control system is electrically connected to the three-axis Cartesian coordinate robot (100), the internal tensioning spindle (210), and the follow-up lifting mechanism (220), respectively, and is used to control the above-mentioned mechanisms to perform the steps of the method described in any one of claims 1 to 8 based on sensor feedback.

10. An automatic conveying device for electrolytic copper foil rolls according to claim 9, characterized in that, A radial floating interface that allows radial floating is provided between the end of the internal tensioning spindle (210) and the Z-axis (130), and a force sensor (222) for monitoring the vertical support force is provided on the follow-up lifting mechanism (220).

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