CN216888958U - Automatic loading and unloading coil stock manipulator and coil changing equipment - Google Patents

Abstract

The utility model relates to the technical field of production of roll paper or films, and provides an automatic loading and unloading roll mechanical arm and roll changing equipment. Automatic loading and unloading coil stock manipulator includes portal frame, rotating drive spare, rotary platform and two centre gripping driving pieces, and the rotating drive spare is installed in the portal frame, and the rotating drive spare drive rotary platform is rotatory, and two centre gripping driving piece work to the centre gripping is located the core that rolls up between two centre gripping driving pieces. The automatic coil loading and unloading manipulator and the coil changing equipment provided by the utility model have the beneficial effects that: two centre gripping driving pieces work, can the centre gripping be located the coil stock between two centre gripping driving pieces, and rotatory driving piece drive rotary platform is rotatory around a vertical axis, and centre gripping driving piece and coil stock rotate 180 thereupon, change the upper and lower direction that the membrane face was changed to film on the coil stock, solved current loading and unloading coil stock mode and had that intensity of labour is high and the technical problem that the switching-over safety risk is high to operation security has been improved, operating personnel's intensity of labour has been reduced.

Description

Automatic loading and unloading coil stock manipulator and coil changing equipment

Technical Field

The utility model relates to the technical field of production of roll paper or films, in particular to an automatic roll loading and unloading manipulator and roll changing equipment.

Background

In the polarizing film production process, the most burdensome and dangerous work is to replace the coil stock by the winding and unwinding machine in all the processes. The polarizing film production equipment is roll-to-roll production, and equipment corresponding to each process in the front, middle and rear has the processes of roll loading and roll unloading. The common polarizing film coil with the width of 1.49 meters is generally wound with the diameter of 950 millimeters and the coil weight of approximately one ton, and the traditional coil loading and unloading mode is that a manual or electric hydraulic forklift is used for manually aligning the coil with one ton of the polarizing film coil to a coil core chuck for installation, so that the coil loading process is completed, or the coiled coil is unloaded from a coiling machine for completing the coil unloading process.

In the traditional coil loading and unloading mode, an operator sometimes needs to operate a hydraulic forklift to rotate a horizontally placed coil by 180 degrees around a vertical axis, and the up-and-down direction of a film replacing film surface on the coil is changed. However, the traditional manner of loading and unloading the coil stock to perform the reversing operation of the coil stock has the technical problems of complex operation and high labor intensity.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic coil loading and unloading manipulator and coil changing equipment, and aims to solve the technical problems of complex operation and high labor intensity when the coil is reversed in the conventional coil loading and unloading mode.

In order to achieve the purpose, the utility model adopts the technical scheme that: the utility model provides an automatic loading and unloading coil stock manipulator, includes portal frame, rotary driving piece, rotary platform and two centre gripping driving pieces, rotary driving piece install in the portal frame, rotary driving piece with rotary platform connects, rotary driving piece drive rotary platform is rotatory around a vertical axis, two the centre gripping driving piece install in rotary platform's relative both sides, two centre gripping driving piece work is located two with the centre gripping core between the centre gripping driving piece.

In one embodiment, the automatic coil handling manipulator further comprises two plungers, the plungers correspond to the clamping driving members one to one, the fixing portions of the clamping driving members are mounted on the rotating platform, and the expansion portions of the clamping driving members are connected with the corresponding plungers, so that the two plungers can move oppositely to clamp the coil core.

In one embodiment, the auto-loading and unloading coil manipulator further comprises a slide rail, the slide rail is mounted on the rotating platform, and the plunger is slidably mounted on the slide rail.

In one embodiment, the rotary platform comprises a first gear and a rotary support plate, two clamping driving members are mounted on two opposite sides of the rotary support plate, the rotary support plate is mounted on the first gear, and a second gear is connected with the rotary driving members and is meshed with the first gear.

In one embodiment, the automatic coil loading and unloading manipulator further comprises a lifting mechanism, the rotary driving piece is mounted on the lifting mechanism, the lifting mechanism is mounted on the portal frame, and the lifting mechanism drives the rotary driving piece to lift and descend.

In one embodiment, the automatic coil handling robot further comprises a movable mounting frame, the movable mounting frame is slidably arranged on the portal frame, and the lifting mechanism is mounted on the movable mounting frame.

In one embodiment, the automatic coil handling robot further includes a sliding driving member, the sliding driving member is mounted on the gantry, the sliding driving member is connected with the movable mounting frame, and the sliding driving member is used for driving the movable mounting frame to slide on the gantry.

In one embodiment, the clamping drive is a clamping cylinder and/or the rotary drive is a drive motor.

The utility model also provides roll changing equipment which comprises an unwinding frame, a centering rail car, a winding frame and any one of the automatic loading and unloading winding mechanical arms, wherein the winding frame is used for placing the winding materials or the winding cores, the centering rail car is used for moving the winding materials or the winding cores between the unwinding frame and the winding frame, and the automatic loading and unloading winding mechanical arm is used for transporting the winding materials or the winding cores between the centering rail car and the winding frame.

In one embodiment, the roll changing device further comprises a transfer car, the transfer car is located on one side, away from the unwinding frame, of the roll rack, the transfer car is used for placing the roll material or the roll core, and the automatic roll material loading and unloading manipulator is used for conveying the roll material or the roll core among the centering rail car, the roll rack and the transfer car.

The automatic coil loading and unloading manipulator and the coil changing equipment provided by the utility model have the beneficial effects that: two centre gripping driving pieces work, can the centre gripping be located the coil stock between two centre gripping driving pieces, and rotatory driving piece drive rotary platform is rotatory around a vertical axis, and centre gripping driving piece and coil stock rotate 180 thereupon, change the upper and lower direction that the membrane face was changed to film on the coil stock, solved current loading and unloading coil stock mode and had that intensity of labour is high and the technical problem that the switching-over safety risk is high to operation security has been improved, operating personnel's intensity of labour has been reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a roll changer according to an embodiment of the present invention;

FIG. 2 is a schematic view of the installation of the auto-loadout reel robot of the reel change apparatus of FIG. 1;

fig. 3 is a partial view taken along the line a in fig. 2.

Wherein, in the figures, the respective reference numerals:

10. coiling;

20. a winding core;

31. unwinding the frame; 32. centering the rail car; 33. a coil rack; 34. a transfer car;

40. a manipulator for automatically loading and unloading coil stock;

100. a gantry;

210. a rotary drive member; 220. a second gear;

300. rotating the platform; 310. a first gear; 320. rotating the support plate;

410. clamping the driving member; 420. a plunger; 430. a slide rail; 440. a connecting plate;

510. a lifting mechanism; 520. a movable mounting frame; 530. a roller; 540. a sliding drive member; 550. and a transmission mechanism.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the polarizing film production process, the most burdensome and dangerous work is to replace the roll 10 by the winding and unwinding machine in all the processes. The traditional mode of loading and unloading the coil stock 10 is that a manual or electric hydraulic forklift is used for installing the coil stock 10 with one ton weight in alignment with a chuck of a coil core 20 to finish the coil loading process, or the coiled coil stock 10 is unloaded from a coiling machine to finish the coil unloading process. In the traditional manner for loading and unloading the coil stock 10, the coil stock 10 is heavy, so that the problems of difficulty in centering, low speed and high labor intensity exist, a large number of operators are needed, and the operators can be injured by crashing if the coil stock 10 falls down carelessly, so that the workers suffer from industrial injuries and quality accidents. Moreover, sometimes an operator needs to operate a hydraulic forklift to rotate the horizontally placed coil 10 by 180 degrees around the vertical axis, so as to change the up-and-down direction of the film replacing film surface on the coil 10, and the reversing operation also has the technical problems of complex operation and high labor intensity.

In the related art, if the reversing and loading and unloading of the coil stock 10 are realized by a high-precision AGV (automatic Guided Vehicle) feeding and centering clamping process, the AGV needs to have a single fine lifting function at two ends of the coil stock 10 and also has an accurate centering sensor, and the requirements on the traveling precision and the traveling mode of the AGV are very high, which results in high equipment cost.

The reel change device and the robot 40 for automatically loading and unloading the coil material according to the embodiment of the present invention will now be described.

Referring to fig. 1 and 2, the reel changer includes an unwinding frame 31, a centering rail car 32, a reel frame 33, and an auto-loading and unloading reel robot 40.

Referring to fig. 2 and 3, the auto-loading and unloading coil robot 40 includes a gantry 100, a rotary drive 210, a rotary platform 300, and two clamping drives 410. The rotary driving member 210 is installed on the gantry 100, the rotary driving member 210 is connected to the rotary platform 300, the rotary driving member 210 drives the rotary platform 300 to rotate around a vertical axis, and the two clamping driving members 410 are installed on two opposite sides of the rotary platform 300. The two clamp drives 410 operate to clamp the roll core 20 between the two clamp drives 410.

Specifically, the two clamp drivers 410 are moved toward each other to clamp the roll core 20 between the two clamp drivers 410. The two clamp drives 410 move away from each other to lower the clamped core 20. When the film is wound around the core 20, the two clamping driving members 410 clamp the core 20, which is equivalent to clamping the whole roll 10.

The specific reversing operation of the automatic coil handling manipulator 40 is that two clamping driving pieces 410 work, the automatic clamping is performed on the coil 10 between the two clamping driving pieces 410, the rotary driving piece 210 drives the rotary platform 300 to automatically rotate around a vertical axis, the clamping driving pieces 410 and the coil 10 rotate 180 degrees along with the rotation, the up-and-down direction of a film replacing film surface on the coil 10 is changed, the technical problems that the labor intensity is high and the reversing safety risk is high in the existing coil 10 handling mode are solved, the operation safety is improved, the labor intensity of operators is reduced, and the manufacturing cost is low.

Referring to fig. 2, if the vertical direction of the film exchange film surface on the roll 10 is located on the left side of the roll 10, the auto-handler robot 40 rotates the roll 10 horizontally by 180 °, and then the vertical direction of the film exchange film surface on the roll 10 is located on the right side of the roll 10, thereby implementing the reversing.

In one embodiment, referring to FIG. 2, the auto-load and unload coil robot 40 further includes a lift mechanism 510. The rotary driving unit 210 is mounted to the elevating mechanism 510, that is, the rotary driving unit 210 is mounted to the gantry 100 through the elevating mechanism 510. The elevating mechanism 510 is installed on the gantry 100, and the elevating mechanism 510 drives the rotary driving member 210 to ascend and descend. So, auto-control handling coil stock manipulator 40 had both had the function of the automatic centre gripping core 20 of rolling up and coil stock 10, rotatory coil stock 10 switching-over, still had the function of the core 20 of rolling up and coil stock 10 of automatic rising, and degree of automation is high, and operating efficiency is high, reduces operating personnel's intensity of labour.

Optionally, the lifting mechanism 510 is an electric hoist.

It will be appreciated that in some embodiments, the lift mechanism 510 may also be a hydraulic mechanism, a pneumatic mechanism, or an electric motor mechanism.

Specifically, referring to fig. 2, the auto-loading and unloading robot 40 further includes a movable mounting frame 520. The movable mount 520 is slidably disposed on the gantry 100, and the elevating mechanism 510 is mounted on the movable mount 520. That is, the elevating mechanism 510 is movably mounted to the gantry 100 through a movable mounting frame 520. The movable mount 520 is slidable in the crossing direction of the gantry 100, so that the automatic coil handling robot 40 can convey the coil 10 and the core 20 in the crossing direction of the gantry 100.

Optionally, the movable mounting frame 520 is arranged on the gantry 100 in a rolling manner through rollers 530.

It will be understood that in other embodiments, and with reference to fig. 1, the auto-loading and unloading roll robot 40 is not able to transfer the rolls 10 and cores 20 in the cross direction of the portal 100, but rather the transfer of the rolls 10 and cores 20 between the central trolley and the stack 33 is achieved by centering the movement of the trolley 32 and the stack 33. For example, the centering trolley 32 carrying the core 20 moves under the auto-load/unload robot 40, the auto-load/unload robot 40 picks up the core 20, the centering trolley 32 moves away, the winding frame 33 moves under the auto-load/unload robot 40, and the auto-load/unload robot 40 places the core 20 on the winding frame 33 to perform the loading/unloading operation.

Optionally, referring to fig. 2, the auto-handler 40 further includes a slide drive 540. The sliding driving part 540 is installed on the portal frame 100, the sliding driving part 540 is connected with the movable mounting frame 520, and the sliding driving part 540 is used for driving the movable mounting frame 520 to slide on the portal frame 100, so that the automatic coil loading and unloading manipulator 40 can automatically convey the coil cores 20 and the coils 10 along the span direction of the portal frame 100, and the labor intensity of operators is reduced.

Optionally, the sliding drive 540 is an electric motor, an air cylinder, or a hydraulic cylinder.

Specifically, referring to fig. 1, the sliding driving member 540 is connected to the movable mounting frame 520 through a transmission mechanism 550 to drive the movable mounting frame 520 to slide.

For example, referring to fig. 1, the sliding driving member 540 is installed at one end of the portal frame 100, the transmission mechanism 550 is a belt, the belt is wound around two ends of the portal frame 100 and connected with the movable mounting frame 520, and the sliding driving member 540 drives the belt to rotate, so as to drive the movable mounting frame 520 to slide left and right on the portal frame 100.

In one embodiment, referring to fig. 3, the rotary platform 300 includes a first gear 310 and a rotary support plate 320. Two clamp drives 410 are mounted on opposite sides of the rotating support plate 320. The rotary support plate 320 is mounted to the first gear 310, and the second gear 220 is coupled to the rotary driving member 210, and the second gear 220 is engaged with the first gear 310. Thus, the rotary driving member 210 rotates the second gear 220, and the first gear 310 engaged with the second gear 220 rotates accordingly, so that the rotary supporting plate 320, the clamping driving member 410 and the roll material 10 rotate accordingly.

Optionally, rotary drive 210 is a drive motor.

In one embodiment, referring to FIG. 3, the auto-load and unload coil robot 40 further includes two plungers 420. The plungers 420 are in one-to-one correspondence with the clamping drivers 410, the fixing portions of the clamping drivers 410 are mounted on the rotary platform 300, and the extending portions of the clamping drivers 410 are connected to the corresponding plungers 420, so that the two plungers 420 can move toward each other to clamp the roll core 20. The clamping driving member 410 is inserted into the hole at the end of the winding core 20 through the plunger 420, so as to clamp and fix the winding core 20.

Specifically, the clamp drive 410 is a clamp cylinder.

Specifically, the end of the plunger 420 has a conical head for better insertion into the hole in the end of the jellyroll 20.

Specifically, the auto-load and unload coil robot 40 further includes a slide rail 430. The slide rail 430 is mounted to the rotary platform 300, and the plunger 420 is slidably mounted to the slide rail 430. The slide rail 430 guides the movement of the plunger 420 so that the plunger 420 is more accurately aligned for insertion into the end of the roll core 20.

Alternatively, referring to fig. 3, each plunger 420 is connected to a corresponding clamp drive 410 by a connecting plate 440. One end of the connecting plate 440 is connected to the clamping driving member 410 and slidably disposed on the sliding rail 430, and the other end of the connecting plate is mounted to the corresponding plunger 420.

The specific structure of the reel change apparatus is described below.

Referring to fig. 1, the roll holder 33 is used for holding the roll material 10 or the roll core 20. The centering trolley 32 is used to move the rolls 10 or cores 20 between the unwinding shelf 31 and the stack 33, and the auto-loading and unloading robot 40 is used to transfer the rolls 10 or cores 20 between the centering trolley 32 and the stack 33.

The unwinding frame 31 is used for unwinding the coil 10, or unwinding. After the unwinding frame 31 finishes unwinding, the centering rail car 32 transports the empty winding core 20 on the unwinding frame 31 to the side of the winding frame 33. The auto-load reel robot 40 carries the cores 20 from the centering trolley 32 to the reel stand 33. The cores 20 on the coil rack 33 are automatically returned to the warehouse by the reel machine and the normal AGV.

In one embodiment, referring to fig. 1, the roll changer further includes a transfer car 34. The transfer car 34 is located on the side of the coil holder 33 away from the unwinding holder 31, the transfer car 34 is used for placing the coil 10 or the winding core 20, and the automatic coil loading and unloading manipulator 40 is used for transporting the coil 10 or the winding core 20 among the centering rail car 32, the coil holder 33 and the transfer car 34.

For example, the transfer car 34 is used for placing the coil stock 10 and moving the transfer car to the coil stock rack 33, the auto-loading and unloading coil stock manipulator 40 transports the coil core 20 from the centering rail car 32 to the coil stock rack 33, then transports the coil stock 10 on the transfer car 34 to the centering rail car 32, and the centering rail car 32 then transports the coil stock 10 to the unwinding rack 31, so that the unwinding rack 31 continues unwinding, thereby realizing continuous operation.

Optionally, the transfer car 34 has a locking portion, and the transfer car 34 is precisely locked in a fixed position by a floor-mounted positioning device to cooperate with the auto-handler coil robot 40 to carry the coil 10.

Optionally, referring to fig. 1, the unwinding frame 31 has two stations, when the unwinding of the left-side roll material 10 is completed, an empty core 20 is left, the unwinding frame 31 rotates 180 °, the right-side roll material 10 rotates to the left side to continue unwinding, the left-side empty core 20 rotates to the right side, and the centering rail car 32 replaces the new roll material 10.

The transfer car 34 adopting transition temporarily places the winding core 20 or the coil stock 10, so that the automatic loading and unloading coil stock manipulator 40 can automatically pick the incoming material and then can place the used winding core 20 or the full coil stock 10 back on the transfer car 34. Compared with the high-precision AGV, the loading position of the AGV must be taken away to be emptied, the coil can be conveyed and installed, and the coil changing equipment provided by the embodiment can save one feeding process.

It will be appreciated that in other embodiments the changer may further include a winder, and the centering trolley 32 and auto-handler robot 40 are used to remove the roll 10 on the winder and replace the empty core 20 for continuous winding operations.

In summary, the present invention provides a roll changer apparatus, wherein the auto-handling robot 40 can pick up the roll 10 from the transfer car 34, transfer the roll to the unwinding rack 31 or the winding machine through the centering rail car 32, and return the used winding core 20 or the full roll 10 to the transfer car 34 for taking back. When the coil 10 is placed on the coil rack 33 and stopped at a positioning point through a common AGV and a roller transmission line, the automatic coil loading and unloading manipulator 40 descends and inserts into the winding core 20 under the action of the clamping driving part 410 and the sliding rail 430 through the two side plungers 420 to clamp and lift the coil 10, if the film on the coil 10 needs to be changed in the vertical direction of the film surface, the winding core 20 can be rotated 180 degrees through the rotating driving part 210 to complete reversing, the coil 10 is grabbed and placed between the coil rack 33 and the transfer cart 34 through program control, and the function of automatically changing the coil 10 is realized. Therefore, the coil changing equipment provided by the utility model can automatically realize the loading and unloading of the coil 10 and the reversing of the coil 10 without manual assistance, has simple structure, reliable action and low cost, and ensures the safety of personnel on the premise of reducing labor and labor intensity.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an automatic loading and unloading coil stock manipulator which characterized in that: including portal frame, rotary driving spare, rotary platform and two centre gripping driving pieces, rotary driving spare install in the portal frame, rotary driving spare with rotary platform connects, the rotary driving spare drive rotary platform is rotatory around a vertical axis, two the centre gripping driving piece install in rotary platform's relative both sides, two the work of centre gripping driving piece is located two with the centre gripping core that rolls up between the centre gripping driving piece.

2. The auto-loading and unloading coil manipulator according to claim 1, characterized in that: the automatic loading and unloading coil stock manipulator further comprises two plungers, the plungers are in one-to-one correspondence with the clamping driving piece, the fixing portion of the clamping driving piece is installed on the rotating platform, the telescopic portion of the clamping driving piece is connected with the corresponding plungers, and therefore the plungers can move oppositely and clamp the winding cores.

3. The auto-loading and unloading coil manipulator according to claim 2, characterized in that: the automatic loading and unloading coiling manipulator further comprises a sliding rail, the sliding rail is installed on the rotating platform, and the plunger is installed on the sliding rail in a sliding mode.

4. The auto-loading and unloading coil manipulator according to claim 1, characterized in that: the rotary platform comprises a first gear and a rotary supporting plate, two clamping driving pieces are arranged on two opposite sides of the rotary supporting plate, the rotary supporting plate is arranged on the first gear, the rotary driving pieces are connected with a second gear, and the second gear is meshed with the first gear.

5. The auto-loading and unloading coil manipulator according to claim 1, characterized in that: the automatic coil handling manipulator further comprises a lifting mechanism, the rotary driving piece is mounted on the lifting mechanism, the lifting mechanism is mounted on the portal frame, and the lifting mechanism drives the rotary driving piece to lift.

6. The auto-loading and unloading coil manipulator according to claim 5, characterized in that: the automatic coil handling manipulator further comprises a movable mounting frame, the movable mounting frame is slidably arranged on the portal frame, and the lifting mechanism is installed on the movable mounting frame.

7. The auto-loading and unloading coil manipulator according to claim 6, characterized in that: the automatic loading and unloading coil stock manipulator further comprises a sliding driving piece, the sliding driving piece is installed on the portal frame, the sliding driving piece is connected with the movable mounting frame, and the sliding driving piece is used for driving the movable mounting frame to slide on the portal frame.

8. The auto-loading and-unloading coil manipulator according to any one of claims 1 to 7, characterized in that: the clamping driving part is a clamping cylinder, and/or the rotating driving part is a driving motor.

9. A roll change apparatus characterized by: the automatic loading and unloading roll material manipulator comprises an unwinding frame, a centering rail car, a roll material frame and the automatic loading and unloading roll material manipulator of any one of claims 1 to 8, wherein the roll material frame is used for placing the roll material or the roll core, the centering rail car is used for moving the roll material or the roll core between the unwinding frame and the roll material frame, and the automatic loading and unloading roll material manipulator is used for conveying the roll material or the roll core between the centering rail car and the roll material frame.

10. The roll change apparatus according to claim 9, wherein: the roll changing equipment further comprises a transfer car, the transfer car is located on one side, away from the unwinding frame, of the roll frame, the transfer car is used for placing the roll material or the roll cores, and the automatic roll material loading and unloading manipulator is used for enabling the roll material or the roll cores to be carried between the centering rail car, the roll frame and the transfer car.

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