WO2016090866A1 - 摩擦辊自动保管库系统及存取方法 - Google Patents

摩擦辊自动保管库系统及存取方法 Download PDF

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Publication number
WO2016090866A1
WO2016090866A1 PCT/CN2015/080669 CN2015080669W WO2016090866A1 WO 2016090866 A1 WO2016090866 A1 WO 2016090866A1 CN 2015080669 W CN2015080669 W CN 2015080669W WO 2016090866 A1 WO2016090866 A1 WO 2016090866A1
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WO
WIPO (PCT)
Prior art keywords
roller
friction
clamping
control unit
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/080669
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English (en)
French (fr)
Inventor
王文浩
黄助兵
洪艳平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BOE Technology Group Co Ltd
Hefei Xinsheng Optoelectronics Technology Co Ltd
Original Assignee
BOE Technology Group Co Ltd
Hefei Xinsheng Optoelectronics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by BOE Technology Group Co Ltd, Hefei Xinsheng Optoelectronics Technology Co Ltd filed Critical BOE Technology Group Co Ltd
Priority to US14/894,156 priority Critical patent/US9522782B2/en
Publication of WO2016090866A1 publication Critical patent/WO2016090866A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric

Definitions

  • Embodiments of the present invention relate to a friction roller automatic storage system and an access method.
  • the rubbing process refers to rubbing the surface of the alignment film on the substrate with a rubbing roller wrapped with a nylon cloth or a cotton cloth in a certain direction and force to form a liquid crystal. And the pretilt groove, this process is called liquid crystal molecular orientation technology.
  • the quality of the orientation directly affects the quality of the liquid crystal display. Therefore, the orientation technology has extremely high requirements on the friction roller.
  • the storage method is largely It also affects the quality of the friction roller. At the same time, the requirements for the cost and efficiency of the storage roller are also increasing.
  • the known storage system of the friction roller can only realize the semi-automatic access friction roller, which comprises two parts of the robot for taking and placing the friction roller and the storage roller library, and the structural schematic diagrams thereof are shown in FIG. 1 and FIG. 2 respectively.
  • the robot is a multi-joint device that can move freely as a whole, and includes a plurality of freely rotatable shaft segments 13, a stretching arm 12 between the shaft segments, and a clamping arm 14 configured to clamp the friction roller;
  • the storage roller library includes a storage table and The clip 16 and the card slot 15 are configured to snap the friction roller;
  • the means for transporting the friction roller is a roller, as shown in FIG. 3, including the wheel 17 and the roller table 18 configured to place the roller.
  • the semi-automatic friction roller storage system manually fixes the roller conveyor to a specific position of the storage bin so that the robot can accurately position and pick up the friction roller on the roller conveyor, and then the clamping arm of the robot clamps the friction roller and transports the friction roller To the clip 16 and the card slot 15 at the corresponding position of the storage table, after the friction roller 1 is in place, the robot returns to the original set position and waits for an instruction to access the next rubbing roller 1.
  • the known semi-automatic friction roller storage pick-and-place friction roller mainly relies on the precise positioning of the robot, and the access process is complicated, the speed is slow, which seriously affects the access efficiency; and the friction roller is fixed during storage.
  • the angle is placed obliquely, and the long-term placement is easy to deform and bend the friction roller, which affects the quality performance and service life of the roller.
  • At least one embodiment of the present invention provides an automatic storage system and accessor for a friction roller
  • the method can solve the technical problem that the known friction roller access process is complicated, slow, and inefficient.
  • the friction roller automatic storage system provided by the embodiment of the invention comprises a storage roller device, a roller track, a roller platform and a positioning device;
  • the storage roller device includes a rotatably movable storage roller body, one end of the storage roller body is connected to the first bracket, and the other end of the storage roller body is connected to the second bracket, the first bracket and the second bracket Fixedly mounted on both sides of the roller track, the first bracket is provided with a first motor capable of driving the movement of the storage roller body; and one end of the storage roller body is provided with at least two circumferentially evenly distributed a first clamping member, the other end of the storage roller body is provided with a second clamping member corresponding to the first clamping member, and the first clamping member and the second clamping member cooperate Holding the friction roller between the two;
  • the roller platform is placed above the roller track, the roller platform includes a sliding seat slidably engaged with the roller track, and a roller table configured to place a friction roller, the roller track and the roller
  • a transmission device and a guide pair configured to drive the carriage to linearly move along the roller track are disposed between the carriages, and the carriage is provided with a first lift configured to drive the roller table up and down a device, the roller table is provided with a roller groove;
  • the positioning device includes a sensor configured to sense the roller platform, the sensor being fixed to the first bracket and/or the second bracket and electrically coupled to a control unit; the first motor, The movement states of the transmission device and the first lifting device are both controlled by the control unit, and the clamping action of the first clamping member and/or the second clamping member is controlled by the control unit.
  • the storage roller body comprises a first clamping disk and a second clamping disk, the first clamping disk and the second clamping disk are fixedly connected together by a connecting shaft, the inside of the first clamping disk Having at least two circumferentially evenly distributed first clamping members, the second clamping disk is provided with the second clamping member corresponding to the first clamping member;
  • An output shaft of a motor is fixedly coupled to the first clamping disk, and a casing of the first motor is coupled to the first bracket.
  • first bracket is provided with a first sliding slot in a vertical direction
  • casing of the first motor is provided with at least one pair of mutually parallel guiding surfaces, the guiding surface and the first sliding
  • the slot is slidably coupled
  • the inner side of the second bracket is provided with a slide rail in a vertical direction
  • the outer side of the second clamp disc is provided with a second sliding slot that is slidably coupled with the slide rail;
  • the second bracket A second lifting device capable of driving the second clamping plate to move up and down is provided, and the lifting movement of the second lifting device is controlled by the control unit.
  • the first bracket is provided with a first sliding slot in a vertical direction, and the first clamping tray is externally a first slider is slidably coupled to the first sliding slot, and a casing of the first motor is fixedly connected to the first sliding block; and an inner side of the second bracket is disposed in a vertical direction a slide rail, a second sliding groove of the second clamping plate is slidably coupled to the sliding rail; and the second bracket is provided with a second lifting device capable of driving the second clamping disk to move up and down The lifting movement of the second lifting device is controlled by the control unit.
  • the second lifting device includes a second motor, a screw fixedly connected to the output shaft of the second motor, and a nut coupled to the screw, the nut being fixedly connected to the second clamping plate, A casing of the second motor is fixedly mounted on the second bracket, and the second motor is electrically coupled to the control unit.
  • a second slider is fixed on an outer side of the second clamping disc, and the second sliding slot is disposed on an outer side of the second sliding block, and the nut is fixedly connected to the second sliding block.
  • slide rail is a linear guide rail.
  • first clamping disk and the second clamping disk are both regular polygonal disk-shaped structures, and the first clamping member is fixedly connected at a corner position of the first clamping disk, correspondingly The second clamping member is fixedly coupled to the corner position of the second clamping disk.
  • first clamping disc and the second clamping disc are a regular quadrilateral, a regular hexagon, a positive eight-deformation, a regular decagon or a regular twelve-sided disc-like structure.
  • the first clamping member is a pneumatic claw
  • the second clamping member is a card slot
  • the clamping action of the pneumatic claw is controlled by the control unit.
  • the first lifting device is a cylinder
  • the base of the cylinder is fixedly connected with the sliding seat
  • the piston rod of the cylinder is fixedly connected with the roller table
  • the piston rod of the cylinder is vertically expanded and contracted. Controlled by the control unit.
  • a guide rail is disposed on the roller track along a longitudinal direction thereof, the slide seat is provided with a guide groove slidingly engaged with the guide rail, and a sliding fit connection between the guide rail and the guide groove constitutes the Guide pair.
  • Embodiments of the present invention also relate to a friction roller employing the above-described friction roller automatic storage system
  • the automatic access method includes, in order, a take-up roller step, a roller step, and a storage roller step;
  • the storing roller step includes: the control unit controls the first motor to drive the storage roller body to rotate at an angle such that a corresponding storage position on the storage roller body is on the precisely positioned roller platform a position directly above the friction roller; subsequently, the control unit controls the first lifting device to push the roller table upward to reach the clamping position, and/or control the second motor to drive the storage The roller body moves downward to reach the clamping position; subsequently, the control unit controls the first clamping member and the second clamping member to clamp the friction roller therebetween; subsequently, the control unit controls The first lifting device drives the setting roller table downward, and/or controls the second motor to drive the storage roller body to return upward.
  • 1 is a schematic structural view of a known robot
  • FIG. 2 is a schematic structural view of a known storage roller magazine
  • Figure 3 is a schematic view showing the structure of a known roller conveyor
  • FIG. 4 is a schematic perspective structural view of a friction roller automatic storage system according to an embodiment of the present invention.
  • Figure 5 is a front elevational view of the friction roller automatic storage system of Figure 4.
  • Figure 6 is a right side view of the friction roller automatic storage system of Figure 5;
  • Figure 7 is a partial perspective structural view of the friction roller automatic storage system of Figure 4.
  • Figure 8 is a schematic enlarged view of a portion A of Figure 6;
  • Figure 9 is a schematic enlarged view of a portion B of Figure 6;
  • Figure 10 is a schematic enlarged view of a portion C of Figure 7;
  • Figure 11 is a perspective enlarged structural view of part B of Figure 6;
  • Figure 12 is a schematic view showing the operation of the control unit in one embodiment of the automatic friction storage system of the friction roller according to the embodiment of the present invention.
  • roller motor 406
  • 407 roller motor
  • the embodiment of the invention relates to a friction roller automatic storage system, which mainly comprises a storage roller device 2, a roller track 3, a roller platform 4 movable on the roller track 3, and a positioning device disposed on the storage roller device 2. 5 and a control unit 8 electrically connected to the storage roller device 2, the transport roller platform 4 and the positioning device 5.
  • Embodiments of the present invention also relate to a method of automatically accessing a friction roller using the above-described friction roller automatic storage system, which mainly includes a roller taking step, a roller step, and a storing roller step which are sequentially performed.
  • the roller platform 4 is freely movable on the roller track 3 under the control of the control unit 8, and when moving to the vicinity of the target position, the positioning device 5 cooperates with the control unit 8 to accurately the roller platform 4 Positioned directly below the storage roller device 2, the control unit 8 then issues an instruction to store the friction roller 1 carried by the roller platform 4 to the corresponding position of the storage roller device 2.
  • the inner side refers to the side facing the transport roller rail 3
  • the outer side refers to the side facing away from the transport roller rail 3.
  • the rubbing roller 1 is initially located at the friction machine device 6 waiting for being transported by the transport roller platform 4 and stored at the corresponding position of the stock roller device 2, but the present invention is not limited thereto.
  • Embodiment 1 of the present invention provides a friction roller automatic storage system, including a storage roller device 2, a roller track 3, a roller platform 4, and a positioning device 5, as shown in FIGS.
  • the positioning device 5 includes a sensor 501 configured to sense the roller platform. As shown in FIGS. 9 and 11, the sensor 501 is fixed to the first bracket 201 (of course, it may be fixed to the second bracket 205). And electrically coupled to a control unit 8; the movement states of the first motor 202, the transmission and the first lifting device are both controlled by the control unit 8, and the first clamping member 213 and/or the second clamping member The clamping action of 211 is controlled by the control unit 8.
  • one end of the transport roller rail 3 is placed at a position where the roller device 6 is taken near the friction machine device 6, and as shown in FIG. 5, the transport roller platform 4 can be straight back and forth on the transport roller rail 3.
  • the sliding movement when moving to the front of the friction device 6, the roller table 402 on the roller platform 4 can be raised and lowered by the first lifting device to the unloading roller position of the friction device 6, at which time the friction device 6 can pass
  • the automatic unloading device 7 automatically removes the corresponding friction roller 1 and directly places it into the roller groove 403 which has been raised and lowered to the roller table 402 at the position of the unloading roller, and then, under the action of the transmission device, the roller platform 4 carrying the friction roller 1 sliding movement to the storage roller preparation position below the storage roller device 2, at which time the roller platform 4 is accurately positioned by the positioning device 5; then, the first lifting device again drives the roller table 402 to move upward to a certain extent The height reaches the clamping position corresponding to the precisely positioned
  • Friction roller 1 is clamped; then, the roller is placed
  • the table 402 moves downwardly under the driving of the first lifting device; then, the first motor 202 (shown in FIG. 7) drives the storage roller body 20 to rotate at a certain angle so as to store another pair of clips at both ends of the roller body 20.
  • the holder holds the next friction roller 1.
  • the friction device 6 itself is provided with an automatic unloading device 7, it can realize automatic unloading; in addition, the working states of the first lifting device, the transmission device, the clamping member, the storage roller body 20 and the positioning device are all controlled by the control unit 8
  • the automatic control coordination cooperation is realized, so the automatic friction roller storage system of the embodiment of the present invention can realize the automatic access function of the friction roller 1 , thereby shortening the access working time and improving the access efficiency; in addition, the friction roller of the embodiment of the present invention
  • the automatic vault system eliminates the need to manually access the friction roller 1 and does not require robotic operation, which saves a lot of manpower and reduces production and maintenance costs.
  • the rotation process thereof can cause the friction roller 1 thereon to revolve around the storage roller main body 20 at a time, so that the gravity of each friction roller is the same, thereby ensuring that the friction roller 1 does not Because of the long time of deformation, the quality and service life of the friction roller are guaranteed during the storage of the friction roller.
  • the storage roller body 20 includes a first clamping disk 203 and a second clamping disk 204, and the first clamping disk 203 and the second clamping disk 204 are fixedly coupled together by a connecting shaft 212.
  • the first clamping plate 203 is provided with at least two circumferentially evenly distributed first clamping members 213, and the second clamping disk 204 is provided with a second clamping member 211 corresponding to the first clamping member 213;
  • the output shaft of the first motor 202 is fixedly connected to the first clamping plate 203, and the casing of the first motor is connected to the first bracket 201.
  • the first clamping disc 203 and the second clamping disc 204 are both disc-shaped structures, and can be processed by using common plates, which not only has low material cost, but also has low processing cost and low processing cost; corresponding first and The second clamping discs are fixedly connected together by a connecting shaft 212, so that not only the two clamping discs can be kept synchronously rotated, but also the internal friction and the moment of the friction roller 1 stored between the two clamping discs are generated, and the friction roller is ensured.
  • the quality, and, compared with the monolithic structure, the structure has the advantages of easy disassembly, easy processing and low cost; the output shaft of the first motor 202 is directly or indirectly fixedly connected to the first clamping disc 203.
  • a first sliding slot 214 is provided on the first bracket 201 in a vertical direction, and at least one pair is provided on the casing of the first motor.
  • the guiding surfaces are slidably coupled to the first sliding slot 214.
  • the inner side of the second bracket 205 is provided with a sliding rail 206 in the vertical direction, and the outer side of the second clamping disk 204 is provided with a sliding fit connection with the sliding rail 206.
  • the second chute (not shown); the second bracket 205 is provided with a second lifting device that can move the second clamping plate 204 up and down, and the lifting movement of the second lifting device is controlled by the control unit 8.
  • the sliding engagement between the first sliding slot 214 on the first bracket 201 and the guiding surface of the casing of the first motor constitutes a first guiding pair, and the sliding rails 206 on the second sliding slot and the second bracket 205
  • the sliding contact connection constitutes the second guiding pair; since the two clamping disks are synchronously moved, when the control unit 8 issues a work instruction to the second lifting device, the second lifting device will drive the second clamping plate 204 up and down Movement, at this time, the first holding plate 203 will move up and down synchronously, that is, the second lifting device drives the entire storage roller body 20 to slide up and down stably under the guiding action of the guiding pair on the two brackets, thereby being free according to the needs of the field work.
  • Control the storage roller body 20 and the roller track 3 (or The spacing between the roller platforms 4) provides more convenient conditions for the automatic access of the friction roller 1, significantly enhancing the adaptability and adjustability of the overall system.
  • the arrangement of such a structure enables the storage roller body 20 to be moved up and down by the second lifting device even when the first lifting device is not in operation during the process of storing the roller, thereby realizing the function of the storage roller.
  • the sliding of the first sliding slot 214 may be provided outside the first clamping disc 203.
  • the slide rail 206 is disposed on the inner side of the second bracket 205 in the vertical direction, and the outer side of the second clamp disc 204 is provided with a second sliding slot that is slidably coupled with the slide rail 206 (in the figure) Not shown); the second bracket 205 is provided with a second lifting device that can move the second clamping plate 204 up and down, and the lifting movement of the second lifting device is controlled by the control unit 8.
  • the second lifting device may include a second motor 207, a screw 208 fixedly coupled to the output shaft of the second motor 207, and a nut 209 coupled to the lead screw 208; wherein the nut 209 and the second
  • the two clamping discs 204 are fixedly connected, the casing of the second motor 207 is fixedly mounted on the second bracket 205, and the rotation of the output shaft of the second motor 207 is controlled by the control unit 8.
  • the control unit 8 issues a work command to the second motor 207
  • the second motor 207 rotates the drive screw 208 and converts its rotational motion into a linear motion of the nut 209, due to the nut 209 and the second clamp.
  • the holding plate 204 is fixedly connected to further drive the second clamping plate 204 to move up and down linearly, thereby further realizing the up and down linear motion of the entire storage roller body 20.
  • a second slider 210 may be fixed on the outer side of the second clamping disc 204, and the second sliding A groove (not shown) is disposed on the outer side of the second slider 210, and a nut 209 is fixedly coupled to the second slider 210; and the slide rail 206 is a linear guide rail, and by such arrangement, the storage roller body 20 can be moved up and down. Smoothness.
  • the first clamping disc 203 and the second clamping disc 204 may each be arranged in a regular polygonal disc-like structure, for example: first The chucking disk 203 and the second chucking disk 204 are even-numbered polygonal structures such as a regular quadrangle, a regular hexagon, a positive eight-deformation, a regular decagon or a regular twelve-sided disc-shaped structure. With this arrangement, when the friction roller 1 is taken in and out, the balance of the entire storage roller body 20 can be ensured at all times.
  • the first clamping disk 203 and the second clamping disk 204 can also be arranged in an odd polygonal structure.
  • the first clamping member 213 can be fixedly coupled to the corner position of the first clamping disk 203, and correspondingly, the second clamping member 211 is fixedly coupled to the corner position of the second clamping disk 204;
  • the holding members are arranged at the corners of the corresponding clamping discs, and the positioning thereof is obviously more convenient and reliable.
  • the first clamping member 213 can be set as a pneumatic claw, and the second clamping member 211 is configured as a card slot, and the clamping action of the pneumatic claw is controlled by the control unit 8.
  • the control unit 8 controls the pneumatic gripper to open the finger to place one end of the rubbing roller 1 at its palm and simultaneously align the other end of the rubbing roller 1 with the card slot
  • the control unit 8 controls the jaws to close to grasp one end of the friction roller 1 and push the other end of the friction roller 1 into the card slot, thereby firmly clamping the friction roller on the first clamping disk 203 and the second Between the clamping discs 204.
  • one clamping member that is matched with each other is provided as a pneumatic claw, and the other clamping member is provided as a card slot, which has the advantage of simple structure, and the pneumatic actuator has an environmental advantage during operation.
  • a rack 301 is disposed along the longitudinal direction of the roller track 3, and meshes with the rack 301.
  • the gear 405 and the roller motor 406 that drives the gear 405 rotate, the casing of the roller motor is fixed on the carriage 401, the output shaft of the roller motor 406 is fixedly connected with the gear 405, and the roller motor 406 and the control unit 8 are electrically connected.
  • the coupling generally constitutes the transmission.
  • a guide rail 302 is disposed on the transport roller rail 3 along the longitudinal direction thereof.
  • the slide base 401 is provided with a guide groove 404 which is slidably engaged with the guide rail 302.
  • the sliding joint connection between the guide rail 302 and the guide groove 404 constitutes a group of guide pairs. .
  • the roller motor 406 on the carriage 401 rotates the drive gear 405, thereby driving the entire roller platform 4 to move linearly back and forth on the roller track 3.
  • other transmission devices capable of realizing the linear transmission function, such as a pulley transmission, a chain transmission, and the like, may be employed.
  • a guide groove may be disposed on the transport roller rail 3, and a guide block that is slidably engaged with the guide groove may be disposed on the slide base 401 instead of the slide fit guide pair formed by the guide rail and the guide groove.
  • the first lifting device is provided as a cylinder 407.
  • the cylinder base is fixedly connected with the sliding seat 401, and the cylinder piston rod and the roller table are fixed.
  • the fixed connection of 402 the up and down telescopic movement of the cylinder piston rod is controlled by the control unit 8.
  • the control unit 8 controls the cylinder 407 waiting in the roller table 4 below the automatic unloading device 7 to extend out of the piston rod to push the roller table 402 upward.
  • the control unit 8 controls the cylinder piston rod to retract and drive The roller table 402 moves downward to return to position. After the returning is completed, the control unit 8 controls the roller motor 406 on the slider 401 to drive the entire roller platform 4 to linearly move on the roller track 3 to the corresponding under the storage roller device 2. At the position, the rubbing roller 1 is then stored at the corresponding position of the storage roller body 20.
  • the friction roller 1 In the process of accessing the friction roller, in order to maintain the balance of the load roller body 20 at all times, the friction roller 1 can be taken in pairs, of course, the pair of friction rollers 1 in the storage position of the storage roller body 20 relative to the storage roller body
  • the axis of 20 is symmetrical, so that the roll groove 403 can be provided in two rows in parallel, and of course, it can also be set to one or more columns.
  • the embodiment provides an automatic access method of the friction roller using the friction roller automatic storage system in the first embodiment, which comprises the steps of taking a roller, a roller, and a roller.
  • the automatic unloading device 7 on the friction machine device 6 automatically loads the friction roller 1 into the roller groove 403 on the roller table 402; subsequently, the control unit 8 controls the first lifting device (cylinder 407) to drive the roller
  • the table 402 is moved back to the position, and after the return position is in place, the take-up roller is completed; the take-up roller described herein refers to the take-up of the friction roller 1 from the friction device 6 onto the roller platform 4.
  • the process of taking out the friction roller 1 on the storage roller body 20 onto the roller platform 4 is exactly the reverse of the above-described storage roller process, that is, the control unit 8 controls the second motor 207 to drive the roller body. 20 moves downward to the corresponding position; subsequently, the control unit 8 controls the first motor 202 to drive the roller body 20 to rotate, so that the friction roller 1 to be taken is directly opposed to the roller groove 403; subsequently, the control unit 8 controls the first clamping member 213, the friction roller 1 is loosened to cause the friction roller 1 to fall into the roller groove 403; then, the control unit 8 controls the second motor 207 to move the storage roller body 20 upward to return to the position, and the roller is completed.
  • control unit 8 first controls the first motor 202 to drive the storage roller body 20 to rotate, and then controls the second motor 207 to drive the storage roller body 20 to move back to the lower position, and the specific operation thereof will not be repeated herein. .
  • control unit 8 is a schematic diagram of the operation of the control unit 8 in an example of the method for automatically accessing the friction roller according to the embodiment of the present invention.
  • the control unit 8 can also be connected to a second lifting device (for example, the second motor 207) not shown in FIG. 12, and details are not described herein.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种摩擦辊自动保管库系统，包括存辊装置(2)、运辊轨道(3)、运辊平台(4)和定位装置(5)；存辊装置(2)包括可旋转运动的存辊主体(20)，存辊主体(20)一端设有第一夹持件(213)，另一端设有第二夹持件(211)，摩擦辊(1)被夹持在两者之间；运辊平台(4)包括滑座(401)和置辊台(402)，运辊轨道(3)与滑座(401)之间设有传动装置(406)。摩擦辊自动保管库系统能够实现摩擦辊的自动存取功能，提高存取效率和节省人力，降低生产和维护成本。还提供了一种摩擦辊自动存取方法。

Description

摩擦辊自动保管库系统及存取方法 技术领域
本发明的实施例涉及一种摩擦辊自动保管库系统及存取方法。
背景技术
在液晶面板的成盒工艺中，摩擦工序是指用裹有尼龙布或棉布的摩擦辊(Roller)以一定方向和力度对基板上的配向膜表面进行摩擦，使其形成能让液晶有定向排列和预倾角的沟槽，这一过程被称之为液晶分子取向技术。取向效果的好坏直接影响到液晶显示器的品质，因此取向技术对摩擦辊的要求极高，除了摩擦辊的材质能够影响其精度、耐变形等品质外，对其的存放方式在很大程度上也影响到摩擦辊的品质，同时近年来厂家对存辊的成本及效率的要求也越来越高。
已知的摩擦辊的保管库系统只能实现半自动化存取摩擦辊，其包括取放摩擦辊的机器人和存辊库两个部分，其结构示意图分别如图1和图2所示。机器人为多关节设备，可以整体自由移动，包括多个可以自由旋转的轴节13、轴节之间的伸展臂12以及配置以夹紧摩擦辊的夹持臂14；存辊库包括存储台和配置以卡接摩擦辊的卡夹16和卡槽15；运送摩擦辊的装置为一运辊车，如图3所示，包括车轮17和配置以放置辊的运辊台18。此半自动摩擦辊保管库系统通过人工将运辊车固定到保管库的特定位置，以便机器人精确定位并拾取运辊车上的摩擦辊，随后机器人的夹持臂夹紧摩擦辊并将摩擦辊运送到存储台的相应位置处的卡夹16和卡槽内15，确定摩擦辊1到位后，机器人回到原设定位置等待存取下一个摩擦辊1的指令。
综上所述，已知的这种半自动摩擦辊保管库取放摩擦辊主要靠机器人的精确定位，其存取过程复杂，速度缓慢，严重影响其存取效率；并且摩擦辊在保存时呈一定角度倾斜放置，长时间的放置容易使摩擦辊变形弯曲，影响辊的品质性能及使用寿命。
发明内容
本发明的至少一个实施例提供一种摩擦辊的自动保管库系统及存取方 法，能够解决已知的摩擦辊存取过程复杂、速度缓慢、效率低的技术问题。
本发明实施例提供的摩擦辊自动保管库系统包括存辊装置、运辊轨道、运辊平台和定位装置；
所述存辊装置包括可旋转运动的存辊主体，所述存辊主体的一端连接第一支架，所述存辊主体的另一端连接第二支架，所述第一支架与所述第二支架固定安装在所述运辊轨道的两侧，所述第一支架上设有能够驱动所述存辊主体旋转的第一电机；所述存辊主体的一端设有至少两个周向均匀分布的第一夹持件，所述存辊主体的另一端设有与所述第一夹持件相对应的第二夹持件，所述第一夹持件和所述第二夹持件配合作用以将所述摩擦辊夹持在两者之间；
所述运辊平台置于所述运辊轨道之上，所述运辊平台包括与所述运辊轨道滑动配合的滑座和配置以放置摩擦辊的置辊台，所述运辊轨道与所述滑座之间设有配置以驱动所述滑座沿所述运辊轨道直线运动的传动装置和导向副，所述滑座上设有配置以驱动所述置辊台上下运动的第一升降装置，所述置辊台上设有置辊槽；
所述定位装置包括配置以感应所述运辊平台的传感器，所述传感器固定在所述第一支架和/或所述第二支架上，并与一控制单元电联接；所述第一电机、所述传动装置和所述第一升降装置的运动状态均由所述控制单元控制，所述第一夹持件和/或第二夹持件的夹持动作由所述控制单元控制。
进一步地，所述存辊主体包括第一夹持盘和第二夹持盘，所述第一夹持盘和第二夹持盘通过连接轴固定连接在一起，所述第一夹持盘内侧设有至少两个周向均匀分布的所述第一夹持件，所述第二夹持盘内侧设有与所述第一夹持件相对应的所述第二夹持件；所述第一电机的输出轴与所述第一夹持盘固定连接，所述第一电机的机壳与所述第一支架连接。
进一步地，所述第一支架上沿竖直方向设有第一滑槽，所述第一电机的机壳上设有至少一对相互平行的导向面，所述导向面与所述第一滑槽滑动配合连接，所述第二支架内侧沿竖直方向设有滑轨，所述第二夹持盘的外侧设有与所述滑轨滑动配合连接的第二滑槽；所述第二支架上设有可带动第二夹持盘上下运动的第二升降装置，所述第二升降装置的升降运动由所述控制单元控制。
或者，所述第一支架上沿竖直方向设有第一滑槽，所述第一夹持盘外 侧设有与所述第一滑槽相滑动配合连接的第一滑块，所述第一电机的机壳与所述第一滑块固定连接；所述第二支架内侧沿竖直方向设有滑轨，所述第二夹持盘的外侧设有与所述滑轨滑动配合连接的第二滑槽；所述第二支架上设有可带动第二夹持盘上下运动的第二升降装置，所述第二升降装置的升降运动由所述控制单元控制。
进一步地，所述第二升降装置包括第二电机、与第二电机输出轴固定连接的丝杆和与丝杆配合连接的螺母，所述螺母与所述第二夹持盘固定连接，所述第二电机的机壳固定安装在所述第二支架上，所述第二电机与所述控制单元电联接。
进一步地，所述第二夹持盘的外侧固设有第二滑块，所述第二滑槽设在所述第二滑块的外侧，所述螺母与所述第二滑块固定连接。
进一步地，所述滑轨为直线导轨。
进一步地，所述第一夹持盘和所述第二夹持盘均为正多边形盘状结构，所述第一夹持件固定连接在所述第一夹持盘的边角位置处，相应地，所述第二夹持件固定连接在所述第二夹持盘的边角位置处。
进一步地，所述第一夹持盘和第二夹持盘为正四边形、正六边形、正八变形、正十边形或正十二边形盘状结构。
进一步地，所述第一夹持件为气动卡爪，所述第二夹持件为卡槽，所述气动卡爪的夹持动作由所述控制单元控制。
进一步地，所述传动装置包括沿所述运辊轨道长度方向设置的齿条、与所述齿条相啮合的齿轮和带动所述齿轮旋转的运辊电机，所述运辊电机的机壳固接在所述滑座上，所述运辊电机的输出轴与所述齿轮固定连接，所述运辊电机与所述控制单元电联接。
进一步地，所述第一升降装置为气缸，所述气缸的底座与所述滑座固定连接，所述气缸的活塞杆与所述置辊台固定连接，所述气缸的活塞杆的上下伸缩动作由所述控制单元控制。
进一步地，所述运辊轨道上沿其长度方向设有导轨，所述滑座设有与所述导轨滑动配合的导槽，所述导轨与所述导槽之间的滑动配合连接构成所述导向副。
进一步地，平行地设有两列所述置辊槽。
本发明的实施例还涉及一种采用上述摩擦辊自动保管库系统的摩擦辊 自动存取方法，依次包括：取辊步骤、运辊步骤和存辊步骤；
所述取辊步骤包括：所述控制单元控制所述运辊平台与所述运辊轨道之间的所述传动装置带动所述运辊平台沿所述运辊轨道运动到具有待取摩擦辊的摩擦机装置的取辊准备位置处；随后，所述控制单元控制所述第一升降装置带动所述置辊台向上运动到一定高度到达接收位置；随后，所述摩擦机装置上的自动卸辊装置将待取摩擦辊自动装入所述置辊台上的所述置辊槽内；随后，所述控制单元控制所述第一升降装置带动所述置辊台向下运动回位；
所述运辊步骤包括：所述控制单元控制所述传动装置带动装有所述摩擦辊的所述运辊平台运动到所述存辊装置的存辊准备位置处；随后，所述控制单元控制所述定位装置对运辊平台进行精确定位；
所述存辊步骤包括：所述控制单元控制所述第一电机带动所述存辊主体旋转一定角度以使所述存辊主体上的相应存放位置处于所述精确定位后的运辊平台上的所述摩擦辊的正上方位置处；随后，所述控制单元控制所述第一升降装置推动所述置辊台向上运动到达夹持位置，和/或，控制所述第二电机带动所述存辊主体向下运动到达夹持位置；随后，控制单元控制所述第一夹持件和所述第二夹持件将所述摩擦辊夹持在两者之间；随后，所述控制单元控制所述第一升降装置带动所述置辊台向下回位，和/或，控制所述第二电机带动所述存辊主体向上回位。
附图说明
以下将结合附图对本发明的实施例进行更详细的说明，以使本领域普通技术人员更加清楚地理解本发明，其中：
图1为已知的一种机器人的结构示意图；
图2为已知的一种存辊库的结构示意图；
图3为已知的一种运辊车的结构示意图；
图4为本发明实施例的摩擦辊自动保管库系统的立体结构示意图；
图5为图4中摩擦辊自动保管库系统的主视图；
图6为图5中摩擦辊自动保管库系统的右视图；
图7为图4中摩擦辊自动保管库系统的局部立体结构示意图；
图8为图6中A部分的放大结构示意图；
图9为图6中B部分的放大结构示意图；
图10为图7中C部分的放大结构示意图；
图11为图6中B部分的立体放大结构示意图；
图12为本发明实施例的摩擦辊自动保管库系统的一个实施例中控制单元的工作示意图。
附图标记：
1、摩擦辊，2、存辊装置，3、运辊轨道，4、运辊平台，5、定位装置，
6、摩擦机装置，7、自动卸辊装置，8、控制单元；
11、滑移轴，12、伸展臂，13、轴节，14、夹持臂，15、卡槽，
16、卡夹，17、车轮，18、运辊台；
20、存辊主体，201、第一支架，202、第一电机，203、第一夹持盘，
204、第二夹持盘，205、第二支架，206、滑轨，207第二电机，
208、丝杆，209、螺母，210、第二滑块，211、第二夹持件，
212，连接轴，213、第一夹持件，214、第一滑槽；
301、齿条，302、导轨；
401、滑座，402、置辊台，403、置辊槽，404、导槽，405、齿轮，
406、运辊电机，407、气缸；
501、传感器
具体实施方式
为使本发明的实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图对本发明的实施例的技术方案进行清楚、完整的描述。显然，所描述的实施例仅是本发明的一部分示例性实施例，而不是全部的实施例。基于所描述的本发明的示例性实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其它实施例都属于本发明的保护范围。
除非另作定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”、“一”或者“该”等类似词语也不表示数量限制，而是表示存在至少一个。“包括”或者 “包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“上”、“下”、等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
本发明实施例涉及一种摩擦辊自动保管库系统，主要包括存辊装置2、运辊轨道3、可在运辊轨道3上移动的运辊平台4、设置在存辊装置2上的定位装置5以及与所述存辊装置2、运辊平台4和定位装置5电气连接的控制单元8。
本发明实施例还涉及一种使用上述摩擦辊自动保管库系统来自动存取摩擦辊的方法，主要包括依次执行的取辊步骤、运辊步骤和存辊步骤。
本发明的实施例中，运辊平台4在控制单元8的控制下在运辊轨道3上自由移动，当运动到目标位置附近时，定位装置5与控制单元8相配合将运辊平台4精确地定位到存辊装置2的正下方位置处，然后控制单元8发出指令以将运辊平台4承载的摩擦辊1存放到存辊装置2的相应位置处。
应注意，在本说明书中，内侧是指面向运辊轨道3的一侧，外侧是指背离运辊轨道3的一侧。而且，在本发明的实施例中，摩擦辊1初始位于摩擦机装置6处等待由运辊平台4运送并存放到存辊装置2的相应位置处，但本发明不限于此。
实施例一
本发明实施例一提供一种摩擦辊自动保管库系统，包括存辊装置2、运辊轨道3、运辊平台4和定位装置5，如图4-图11所示。
本实施例的一个示例中，存辊装置2包括可旋转运动的存辊主体20，如图6和7所示，存辊主体20的一端连接第一支架201，另一端连接第二支架205，第一支架201与第二支架205固定安装在运辊轨道3的两侧，第一支架201上设有能够驱动存辊主体20旋转的第一电机202；另外，存辊主体20的一端设有至少两个周向均匀分布的第一夹持件213，存辊主体20的另一端设有与第一夹持件213相对应的第二夹持件211，相对应的第一夹持件213和第二夹持件211配合作用以将摩擦辊1夹持在两者之间。
本实施例的一个示例中，运辊平台4置于运辊轨道3之上，如图6-图8及图10所示，运辊平台4包括与运辊轨道3滑动配合的滑座401和配置以放置摩擦辊1的置辊台402，运辊轨道3与滑座401之间设有配置以驱动滑 座401沿运辊轨道3直线运动的传动装置和导向副，滑座401上设有配置以驱动置辊台402上下运动的第一升降装置，置辊台402上设有置辊槽403。
本实施例的一个示例中，定位装置5包括配置以感应运辊平台的传感器501，如图9和图11所示，传感器501固定在第一支架201(当然，也可以固定在第二支架205)上，并与一控制单元8电联接；第一电机202、传动装置和第一升降装置的运动状态均由该控制单元8控制，而且第一夹持件213和/或第二夹持件211的夹持动作由该控制单元8控制。
本实施例的摩擦辊自动保管库系统中，运辊轨道3的一端置于摩擦机装置6附近取辊准备位置处，如图5所示，运辊平台4可在运辊轨道3上来回直线滑动运动，当运动到摩擦机装置6前方时，运辊平台4上的置辊台402可通过第一升降装置升降到摩擦机装置6的卸辊位置处，此时，摩擦机装置6可通过自动卸辊装置7将相应摩擦辊1自动卸下并直接放置到已升降到上述卸辊位置处的置辊台402上的置辊槽403内，随后，在传动装置的作用下，运辊平台4承载着摩擦辊1滑动运动到存辊装置2下方存辊准备位置处，此时由定位装置5将运辊平台4精确定位；随后，第一升降装置再次带动置辊台402向上运动到一定高度到达与精确定位的存辊准备位置相对应的夹持位置，通过存辊主体20两端的一对夹持件，即，第一夹持件213和第二夹持件211将已经精确定位的摩擦辊1夹紧；然后，置辊台402在第一升降装置的带动下向下运动回位；然后，第一电机202(如图7所示)带动存辊主体20旋转一定角度，以便于存辊主体20两端的另一对夹持件夹持下一个摩擦辊1。
由于摩擦机装置6本身设置有自动卸辊装置7，其能实现自动卸辊；另外，第一升降装置、传动装置、夹持件、存辊主体20及定位装置的工作状态均由控制单元8自动控制协调配合实现，所以本发明实施例的摩擦辊自动保管库系统能够实现摩擦辊1的自动存取功能，从而缩短存取工作时间、提高存取效率；另外，本发明实施例的摩擦辊自动保管库系统无需人工取放摩擦辊1，也无需借助机器人操作，能够节省大量人力，并降低生产和维护成本。再者，由于存辊主体20自身能够旋转，其旋转过程可以使得其上的摩擦辊1时刻绕存辊主体20公转，使得各摩擦辊各点所受重力情况相同，从而保证摩擦辊1不会因为放置时间长而变形，在摩擦辊的存放期间保证了摩擦辊的品质及使用寿命。
在本实施例的一个示例中，存辊主体20包括第一夹持盘203和第二夹持盘204，第一夹持盘203和第二夹持盘204通过连接轴212固定连接在一起，第一夹持盘203内侧设有至少两个周向均匀分布的第一夹持件213，第二夹持盘204内侧设有与第一夹持件213相对应的第二夹持件211；第一电机202输出轴与第一夹持盘203固定连接，第一电机的机壳与第一支架201连接。第一夹持盘203和第二夹持盘204均为盘状结构，可以采用常用板材加工而成，不仅材料成本低，并且由于其加工工艺简单，加工成本也低；相对应的第一和第二夹持盘通过一连接轴212固定连接在一起，不仅能够使两个夹持盘始终保持同步旋转，避免两夹持盘之间所存储的摩擦辊1产生内应力及力矩，保证摩擦辊的品质，而且，与整体式结构相比，此种结构具有易拆装、易加工和低成本的优点；将第一电机202的输出轴与第一夹持盘203直接或间接固定连接在一起，而第一电机202的机壳与第一支架201直接或间接连接在一起，这样可以使得第一电机202驱动整个存辊主体20相对于两个支架做旋转运动，即，第一电机202的输出轴旋转带动第一夹持盘203旋转，第一夹持盘203通过连接轴212带动第二夹持盘204同步旋转，从而整体带动两个夹持件之间的摩擦辊1绕连接轴212的轴线公转。
为了增强本发明实施例的适应性及其可调性，在一个示例中，在第一支架201上沿竖直方向设有第一滑槽214，第一电机的机壳上设有至少一对相互平行的导向面，导向面与第一滑槽214滑动配合连接，第二支架205内侧沿竖直方向设有滑轨206，第二夹持盘204的外侧设有与滑轨206滑动配合连接的第二滑槽(图中未示出)；第二支架205上设有可带动第二夹持盘204上下运动的第二升降装置，第二升降装置的升降运动由控制单元8控制。
上述第一支架201上的第一滑槽214与第一电机的机壳的导向面之间的滑动配合连接构成了第一导向副，第二滑槽与第二支架205上的滑轨206之间的滑动配合连接构成了第二导向副；由于两个夹持盘是同步运动的，当控制单元8向第二升降装置发出工作指令时，第二升降装置将带动第二夹持盘204上下运动，此时第一夹持盘203将同步上下运动，即，第二升降装置带动整个存辊主体20在两个支架上的导向副的导向作用下上下稳定滑动运动，从而根据现场工作需要自由控制存辊主体20与运辊轨道3(或 运辊平台4)之间的间距，为自动存取摩擦辊1提供更加便利的条件，明显增强了整个系统的适应性及可调性。另外，此种结构的设置使得在存辊的过程中即使第一升降装置不工作也能通过第二升降装置带动存辊主体20上下运动，进而实现存辊功能。
本实施例的一个示例中，为了避免第一电机202壳体与第一支架201的第一滑槽214之间滑动摩擦，可以在第一夹持盘203外侧设有与第一滑槽214滑动配合连接的第一滑块(图中未示出)，并使第一电机202的机壳与第一滑块固定连接，即，将第一电机202的机壳与第一支架201间接连接在一起；同理，如上所述，在第二支架205内侧沿竖直方向设有滑轨206，第二夹持盘204的外侧设有与滑轨206滑动配合连接的第二滑槽(图中未示出)；第二支架205上设有可带动第二夹持盘204上下运动的第二升降装置，第二升降装置的升降运动由控制单元8控制。
本实施例的一个示例中，上述第二升降装置可以包括第二电机207、与第二电机207输出轴固定连接的丝杆208和与丝杆208配合连接的螺母209；其中，螺母209与第二夹持盘204固定连接，第二电机207的机壳固定安装在第二支架205上，第二电机207的输出轴的旋转由控制单元8控制。通过如此设置，当控制单元8向第二电机207发出工作指令时，第二电机207将驱动丝杆208旋转运动并将其旋转运动转化成螺母209的上下直线运动，由于螺母209与第二夹持盘204固定连接，从而进一步带动第二夹持盘204上下直线运动，进一步实现整个存辊主体20的上下直线运动。
本实施例的一个示例中，为了减小滑轨206与第二滑槽之间的滑动摩擦力，例如，可以在第二夹持盘204的外侧固设有第二滑块210，第二滑槽(图中未示出)设在第二滑块210的外侧，螺母209与第二滑块210固定连接；并且滑轨206采用直线导轨，通过如此设置，可以保证存辊主体20上下运动的顺畅性。
本实施例的一个示例中，在存取摩擦辊1的过程中，为了定位方便，例如，第一夹持盘203和第二夹持盘204均可以设置成正多边形盘状结构，例如：第一夹持盘203和第二夹持盘204为正四边形、正六边形、正八变形、正十边形或正十二边形盘状结构等偶数多边形结构。通过这样设置，当成对取放摩擦辊1时，可时刻保证整个存辊主体20的平衡性。当然，第一夹持盘203和第二夹持盘204也可以设置成奇数多边形结构。又例如， 第一夹持件213可固定连接在第一夹持盘203的边角位置处，相应地，第二夹持件211固定连接在第二夹持盘204的边角位置处；通过将各夹持件设在相应夹持盘的边角处，其定位明显更加方便可靠。
本实施例的一个示例中，第一夹持件213可以设为气动卡爪，第二夹持件211设为卡槽，气动卡爪的夹持动作由控制单元8控制。在此示例中，例如，当存放摩擦辊1时，控制单元8控制气动卡爪张开手指以将摩擦辊1的一端置于其手心处并且同时将摩擦辊1的另一端与卡槽对准，然后控制单元8控制卡爪闭合以将摩擦辊1的一端抓紧并将摩擦辊1的另一端推入卡槽内，从而将摩擦辊牢牢地夹持在第一夹持盘203与第二夹持盘204之间。此示例将相互配合的一个夹持件设置成气动卡爪，而另一夹持件设置成卡槽，具有结构简单的优点，另外气动执行件在工作过程中具有环保的优点。
本实施例的一个示例中，为了使运辊平台4在运辊轨道3上的滑动更加顺畅，如图8所示，沿运辊轨道3长度方向设置有齿条301、与齿条301相啮合的齿轮405和带动齿轮405旋转的运辊电机406，运辊电机的机壳固接在滑座401上，运辊电机406的输出轴与齿轮405固定连接，运辊电机406与控制单元8电联接，总体上构成了传动装置。而且，在运辊轨道3上沿其长度方向设有导轨302，滑座401上设有与导轨302滑动配合的导槽404，导轨302与导槽404之间的滑动配合连接构成一组导向副。滑座401上的运辊电机406将驱动齿轮405旋转，进而带动整个运辊平台4在运辊轨道3上来回直线运动。当然，除了本实施例中所述的传动装置，也可以采用其他能够实现直线传动功能的传动装置，例如带轮传动装置、链条传动装置等。另外，也可以在运辊轨道3上设置导槽而在滑座401上设置与此导槽相滑动配合的导块以代替前述导轨与导槽构成的滑动配合导向副。
为简化结构，使其控制容易实现，本实施例的一个示例中，将第一升降装置设置为气缸407，如图8所示，气缸底座与滑座401固定连接，气缸活塞杆与置辊台402固定连接，气缸活塞杆的上下伸缩动作由控制单元8控制。当需要将摩擦机装置6上的摩擦辊1卸下并进行保存时，控制单元8控制等待在自动卸辊装置7下方的运辊平台4中的气缸407伸出活塞杆推动置辊台402向上运动到接辊位置处，当自动卸辊装置7将摩擦辊1放到置辊台402上的置辊槽403上后，控制单元8控制气缸活塞杆回缩并带动 置辊台402向下运动回位，回位完毕后，控制单元8控制滑座401上的运辊电机406驱动整个运辊平台4在运辊轨道3上直线运动到存辊装置2下方的相应位置处，然后将摩擦辊1存入存辊主体20的相应位置处。
在存取摩擦辊的过程中，为了使存辊主体20始终保持受力平衡，可以成对取放摩擦辊1，当然成对的摩擦辊1在存辊主体20的存放位置相对于存辊主体20的轴线是对称的，故置辊槽403可平行设有两列，当然也可也设为1列或多列。
实施例二
本实施例提供一种利用上述实施例一中的摩擦辊自动保管库系统的摩擦辊的自动存取方法，依次包括：取辊步骤、运辊步骤和存辊步骤。
在一个示例中，取辊步骤包括：控制单元8控制运辊平台4与运辊轨道3之间的传动装置(例如，运辊电机406)带动运辊平台4沿运辊轨道3运动到具有待取摩擦辊1的摩擦机装置6的附近的取辊准备位置处后停止；随后，控制单元8控制第一升降装置(例如，上述气缸407)带动置辊台402向上运动到一定高度到达接收位置；随后，摩擦机装置6上的自动卸辊装置7将摩擦辊1自动装入置辊台402上的置辊槽403上；随后，控制单元8控制第一升降装置(气缸407)带动置辊台402向下运动回位，回位到位后，取辊完成；此处所述的取辊是指将摩擦辊1从摩擦机装置6上取放到运辊平台4上。
在一个示例中，运辊步骤包括：控制单元8再次控制传动装置(例如，运辊电机406)带动装有摩擦辊1的运辊平台4向存辊装置2的方向运动；当运辊平台4运动到存辊装置2的存辊准备位置处后，控制单元8控制定位装置5(例如，传感器501)对运辊平台4进行精确定位，定位完毕后，运辊完成。在一个示例中，存辊步骤包括：控制单元8控制第一电机202带动存辊装置2上的存辊主体20旋转一定角度，使存辊主体20上的相应存放位置处于精确定位后的运辊平台上的摩擦辊1的正上方位置处；随后，控制单元8控制第二电机207带动存辊主体20向下运动到位(和/或，控制单元8控制第一升降装置推动运辊平台4上的置辊台402向上运动到位)，即，到达与存辊准备位置相对应的夹持位置；随后，控制单元8控制第一夹持件213(气动卡爪)和第二夹持件211将摩擦辊1夹持在两者之间；随后，控制单元8控制第二电机207带动存辊主体20向上运动回位(和/或控 制单元控制第一升降装置带动置辊台402向下运动回位)，存辊完毕。可替换地，在此操作中，控制单元8也可首先控制第二电机207带动存辊主体20向下运动，然后再控制第一电机202带动存辊主体20旋转。
在本实施例中，将存辊主体20上的摩擦辊1取出放到运辊平台4上的取辊过程与上述存辊过程正好相反，即：控制单元8控制第二电机207带动运辊主体20向下运动到相应位置处；随后，控制单元8控制第一电机202带动运辊主体20旋转，使待取摩擦辊1正对置辊槽403；随后，控制单元8控制第一夹持件213松开摩擦辊1使摩擦辊1落入置辊槽403内；随后，控制单元8控制第二电机207带动存辊主体20向上运动回位，取辊完毕。可替换地，在此操作中，控制单元8首先控制第一电机202带动存辊主体20旋转，然后控制第二电机207带动存辊主体20向下运动回位，其具体操作在此不再赘述。
图12为本发明的实施例提供的摩擦辊自动存取方法的一个示例中控制单元8的工作示意图，其工作原理可参考上述实施例一和实施例二中关于控制单元8的相关描述，在此不作赘述。在此需要说明的是，尽管图12中仅示出了控制单元8与第一电机202、传动装置、第一升降装置和定位装置5之间的连接，但本领域技术人员根据前述实施例一和实施例二的描述可知该控制单元8还可与图12中未示出的第二升降装置(例如，第二电机207)连接，在此不作赘述。
在本说明书的描述中，具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上实施方式仅用于说明本发明，而并非对本发明的限制，有关技术领域的普通技术人员，在不脱离本发明的精神和范围的情况下，还可以做出各种变化和变型，因此所有等同的技术方案也属于本发明的范畴，本发明的专利保护范围应由权利要求限定。
本申请要求于2014年12月12日提交的名称为“摩擦辊的自动保管库系统及存取方法”的中国专利申请No.201410765876.5的优先权，该申请全文以引用方式合并于本文。

Claims (16)

  1. 一种摩擦辊自动保管库系统，包括存辊装置、运辊轨道、运辊平台和定位装置；
    所述存辊装置包括可旋转运动的存辊主体，所述存辊主体的一端连接第一支架，所述存辊主体的另一端连接第二支架，所述第一支架与所述第二支架固定安装在所述运辊轨道的两侧，所述第一支架上设有能够驱动所述存辊主体旋转的第一电机；所述存辊主体的一端设有至少两个周向均匀分布的第一夹持件，所述存辊主体的另一端设有与所述第一夹持件相对应的第二夹持件，相对应的所述第一夹持件和所述第二夹持件配合作用将所述摩擦辊夹持在两者之间；
    所述运辊平台置于所述运辊轨道之上，所述运辊平台包括与所述运辊轨道滑动配合的滑座和配置以放置所述摩擦辊的置辊台，所述运辊轨道与所述滑座之间设有配置以驱动所述滑座沿所述运辊轨道直线运动的传动装置及导向副，所述滑座上设有配置以驱动所述置辊台上下运动的第一升降装置，所述置辊台上设有置辊槽；
    所述定位装置包括配置以感应所述运辊平台的传感器，所述传感器固定在所述第一支架和/或所述第二支架上，并与一控制单元电联接；所述第一电机、所述传动装置和所述第一升降装置的运动状态均由所述控制单元控制，所述第一夹持件和/或第二夹持件的夹持动作由所述控制单元控制。
  2. 根据权利要求1所述的摩擦辊自动保管库系统，其中，所述存辊主体包括第一夹持盘和第二夹持盘，所述第一夹持盘和第二夹持盘通过连接轴固定连接在一起，所述第一夹持盘内侧设有至少两个周向均匀分布的所述第一夹持件，所述第二夹持盘内侧设有与所述第一夹持件相对应的所述第二夹持件；所述第一电机的输出轴与所述第一夹持盘固定连接，所述第一电机的机壳与所述第一支架连接。
  3. 根据权利要求2所述的摩擦辊自动保管库系统，其中，所述第一支架上沿竖直方向设有第一滑槽，所述第一电机的机壳上设有至少一对相互平行的导向面，所述导向面与所述第一滑槽滑动配合连接，所述第二支架内侧沿竖直方向设有滑轨，所述第二夹持盘的外侧设有与所述滑轨滑动配合连接的第二滑槽；所述第二支架上设有可带动第二夹持盘上下运动的第 二升降装置，所述第二升降装置的升降运动由所述控制单元控制。
  4. 根据权利要求2所述的摩擦辊自动保管库系统，其中，所述第一支架上沿竖直方向设有第一滑槽，所述第一夹持盘外侧设有与所述第一滑槽相滑动配合连接的第一滑块，所述第一电机机壳与所述第一滑块固定连接；所述第二支架内侧沿竖直方向设有滑轨，所述第二夹持盘的外侧设有与所述滑轨滑动配合连接的第二滑槽；所述第二支架上设有可带动第二夹持盘上下运动的第二升降装置，所述第二升降装置的升降运动由所述控制单元控制。
  5. 根据权利要求3或4所述的摩擦辊自动保管库系统，其中，所述第二升降装置包括第二电机、与第二电机输出轴固定连接的丝杆和与丝杆配合连接的螺母，所述螺母与所述第二夹持盘固定连接，所述第二电机的机壳固定安装在所述第二支架上，所述第二电机与所述控制单元电联接。
  6. 根据权利要求5所述的摩擦辊自动保管库系统，其中，所述第二夹持盘的外侧固设有第二滑块，所述第二滑槽设在所述第二滑块的外侧，所述螺母与所述第二滑块固定连接。
  7. 根据权利要求3或4所述的摩擦辊自动保管库系统，其中，所述滑轨为直线导轨。
  8. 根据权利要求2所述的摩擦辊自动保管库系统，其中，所述第一夹持盘和所述第二夹持盘均为正多边形盘状结构，所述第一夹持件固定连接在所述第一夹持盘的边角位置处，相应地，所述第二夹持件固定连接在所述第二夹持盘的边角位置处。
  9. 根据权利要求8所述的摩擦辊自动保管库系统，其中，所述第一夹持盘和第二夹持盘为正四边形、正六边形、正八变形、正十边形或正十二边形盘状结构。
  10. 根据权利要求1所述的摩擦辊自动保管库系统，其中，所述第一夹持件为气动卡爪，所述第二夹持件为卡槽，并且所述气动卡爪的夹持动作由所述控制单元控制。
  11. 根据权利要求1所述的摩擦辊自动保管库系统，其中，所述传动装置包括沿所述运辊轨道长度方向设置的齿条、与所述齿条相啮合的齿轮和带动所述齿轮旋转的运辊电机，所述运辊电机的机壳固接在所述滑座上，所述运辊电机的输出轴与所述齿轮固定连接，并且所述运辊电机与所述控 制单元电联接。
  12. 根据权利要求1所述的摩擦辊自动保管库系统，其中，所述第一升降装置为气缸，所述气缸的底座与所述滑座固定连接，所述气缸的活塞杆与所述置辊台固定连接，所述气缸的活塞杆的上下伸缩动作由所述控制单元控制。
  13. 根据权利要求1所述的摩擦辊自动保管库系统，其中，所述运辊轨道上沿其长度方向设有导轨，所述滑座设有与所述导轨滑动配合的导槽，所述导轨与所述导槽之间的滑动配合连接构成所述导向副。
  14. 根据权利要求1所述的摩擦辊自动保管库系统，其中，平行地设有两列所述置辊槽。
  15. 一种采用如权利要求1-14中任一项所述的摩擦辊自动保管库系统的摩擦辊自动存取方法，依次包括：取辊步骤、运辊步骤和存辊步骤，其中：
    所述取辊步骤包括：所述控制单元控制所述运辊平台与所述运辊轨道之间的所述传动装置带动所述运辊平台沿所述运辊轨道运动到具有待取摩擦辊的摩擦机装置的取辊准备位置处停止；随后，所述控制单元控制所述第一升降装置带动所述置辊台向上运动到一定高度到达接收位置；随后，所述摩擦机装置上的自动卸辊装置将待取摩擦辊自动装入所述置辊台上的所述置辊槽内；随后，所述控制单元控制第一升降装置带动所述置辊台向下运动回位；
    所述运辊步骤包括：所述控制单元控制所述传动装置带动装有所述摩擦辊的所述运辊平台运动到所述存辊装置的存辊准备位置处后，再控制所述定位装置对运辊平台进行精确定位；
    所述存辊步骤包括：所述控制单元控制所述第一电机带动所述存辊主体旋转一定角度以使所述存辊主体上的相应存放位置处于所述精确定位后的运辊平台上的所述摩擦辊的正上方位置处；随后，所述控制单元控制所述第一升降装置推动所述置辊台向上运动到达夹持位置，和/或，控制所述第二电机带动所述存辊主体向下运动到达夹持位置；随后，所述控制单元控制所述第一夹持件和所述第二夹持件将所述摩擦辊夹持在两者之间；随后，所述控制单元控制所述第一升降装置带动所述置辊台向下运动回位，和/或，控制所述第二电机带动所述存辊主体向上运动回位。
  16. 一种采用如权利要求1-14中任一项所述的摩擦辊自动保管库系统的 摩擦辊自动存取方法，依次包括：取辊步骤、运辊步骤和存辊步骤，其中：
    所述取辊步骤包括：所述控制单元控制所述运辊平台与所述运辊轨道之间的所述传动装置带动所述运辊平台沿所述运辊轨道运动到具有待取摩擦辊的摩擦机装置的取辊准备位置处停止；随后，所述控制单元控制所述第一升降装置带动所述置辊台向上运动到一定高度到达接收位置；随后，所述摩擦机装置上的自动卸辊装置将待取摩擦辊自动装入所述置辊台上的所述置辊槽内；随后，所述控制单元控制第一升降装置带动所述置辊台向下运动回位；
    所述运辊步骤包括：所述控制单元控制所述传动装置带动装有所述摩擦辊的所述运辊平台运动到所述存辊装置的存辊准备位置处后，再控制所述定位装置对运辊平台进行精确定位；
    所述存辊步骤包括：所述控制单元控制所述第一升降装置推动所述置辊台向上运动到达夹持位置，和/或，控制所述第二电机带动所述存辊主体向下运动到达夹持位置；随后，所述控制单元控制所述第一电机带动所述存辊主体旋转一定角度以使所述存辊主体上的相应存放位置处于所述精确定位后的运辊平台上的所述摩擦辊的正上方位置处；随后，所述控制单元控制所述第一夹持件和所述第二夹持件将所述摩擦辊夹持在两者之间；随后，所述控制单元控制所述第一升降装置带动所述置辊台向下运动回位，和/或，控制所述第二电机带动所述存辊主体向上运动回位。
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