WO2020133551A1 - 自动卸卷上芯装置和自动卸卷上芯方法 - Google Patents

自动卸卷上芯装置和自动卸卷上芯方法 Download PDF

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Publication number
WO2020133551A1
WO2020133551A1 PCT/CN2019/000046 CN2019000046W WO2020133551A1 WO 2020133551 A1 WO2020133551 A1 WO 2020133551A1 CN 2019000046 W CN2019000046 W CN 2019000046W WO 2020133551 A1 WO2020133551 A1 WO 2020133551A1
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WO
WIPO (PCT)
Prior art keywords
winding shaft
vertical
splint
drives
horizontal
Prior art date
Application number
PCT/CN2019/000046
Other languages
English (en)
French (fr)
Inventor
陈俊鸿
杨煜新
林旭
Original Assignee
广东金明精机股份有限公司
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Application filed by 广东金明精机股份有限公司 filed Critical 广东金明精机股份有限公司
Publication of WO2020133551A1 publication Critical patent/WO2020133551A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/18—Constructional details
    • B65H75/24—Constructional details adjustable in configuration, e.g. expansible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H18/00—Winding webs
    • B65H18/08—Web-winding mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/22—Changing the web roll in winding mechanisms or in connection with winding operations
    • B65H19/30—Lifting, transporting, or removing the web roll; Inserting core

Definitions

  • the invention belongs to the technical field of film winding, and in particular relates to an automatic unwinding and winding core device and an automatic unwinding and winding core method.
  • the film After the film is produced, it is usually wound into a coiled material using a winding device.
  • the position of the winding shaft In the winding process, the position of the winding shaft is called the winding position.
  • the winding shaft drives the paper core tube around its periphery to rotate continuously, so that the film material is continuously rolled onto the paper core tube to form a film roll.
  • the specifications of the paper core tube are standard specifications.
  • Unmount the volume After the unwinding is completed, the new paper core tube needs to be placed on the winding shaft, and the winding shaft is transferred to the winding position. This process is called "upper core”.
  • the winding shaft can be an inflation shaft.
  • the inflation shaft needs to be deflated so that it can be put on or unloaded; when in the winding state, The inflation shaft needs to be inflated so that the inflation shaft expands and tightly fits inside the paper core tube.
  • the top panel of the carriage that carries the film roll must be able to be accurately raised and lowered, so that the winding shaft can be accurately inserted into the paper core tube when loading the core, but due to the carriage roof
  • the area of the panel is large, and it must be driven by four vertical motion mechanisms arranged below the corner points of the top panel, and the four vertical motion mechanisms must be synchronized to achieve the overall simultaneous rise or fall of the top panel, which requires
  • the vertical motion mechanism is relatively precise, but on the other hand, when carrying the trolley to carry the film roll, its carrying weight is large, so the vertical motion mechanism is required to be relatively heavy and strong.
  • the carriage of the trolley The manufacturing cost of the vertical motion mechanism of the top panel is often high; 3. Not only need to set up the carrying trolley, but also set up the core pulling trolley, that is, two trolleys are needed, and each trolley also needs to set up a track correspondingly; 4.
  • the degree of automation is yet to be improve.
  • the purpose of the present invention is to overcome the above-mentioned shortcomings and provide an automatic unwinding and winding core device and an automatic unwinding and winding core method, which has a high degree of automation, does not require lifting and lowering of the roof panel of the carriage, and has a compact structure.
  • an automatic unwinding and core loading device comprising two left and right winding shaft supports, an inflatable winding shaft is arranged between the left and right winding shaft supports, and two ends of the winding shaft are installed respectively On the left and right winding shaft supports, the central axis of the winding shaft extends laterally, and the left and right ends of the winding shaft are tapered.
  • the left and right winding shaft supports are respectively provided with a bushing, and the central axis of the bushing and the winding shaft
  • the central axis of the shaft overlaps, and the inner cavity of the shaft sleeve has a taper corresponding to the end of the winding shaft;
  • the shaft sleeve is axially movably installed on the corresponding side of the winding shaft support, and each winding shaft support is also provided with a drive
  • the first cylinder in the lateral movement of the shaft sleeve on the corresponding side, each shaft sleeve forms a movable plugging relationship with the end of the winding shaft on the corresponding side;
  • the inflatable rewinding shaft is provided with an air nozzle for inflation and deflation, which is located at the center of the left end surface of the rewinding shaft; an annular convex rib is also formed on the left end section of the winding shaft, and the diameter of the annular convex rib is larger than the diameter of the winding shaft;
  • the top panel on the carriage has a V shape in the longitudinal section that is high at the front and rear sides and low at the middle;
  • a clamping assembly is further provided behind the left-side winding shaft support, and the clamping assembly includes a splint support.
  • the splint support is provided with a vertical splint and a horizontal splint.
  • the splint support is fixed, the horizontal splint can slide laterally relative to the splint support, the horizontal splint is located at the upper left of the vertical splint; from a lateral position, the lateral position of the vertical splint is more than the lateral position of the annular rib of the take-up shaft To the right; there is also a first screw mechanism that drives the vertical movement of the splint support;
  • the top edge of the vertical splint is provided with a V-shaped fork, the lateral projection shape of the V-shaped fork is V-shaped,
  • An air nozzle joint and a proximity switch for sensing the position of the winding shaft are also installed on the splint support, wherein the proximity switch is fixed relative to the plywood support, the air nozzle joint and the horizontal splint are fixedly connected together, and the splint support
  • the seat is also provided with a second cylinder that drives the horizontal clamping plate and the air nozzle joint to slide laterally; the size and shape of the right end of the air nozzle joint coincides with the air nozzle of the winding shaft;
  • the four of the winding shaft, the horizontal splint, the air nozzle joint and the vertical splint form the following cooperation relationship: when the left end section of the winding shaft is placed horizontally on the V-shaped fork of the vertical splint, the central axis of the winding shaft is horizontal The vertical distance between the lower surface of the splint is equal to the radius of the annular convex rib of the winding shaft, and the air nozzle joint is aligned with the central axis of the winding shaft;
  • a two-way solenoid valve is connected to the left end of the gas nozzle connector.
  • the first channel of the two-way solenoid valve is connected to the inflation air source, and the second channel of the two-way solenoid valve is connected to the exhaust pipe.
  • the solenoid valve is selectively connected to the inflation air source or the exhaust pipe;
  • a laterally extending lateral guide rail is provided, and the length of the lateral guide rail is greater than twice the length of the winding shaft.
  • the carrying trolley is installed on the lateral guide rail, and a carrying trolley that drives the lateral movement of the carrying trolley is also provided Lateral drive mechanism; at the right end of the V-shaped top panel carrying the trolley is also provided with a convex projecting upward;
  • the horizontal swing shaft of the unloading swing arm is located directly under the central axis of the sleeve; the lower end of the unloading swing arm is the fixed end, and the upper end of the unloading swing arm is the swing At the end, there is also an oil cylinder that drives the left and right two unwinding swing arms to swing synchronously; the upper end of the unwinding swing arm is formed with a notch for placing a winding shaft;
  • each vertical hanging rail can be vertically installed with a vertical boom, a mechanical gripper is installed on the lower end of the vertical boom, and a driving mechanical clamp is also installed on the vertical boom
  • a support arm assembly is also provided beside the lateral guide rail.
  • the support arm assembly includes a horizontal support arm and a support arm support.
  • the support arm support is located behind the lateral guide rail; the horizontal support arm can be horizontally and rotatably mounted on the support arm support
  • On the support arm support is also installed a third cylinder that drives the horizontal support arm to swing horizontally; the horizontal distance between the vertical rotation axis of the horizontal support arm and the vertical clamping plate is less than the length of the winding shaft; the support arm assembly is also provided with A second screw mechanism that drives the support arm support to move vertically.
  • the vertical splint, winding shaft and carrying trolley form the following cooperation relationship: when the vertical movement of the vertical splint reaches the lowermost end of its vertical movement trajectory, and the V-shaped fork of the vertical splint is placed horizontally on the left end of the winding shaft, the The central axis is on the same straight line as the central axis of the paper core tube placed on the carriage.
  • An automatic unwinding and core loading method characterized in that the above automatic unwinding core loading device includes the following steps in sequence:
  • the film roll When the film roll reaches the set length and is ready to be unwound, the film roll is wound outside the paper core tube, and the paper core tube is sleeved outside the inflatable rewinding shaft.
  • the paper core tube is tightly integrated, and the left and right ends of the winding shaft are inserted into the bushings on the corresponding sides; the carrying trolley is located at the lower back of the winding shaft; the two unwinding swing arms are tilted backwards, and the support arm support is at At the lower end of its vertical movement track, the horizontal direction of the horizontal support arm is in a horizontal state, and the two left and right vertical booms are located at the rear end of its longitudinal sliding track, and the mechanical gripper is located at the upper end of its vertical movement track.
  • the splint support In the open state, the splint support is located at the lower end of its vertical movement track, and the horizontal splint is located at the left end of its lateral sliding track.
  • the first channel of the two-way solenoid valve is closed and the second channel is opened;
  • the oil cylinder drives the two unwinding swing arms to swing backward, and the two unwinding swing arms tilt backward, and the orientation of the notch of the unwind swing arm changes accordingly, until the left and right ends of the winding shaft are unloaded from the two The notch of the swing arm slides back, the film roll and the winding shaft fall down, and the film roll falls into the V-shaped top panel of the carriage;
  • the first screw mechanism drives the splint support to rise vertically, and the vertical splint rises accordingly, until the proximity switch detects that the left end section of the winding shaft is above the V-shaped fork of the vertical splint, the splint support stops Vertically rising, the ring-shaped rib of the winding shaft at this time is located on the left side of the vertical clamping plate, and the V-shaped fork of the vertical clamping plate upwardly supports the left end section of the winding shaft;
  • the second cylinder drives the horizontal splint and the air nozzle joint to slide to the right until the horizontal splint is located directly above the ring-shaped rib of the winding shaft and the gas nozzle joint forms a docking with the gas nozzle of the winding shaft, and the gas in the winding shaft passes through the gas in turn
  • the nozzle, gas nozzle joint, the second channel of the two-way solenoid valve, and the exhaust pipe are discharged outward, and the winding shaft is deflated.
  • the circumference of the annular rib of the winding shaft forms a tangential relationship with the lower surface of the horizontal splint;
  • the lateral drive mechanism of the carriage drives the carriage to move to the right, and the film roll and the paper core tube are moved to the right by the carriage, but the annular rib of the rewinding shaft is affected by the horizontal clamping plate and The vertical splint can not move to the right, the winding shaft is fixed, so the film roll and the paper core tube are gradually pulled out from the winding shaft; when the left end of the paper core tube is about to leave the right end of the winding shaft, the carriage is suspended to move to the right ,
  • the third cylinder drives the horizontal support arm to swing horizontally, so that the length of the horizontal support arm becomes longitudinal, and then, the second screw mechanism drives the support arm support to rise, and the horizontal support arm rises up to the swing end of the horizontal support arm Touch and hold the right end section of the winding shaft, and then, the lateral drive mechanism of the carriage drives the carriage to continue to move to the right, and the film roll and the paper core tube continue to move to the right until
  • the first screw mechanism drives the splint support to descend vertically, and at the same time, the second screw mechanism drives the support arm support to descend simultaneously, which causes the vertical splint and horizontal support arm to descend simultaneously, which in turn causes the take-up shaft to descend simultaneously until
  • the splint support reaches the lowermost end of its vertical movement trajectory, and the vertical splint reaches the lowermost end of its vertical movement trajectory, the central axis of the winding shaft and the central axis of the paper core tube are on the same straight line;
  • the lateral drive mechanism of the carriage drives the carriage to move to the left, and the projection of the carriage pushes the paper core barrel to move to the left.
  • the carriage pauses to move to the left.
  • the second screw mechanism continues to drive the support arm support down, so that the horizontal support arm descends and separates from the winding shaft, and then the third cylinder drives the horizontal support arm to swing horizontally, so that the horizontal direction of the horizontal support arm becomes lateral;
  • the action of the two-way solenoid valve causes the first channel of the two-way solenoid valve to open and the second channel to close, so the inflation air source passes through the first channel of the two-way solenoid valve, the air nozzle connector, and the air nozzle
  • the winding shaft is inflated, the winding shaft is inflated and the paper core tube is tightly packed;
  • the second cylinder drives the horizontal splint and the nozzle joint to slide to the left, and at the same time the two-way solenoid valve acts, so that the first channel of the two-way solenoid valve is closed and the second channel is opened.
  • the gas nozzle of the reel and the horizontal splint are staggered from the rewinding axis in the lateral direction;
  • the lifting mechanism of the mechanical gripper drives the left and right mechanical grippers to descend until the winding shaft enters the nip of the left and right mechanical grippers, and then the mechanical gripper opening and closing mechanism drives the left and right mechanical grippers to close, and the left and right mechanical grippers Grasp the left and right ends of the winding shaft, and then the mechanical gripper lifting mechanism drives the left and right mechanical grippers to rise, and then the vertical boom drive mechanism drives the vertical boom to move along the vertical rail to the front end of its longitudinal sliding track, the left and right The vertical boom comes directly above the central axis of the bushing, and the winding shaft also comes directly above the central axis of the bushing. Then, the mechanical gripper lifting mechanism drives the left and right mechanical grippers to descend, and the winding shaft descends. Until the central axis of the winding shaft and the central axis of the sleeve are on the same straight line;
  • the first cylinder on the left drives the left sleeve to move to the right
  • the first cylinder on the right drives the right sleeve to move to the left
  • the left and right ends of the winding shaft are inserted into the corresponding sleeves
  • the mechanical gripper opening and closing mechanism drives the left and right mechanical grippers to open
  • the mechanical gripper lifting mechanism drives the left and right mechanical grippers to rise
  • the vertical boom drive mechanism drives the vertical boom to move along the longitudinal rail to its longitudinal direction
  • the winding shaft with the paper core tube is installed at the winding position to complete the winding.
  • the so-called horizontal direction that is, the left-right direction is also the axial direction of the winding shaft, and the end of the winding shaft with the air nozzle is defined as the left end of the winding shaft, and the left and right sides in space are defined accordingly;
  • Direction when judging the front-back direction, the judge's left hand is on the left of the space, the judge's right hand is on the right of the space, with the judge's face facing forward and the judge's back facing backward.
  • the top panel of the carriage does not need to be adjusted up and down, simplifying the structure and reducing the equipment requirements.
  • FIG. 1 is a schematic diagram of a side view of a first specific embodiment of the present invention.
  • FIG. 2 is a schematic top view of the first embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a three-dimensional structure of a first specific embodiment of the present invention in use.
  • FIG. 4 is a schematic view of the installation structure of the winding shaft in the winding state.
  • Fig. 5 is a schematic diagram of a state where the winding shaft is separated from the sleeve.
  • Fig. 6 is a schematic view of the use state of the unwinding swing arm when it is upright.
  • FIG. 7 is a schematic view of the unwinding swing arm swinging backward.
  • Fig. 8 is a three-dimensional schematic diagram of a carriage.
  • FIG. 9 is a schematic diagram of the side structure of the carriage.
  • FIG. 10 is a schematic side view of the clamping assembly.
  • FIG. 11 is a schematic view of a partial three-dimensional structure of a clamping assembly.
  • Fig. 12 is a schematic view of the side structure of the vertical splint.
  • FIG. 13 is a schematic perspective view of the clamping assembly clamping the left end of the winding shaft.
  • FIG. 14 is a schematic cross-sectional view of the left end of the winding shaft placed on the vertical clamping plate, but the horizontal clamping plate and the left end of the winding shaft are staggered in a lateral position.
  • Fig. 15 is a schematic diagram of the fitting state where the clamping assembly is moved to the lower end, the left end of the winding shaft is placed on the vertical clamping plate, the horizontal clamping plate is pressed above the annular rib on the left end of the winding shaft, and the paper core tube is placed on the carrying trolley.
  • 16 is a schematic cross-sectional view of the clamping assembly moved to the lower end and the horizontal clamping plate moved to the left end.
  • 17 is a schematic cross-sectional view of the clamping assembly moved to the upper end and the horizontal clamping plate moved to the left end.
  • FIG. 18 is a schematic cross-sectional view of the clamping assembly moved to the lower end and the horizontal clamping plate moved to the right end.
  • 19 is a schematic cross-sectional view of the clamping assembly moved to the lower end and the horizontal clamping plate moved to the right end.
  • FIG. 20 is a schematic perspective view of the support arm assembly.
  • 21 is a schematic view of the front view of the horizontal support arm when the longitudinal direction.
  • FIG. 22 is a schematic view of the working state in which the horizontal support arm is longitudinal and the support arm support is lowered to the lower end.
  • Fig. 23 is a schematic view of the working state in which the horizontal support arm is horizontal and the support arm support is lowered to the lower end.
  • 24 is a schematic view of the working state in which the horizontal support arm is longitudinal and the support arm support is raised to the upper end.
  • Fig. 25 is a schematic view of the working state in which the horizontal support arm is longitudinal and the support arm support is lowered to an intermediate position.
  • Fig. 26 is a schematic side view of the film roll when it is placed on the carriage.
  • FIG. 27 is a schematic view of a state where the clamping assembly clamps the left end of the winding shaft with a film roll.
  • FIG. 28 is a schematic plan view of the state shown in FIG. 27.
  • FIG. 28 is a schematic plan view of the state shown in FIG. 27.
  • FIG. 29 is a schematic view of a state in which the film roll is driven by the carriage to move to the right and the horizontal support arm supports the right end of the winding shaft.
  • FIG. 30 is a schematic plan view of the state shown in FIG. 29.
  • FIG. 30 is a schematic plan view of the state shown in FIG. 29.
  • FIG. 31 is a schematic view of the state when the vertical boom moves to the forefront, the mechanical gripper moves vertically to the upper end, and the mechanical gripper is closed.
  • FIG. 32 is a schematic view of the state when the vertical boom moves to the forefront, the mechanical gripper moves vertically to the upper end, and the mechanical gripper opens.
  • 33 is a schematic view of the working state when the vertical boom moves to the last end, the mechanical gripper moves vertically to the lower end, and the mechanical gripper opens.
  • 34 is a schematic view of the state when the vertical boom moves to the last end, the mechanical gripper moves vertically to the upper end, and the mechanical gripper opens.
  • FIG. 35 is a schematic view of the state when the vertical boom moves to the front end, the mechanical gripper moves vertically to the lower end, and the mechanical gripper is closed.
  • Fig. 36 is a schematic view of the state when the winding shaft is deflated.
  • An automatic unwinding and core loading device includes two left and right winding shaft supports 11, and an inflation-type winding shaft 1 is provided between the left and right winding shaft supports 11.
  • the left and right ends of the winding shaft 1 are installed on the left and right sides, respectively.
  • the central axis of the winding shaft 1 extends laterally, and the left and right ends of the winding shaft 1 are tapered.
  • the left and right winding shaft supports 11 are respectively provided with a sleeve 12 and a central axis of the sleeve 12 Overlaps the central axis of the winding shaft 1, the inner cavity 120 of the sleeve has a taper corresponding to the end of the winding shaft; the sleeve 12 is axially movably mounted on the corresponding side of the winding shaft support 11, each winding shaft
  • the support 11 is also provided with a first cylinder that drives the lateral movement of the shaft sleeve 12 on the corresponding side, and each shaft sleeve 12 forms a movable plugging relationship with the end of the winding shaft on the corresponding side, as shown in FIGS. 1, 2, and 3.
  • the inflatable reel shaft 1 is provided with an air nozzle 13 for inflation and deflation, the air nozzle 13 is located at the center of the left end surface of the reel shaft; the left end section of the reel shaft 1 is also formed with an annular rib 14.
  • the diameter of the annular rib 14 is larger than the diameter of the winding shaft 1; as shown in FIGS. 1, 3, 8, and 9, there is also a carriage 2 for carrying film rolls, and the top panel 21 on the carriage 2 is
  • the longitudinal section has a V shape with high front and back sides and low center;
  • a clamping assembly 3 is also provided behind the left-side winding shaft support, as shown in FIGS. 10, 11, 14, and 15, the
  • the clamping assembly 3 includes a splint support 30 on which a vertical splint 31 and a horizontal splint 32 are mounted.
  • the vertical splint 31 is fixed relative to the splint support 30, and the horizontal splint 32 can be relative to the splint support 30 horizontally slide, the horizontal clamp 32 is located at the upper left of the vertical clamp 31; viewed from the lateral position, the lateral position of the vertical clamp 31 is more to the right than the lateral position of the annular rib 14 of the winding shaft; Figs.
  • the top edge of the vertical clamping plate 31 is provided with a V-shaped fork 33, and the lateral projection shape of the V-shaped fork 33 is V-shaped; as shown in FIGS. 10, 11, 16, and 17, a driving clamp is also provided
  • an air nozzle connector 34 and a proximity switch 35 for sensing the position of the winding shaft are also installed on the splint support 30, wherein the proximity switch 35 is fixed relative to the ply support 30, and the air nozzle
  • the joint 34 and the horizontal clamping plate 32 are fixedly connected together and move synchronously.
  • the clamping plate support 30 is also provided with a second cylinder 36 that drives the horizontal clamping plate 32 and the gas nozzle joint 34 to slide laterally; the size and shape of the right end of the gas nozzle joint 34 are
  • the air nozzle 13 of the winding shaft is matched and matched; the four of the winding shaft 1, the horizontal clamping plate 32, the gas nozzle joint 34 and the vertical clamping plate 31 form the following cooperation relationship: when the left end section of the winding shaft 1 is placed horizontally on the vertical clamping plate
  • the V-shaped fork 33 is above, the vertical distance between the central axis of the winding shaft 1 and the lower surface of the horizontal clamping plate 32 is equal to the radius of the annular rib 14 of the winding shaft, and the nozzle joint 34 is aligned with the central axis of the winding shaft 1, such as Figures 14 and 15;
  • the left end of the gas nozzle connector 34 is connected with a two-way solenoid valve, the first channel of the two-way solenoid valve is connected with an inflation air source, the second channel of the two-way solenoid valve is connected with an exhaust pipe, and the left end of the gas nozzle connector 34
  • the two-way solenoid valve is selectively connected to the inflation air source or the exhaust pipe; that is, when the first channel is closed and the second channel is opened, the gas nozzle connector 34 is connected to the exhaust tube, and when the first channel is opened and When the second channel is closed, the gas nozzle connector 34 is connected to the inflation air source;
  • a lateral guide 22 extending laterally is also provided on the right side of the clamping assembly 3, and the length of the lateral guide 22 is greater than twice the length of the winding shaft 1.
  • the thickness of the top panel of the outgoing carriage is equivalent to the wall thickness of the core roll of the film roll; the vertical clamping plate 31, the winding shaft 1 and the carrying trolley 2 form the following cooperation relationship: when the vertical clamping plate 31 moves vertically (that is, it supports with the clamping plate) The vertical movement of the seat 30) reaches the lowermost end of its vertical movement trajectory, and when the V-shaped fork 33 of the vertical splint is placed horizontally at the left end of the winding shaft 1, the central axis
  • the horizontal swing shaft 40 of the unwinding swing arm is located directly below the central axis of the sleeve 12;
  • the lower end of the swing arm 4 is a fixed end, the upper end of the unload swing arm 4 is a swing end, and an oil cylinder 41 that drives the two left and right unload swing arms 4 to swing synchronously is also provided; the upper end of the unwind swing arm 4 is useful for placement Notch 42 of the winding shaft;
  • each vertical hanging rail 51 is provided with a vertical hanging arm 52 which can be slid forward and backward.
  • a mechanical gripper 53 is installed at the lower end of the arm 52, and a vertical grip arm 52 is also installed with a mechanical gripper lifting mechanism that drives the mechanical gripper 53 to move up and down, and a mechanical gripper opening and closing mechanism that drives the mechanical gripper 53 to open or close ;
  • the two left and right vertical booms 52 are located at the bottom of the V-shape of the V-shaped top panel 21 of the carrying trolley (as shown by line AB in FIG. 8 and also at point D in FIG. 9) Directly above); when the left and right vertical booms 52 move along the longitudinal hanging rail 51 to the forefront of their longitudinal sliding track, the left and right vertical booms 52 are located directly above the central axis of the sleeve 12;
  • a support arm assembly 6 is further provided beside the lateral guide rail 22.
  • the support arm assembly includes a horizontal support arm 61, a support arm support 62, and the support arm
  • the support 62 is located behind the lateral guide rail 22;
  • the horizontal support arm 61 can be horizontally and rotatably mounted on the support arm support 62, and the support arm support 62 is also installed with a third cylinder 63 that drives the horizontal support arm to swing horizontally;
  • the horizontal support arm The horizontal distance between the vertical rotating shaft 60 and the vertical clamping plate 31 is less than the length of the winding shaft 1;
  • the support arm assembly 6 is also provided with a second screw mechanism 64 that drives the support arm support 61 to move vertically.
  • An automatic unwinding and core loading method characterized in that the automatic unwinding core loading device of the first embodiment is adopted, which in turn includes the following steps:
  • the film roll 8 When the film roll 8 is wound up to the set length and ready to be unwound, the film roll 8 is wound outside the paper core tube, the paper core tube is sleeved outside the inflatable rewinding shaft 1, and the rewinding shaft 1 is in expansion Tightly connected to the paper core tube, the left and right ends of the winding shaft 1 are inserted into the corresponding sleeves 12 on the corresponding side, as shown in Figure 4; the carriage 2 is located behind the winding shaft 1, as shown in Figure 1 As shown in Figs. 2 and 3, the two unwinding swing arms 4 are inclined backward. As shown in Fig.
  • the support arm support 62 is at the lower end of its vertical movement trajectory, and the length of the horizontal support arm 61 is at In the horizontal state, as shown in FIGS. 23 and 20, the two left and right vertical booms 52 are located at the rear end of the longitudinal sliding track, the mechanical gripper 53 is located at the upper end of its vertical movement track, and the mechanical gripper 53 is in the open state As shown in FIG. 34, the splint support 30 is located at the lower end of its vertical movement track, and the horizontal splint position 32 is at the left end of its lateral sliding track. As shown in 16, the first passage of the two-way solenoid valve is closed and the second Channels open
  • the first cylinder on the left drives the sleeve 12 on the left to move to the left
  • the first cylinder on the right drives the sleeve 12 on the right to move to the right
  • the left and right ends of the winding shaft 1 are separated from the corresponding side.
  • the oil cylinder 41 drives the two unwinding swing arms 4 to swing backward, and the two unwinding swing arms 4 tilt backward, and the orientation of the notch 42 of the unwind swing arms changes accordingly until the left and right ends of the winding shaft 1 Sliding backwards from the recesses 42 of the two unwinding swing arms, as shown in FIG. 7, the film roll 8 falls down together with the winding shaft 1 and the paper core tube 81, and the film roll 8 falls into the V-shaped top panel of the carrying trolley;
  • the first screw mechanism 37 drives the clamping plate support 30 to rise vertically, and the vertical clamping plate 31 rises accordingly, as shown in FIG. 17 until the proximity switch 35 detects that the left end section of the winding shaft 1 is on the vertical clamping plate.
  • the splint support 30 stops rising vertically.
  • the winding shaft annular rib 14 is located on the left side of the vertical splint 31, and the V-shaped fork 33 of the vertical splint supports the winding shaft 1 upward.
  • the left end segment of Figure 26 is shown;
  • the second cylinder 35 drives the horizontal clamping plate 32 and the gas nozzle joint 34 to slide to the right until the horizontal clamping plate 32 is located directly above the ring-shaped rib 14 of the winding shaft and the gas nozzle joint 34 forms a butt joint with the gas nozzle 13 of the winding shaft, such as As shown in FIGS. 27, 28, 36, 13, and 19 (the winding shaft is omitted in the drawing of FIG. 19), the gas in the winding shaft 1 passes through the gas nozzle 13, the gas nozzle joint 34, and the two-way solenoid valve in sequence. The second channel and the exhaust pipe are discharged outward, and the winding shaft 1 is deflated. At this time, the circumference of the winding shaft annular rib 14 forms a tangent relationship with the lower surface of the horizontal clamping plate 32, as shown in FIG. 36;
  • the lateral drive mechanism of the carrying carriage drives the carrying carriage 2 to move to the right, and the film roll 8 and the paper core tube 81 move to the right under the driving of the carrying carriage 2, but the annular convex rib of the winding shaft 14 Due to the limitation of the horizontal clamping plate 32 and the vertical clamping plate 31, it cannot move to the right, and the winding shaft 1 is fixed, so the film roll 8 and the paper core tube 81 are gradually pulled out from the winding shaft 1; when the left end of the paper core tube 81 is about to When disengaging from the right end of the winding shaft 1, the carriage 2 pauses to move to the right, as shown in FIG.
  • the third cylinder 63 drives the horizontal support arm 61 to swing horizontally, so that the longitudinal direction of the horizontal support arm 61 becomes longitudinal, as shown in FIG. 21
  • the second screw mechanism 64 drives the support arm support 62 to rise, and the horizontal support arm 61 rises with it until the swing end of the horizontal support arm 61 contacts and holds the right end section of the winding shaft 1, such as As shown in FIGS. 24, 29, and 30, and then, the lateral drive mechanism of the carriage drives the carriage 2 to continue moving to the right, and the film roll 8 and the paper core 81 continue to move to the right until the paper core 81 is completely removed from the winding shaft Pull out, the film roll 8 is completely detached from the winding shaft 1, and the unwinding is completed;
  • the first screw mechanism 37 drives the splint support 30 to descend vertically, while the second screw mechanism 64 drives the support arm support 62 to descend synchronously, so that the vertical splint 31 and the horizontal support arm 61 descend simultaneously.
  • the winding shaft 1 descends synchronously until the clamping plate support 62 reaches the lowermost end of its vertical movement trajectory, and the vertical clamping plate 31 then reaches the lowermost end of its vertical movement trajectory, as shown in FIGS. 25, 15 and 18 ( (The winding shaft is omitted in FIG. 18), the central axis of the winding shaft 1 and the central axis of the paper core tube 81 on the V-shaped top panel 21 of the carriage trolley are on the same straight line;
  • the lateral drive mechanism of the carriage drives the carriage 2 to move to the left. As shown by the arrow in FIG. 15, the projection 23 of the carriage pushes the paper core tube 3 to move to the left. When the left end of the paper core tube is inserted into the winding shaft 1 After the right end of the car, the carriage 2 pauses to move to the left, and the second screw mechanism 64 continues to drive the support arm support 62 downward, so that the horizontal support arm 61 is lowered and disengages from the winding shaft 1, as shown in FIG. 22, and then the third cylinder 63 drives the horizontal support arm 61 to swing horizontally, so that the longitudinal direction of the horizontal support arm 61 becomes lateral, as shown in FIGS. 20 and 23;
  • the carrying carriage continues to drive the carrying carriage 2 to the left by the lateral drive mechanism, and the bump 23 of the carrying carriage continues to push the paper core barrel 81 to the left until the entire paper core barrel 81 is completely sleeved outside the winding shaft 1, such as The state shown in Figure 3;
  • the action of the two-way solenoid valve causes the first channel of the two-way solenoid valve to open and the second channel to close, so the inflation air source passes through the first channel of the two-way solenoid valve, the gas nozzle connector 34, and the gas nozzle 13 Inflate the rewinding shaft 1, the rewinding shaft 1 inflates and tightly wraps the paper core tube 3;
  • the second cylinder 36 drives the horizontal clamping plate 32 and the air valve joint 34 to slide to the left, and the two-way solenoid valve acts at the same time, so that the first channel of the two-way solenoid valve is closed and the second channel is opened.
  • the horizontal clamping plate 32 is offset from the winding shaft 1 in the transverse direction, as shown in FIG. 14;
  • the mechanical gripper lifting mechanism drives the left and right mechanical grippers 53 down until the winding shaft 1 enters the jaws of the left and right mechanical grippers 53, as shown in Figure 33, and then the mechanical gripper opening and closing mechanism drives the left and right mechanical grippers
  • the gripper 53 is closed, and the left and right mechanical grippers 53 grasp the left and right ends of the winding shaft 1, and then the mechanical gripper lifting mechanism drives the left and right mechanical grippers 53 to rise, and then the vertical boom drive mechanism drives the vertical boom 52 in the longitudinal direction
  • the hanging rail 51 moves to the forefront of its longitudinal sliding trajectory, and the two left and right vertical hanging arms 52 come directly above the central axis of the sleeve 12, and the winding shaft 1 also comes directly above the central axis of the sleeve 12, as shown in FIG.
  • the mechanical gripper lifting mechanism drives the left and right mechanical grippers 53 to descend, and the winding shaft 1 descends accordingly, until the central axis of the winding shaft 1 and the central axis of the sleeve 12 are on the same straight line, as shown in Figure 35 ;
  • the first cylinder on the left drives the sleeve 12 on the left to move to the right
  • the first cylinder on the right drives the sleeve 12 on the right to move to the left
  • the left and right ends of the winding shaft 1 are inserted into the corresponding side
  • the sleeve 12 is restored as shown in FIG. 4, and then the mechanical gripper opening and closing mechanism drives the left and right mechanical grippers 53 to open, and then the mechanical gripper lifting mechanism drives the left and right mechanical grippers 53 to rise, as shown in FIG. 32
  • the vertical boom driving mechanism drives the vertical boom 52 to move along the longitudinal hanging rail 51 to the last end of its longitudinal sliding track, as shown in FIG. 34, so that the winding shaft 1 covered with the paper core tube 81 is installed on the winding Roll position, complete the core.

Landscapes

  • Replacement Of Web Rolls (AREA)
  • Winding Of Webs (AREA)

Abstract

一种自动卸卷上芯装置，包括左右两个收卷轴支座（11），在所述左侧收卷轴支座的后方还设有夹持组件（3），所述夹持组件包括有夹板支座（30），所述夹板支座上还安装有气嘴接头（34）和一个用以感测收卷轴（1）位置的接近开关（35），所述气嘴接头的左端连接有两通电磁阀，在所述夹持组件的右方还设有横向延伸的横向导轨（22），运载小车（2）安装在在横向导轨横向导轨上，还设有左右两根能前后摆动的卸卷摆臂（4）、左右两根纵向吊轨（51），每根所述纵向吊轨上能前后滑动地安装有竖向吊臂（52），所述竖向吊臂的下端安装有机械夹手（53）；在所述横向导轨旁边还设有支撑臂组件（6）。还包括一种自动卸卷上芯方法。所述自动卸卷上芯装置及自动卸卷上芯方法自动化程度高，所述运载小车顶面板（21）不需升降，结构紧凑。

Description

自动卸卷上芯装置和自动卸卷上芯方法 技术领域
本发明属于薄膜收卷技术领域，具体涉及一种自动卸卷上芯装置和自动卸卷上芯方法。
背景技术
薄膜生产出来后通常会利用收卷设备卷取成为卷材。卷取过程中，收卷轴所处的位置称为收卷位置，由收卷轴带动套在其外周的纸芯筒不停转动，从而不断将膜料卷到纸芯筒上面，形成膜卷。纸芯筒的规格为标准规格。当薄膜卷取达到设定长度、膜卷达到设定直径后，需要将膜卷从收卷位置移走，以及将膜卷(连同纸芯筒)从收卷轴上抽取出来，这个工序称为“卸卷”。卸卷完成后，需要将新的纸芯筒套上收卷轴，并将收卷轴转移到收卷位置，这个工序称为“上芯”。
收卷轴可以为气胀轴，当需要将纸芯筒套上收卷轴或从收卷轴上卸下时，需将气胀轴放气，以便于套上或卸下；当处于收卷状态时，需将气胀轴充气，从而使气胀轴胀开而紧密套在纸芯筒里面。
传统的卸卷和上芯过程主要依靠人工进行，自动化程度低，工人劳动强度大。为了提高卸卷和上芯过程自动化程度，申请人不断进行探索，并申请了CN201611060866.7发明专利，但上述专利仍然存在有诸多待改进之处：1、没能实现自动放气，更没能进行自动充气，只能依靠工人操作进行充气和放气；2、运载膜卷的运载小车的顶面板必须能够精确升降，以便上芯时收卷轴能够精确插入纸芯筒，但由于运载小车顶面板的面积大，必须由四个布置在顶面板角点的下方的四个竖向运动机构进行驱动，而且该四个竖向运动机构必须同步，才能实现顶面板整体同步上升或下降，因而要求竖向运动机构比较精密，但在另一方面，运载小车运载膜卷时，其承载重量大，因而要求竖向运动机构比较粗重结实，为了同时满足精密和粗重结实两方面的要求，运载小车的顶面板竖向运动机构的制作成本往往较高；3、不但需要设置运载小车，还要设置拔芯小车，即需要两个小车，每个小车还需要对应设置一条轨道；4、自动化程度尚有待提高。
发明内容
本发明的目的在于克服上述缺点而提供一种自动卸卷上芯装置和自动卸卷上芯方法，它自动化程度高，运载小车顶面板不需升降，结构紧凑。
其目的可以按以下方案实现：一种自动卸卷上芯装置，包括左右两个收卷轴支座，左右两个收卷轴支座之间设有气胀式的收卷轴，收卷轴两端分别安装在左右两个收卷轴支座上，收卷轴的中心轴线沿横向延伸，收卷轴左右两端头形成有锥度，左右两个收卷轴支座分别设有轴套，轴套的中心轴线与收卷轴的中心轴线重叠，轴套的内腔带有与收卷轴端部对应的锥度；轴套可轴向移动地安装在对应侧的收卷轴支座上，每个收卷轴支座上还设有驱动对应侧的轴套横向移动的第一气缸，每个轴套与对应侧的收卷轴端头形成活动插接关系；
气胀式的收卷轴设有用于充气放气的气嘴，该气嘴位于收卷轴的左端面中心；收卷轴的左端段还形成有环形凸肋，环形凸肋的直径大于收卷轴的直径；
还设有运载膜卷的的运载小车，运载小车上的顶面板在纵向截面上呈前后两侧高而中间低的V字形；
其主要特点在于：在左侧收卷轴支座的后方还设有夹持组件，所述夹持组件包括有夹板支座，夹板支座上安装有竖直夹板和水平夹板，竖直夹板相对于夹板支座固定不动，水平夹板能相对于夹板支座横向滑动，水平夹板位于竖直夹板的左上方；从横向位置看，竖直夹板的横向位置比收卷轴的环形凸肋的横向位置更偏靠右方；还设有驱动夹板支座竖向移动的第一丝杆机构；竖直夹板的顶沿带有V字形叉口，该V字形叉口的横向投影形状为V字形，
夹板支座上还安装有气嘴接头和一个用以感测收卷轴位置的接近开关，其中接近开关相对于夹板支座固定不动，气嘴接头和水平夹板两者固定连在一起，夹板支座上还设有驱动水平夹板和气嘴接头横向滑动的第二气缸；气嘴接头右端的大小、形状与收卷轴的气嘴吻合；
所述收卷轴、水平夹板、气嘴接头和竖直夹板四者形成以下配合关系：当收卷轴的左端段水平搁放在竖直夹板的V字形叉口上面时，收卷轴的中心轴线与水平夹板下表面之间的竖向距离等于收卷轴环形凸肋的半径，气嘴接头对准收卷轴的中心轴线；
气嘴接头的左端连接有两通电磁阀，该两通电磁阀的第一个通道连接有充气气源，两通电磁阀的第二个通道连接有排气管，气嘴接头的左端通过两通电磁阀择一地连通到充气气源或排气管；
在夹持组件的右方还设有横向延伸的横向导轨，横向导轨的长度大于收卷轴长度的两倍，所述运载小车安装在在横向导轨上，还设有驱动运载小车横向移动的运载小车横向驱动机构；在运载小车的V字形顶面板的右端还设有向上凸出的凸块；
还设有左右两根能前后摆动的卸卷摆臂，卸卷摆臂的水平摆轴位于轴套中心轴线的正下方；卸卷摆臂的下端为固定端，卸卷摆臂的上端为摆动端，还设有驱动左右两根卸卷摆臂同步摆动的油缸；卸卷摆臂的上端形成有用以放置收卷轴的凹口；
还设有左右两根纵向吊轨，每根纵向吊轨上能前后滑动地安装有竖向吊臂，竖向吊臂的下端安装有机械夹手，竖向吊臂上还安装有驱动机械夹手上下升降的机械夹手升降机构、驱动机械夹手张开或合拢的机械夹手开合机构；还设有驱动竖向吊臂纵向移动的竖向吊臂驱动机构；当左右两根竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最后端且运载小车沿横向导轨移动到最左端时，左右两根竖向吊臂位于运载小车V字形顶面板的V字形底部的正上方；当左右两根竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最前端时，左右两根竖向吊臂位于轴套中心轴线的正上方；
在横向导轨旁边还设有支撑臂组件，该支撑臂组件包括有水平支撑臂、支撑臂支座，该支撑臂支座位于横向导轨的后方；水平支撑臂能水平转动地安装在支撑臂支座上，支撑臂支座还安装有驱动水平支撑臂水平摆动的第三气缸；水平支撑臂的竖向转轴与所述竖直夹板之间的横向距离 小于收卷轴的长度；支撑臂组件还设有驱动支撑臂支座竖向移动的第二丝杆机构。
竖直夹板、收卷轴和运载小车形成以下配合关系：当竖直夹板竖向移动达到其竖向移动轨迹的最下端，且收卷轴左端水平放置竖直夹板的V字形叉口时，收卷轴的中心轴线与放置在运载小车上的纸芯筒的中心轴线位于同一直线上。
一种自动卸卷上芯方法，其特征在于采用上述自动卸卷上芯装置，依次包括以下步骤：
(1)、当膜卷卷取达到设定长度而准备卸卷时，膜卷卷绕在纸芯筒外面，纸芯筒套在气胀式的收卷轴外面，收卷轴处于胀紧状态而与纸芯筒紧密结合在一起，收卷轴左右两端头分别插在对应侧的轴套中；运载小车位于收卷轴的后下方；两根卸卷摆臂处于向后倾斜状态，支撑臂支座处于其竖向移动轨迹的下端，水平支撑臂的长向处于横向状态，左右两根竖向吊臂位于其纵向滑动轨迹的后端，机械夹手位于其竖向移动轨迹的上端，机械夹手处于张开状态，夹板支座位于其竖向移动轨迹的下端，水平夹板位于其横向滑动轨迹的左端，两通电磁阀的第一个通道关闭而第二个通道打开；
(2)、开始卸卷，油缸驱动两根卸卷摆臂向前摆动，直至两根卸卷摆臂处于直立状态，两根卸卷摆臂的凹口来到收卷轴的正下方；
(3)、左侧的第一气缸驱动左侧的轴套向左移动，右侧的第一气缸驱动右侧的轴套向右移动，收卷轴左右两端头分别脱离对应侧的轴套，膜卷连同收卷轴下掉，收卷轴左右两端落入到左右两根卸卷摆臂的凹口中；
(4)、油缸驱动两根卸卷摆臂向后摆动，两根卸卷摆臂向后倾斜，卸卷摆臂的凹口的朝向随之改变，直至收卷轴左右两端从两根卸卷摆臂的凹口向后溜出，膜卷连同收卷轴下掉，膜卷落入运载小车的V字形顶面板；
(5)、第一丝杆机构驱动夹板支座竖向上升，竖直夹板随之上升，直至接近开关检测到收卷轴的左端段落在竖直夹板的V字形叉口上面时，夹板支座停止竖向上升，此时的收卷轴环形凸肋位于竖直夹板的左侧，竖直夹板的V字形叉口向上托住收卷轴的左端段；
(6)、第二气缸驱动水平夹板和气嘴接头向右滑动，直至水平夹板位于收卷轴环形凸肋的正上方且气嘴接头与收卷轴的气嘴形成对接，收卷轴里面的气体依次通过气嘴、气嘴接头、两通电磁阀的第二个通道、排气管向外排走，收卷轴放气，此时的收卷轴环形凸肋圆周与水平夹板下表面形成相切关系；
(7)、收卷轴放气完成之后，运载小车横向驱动机构驱动运载小车向右移动，膜卷连同纸芯筒在运载小车带动下向右移动，但收卷轴的环形凸肋由于受到水平夹板和竖直夹板的限制而不能向右移动，收卷轴固定不动，于是膜卷连同纸芯筒逐渐从收卷轴拔出；当纸芯筒左端即将脱离收卷轴的右端时，运载小车暂停向右移动，第三气缸驱动水平支撑臂水平摆动，使水平支撑臂的长向变为纵向，接着，第二丝杆机构驱动支撑臂支座上升，水平支撑臂随之上升，直至水平支撑臂的摆动端接触并托住收卷轴的右端段，再接着，运载小车横向驱动机构驱动运载小车继续向右 移动，膜卷连同纸芯筒继续向右移动，直至纸芯筒完全从收卷轴拔出，膜卷完全与收卷轴脱离，完成卸卷；
(8)、工人将膜卷从运载小车上移走，并将新的纸芯筒放在运载小车V字形顶面板上；
(9)、第一丝杆机构驱动夹板支座竖向下降，同时第二丝杆机构驱动支撑臂支座同步下降，使竖直夹板和水平支撑臂同步下降，进而使收卷轴同步下降，直至夹板支座达到其竖向移动轨迹的最下端，竖直夹板随之达到其竖向移动轨迹的最下端，收卷轴的中心轴线与纸芯筒的中心轴线位于同一直线上；
(10)、运载小车横向驱动机构驱动运载小车向左移动，运载小车的凸块推动纸芯筒向左移动，当纸芯筒的左端套入收卷轴的右端之后，运载小车暂停向左移动，第二丝杆机构继续驱动支撑臂支座下降，使水平支撑臂随之下降并脱离收卷轴，之后第三气缸驱动水平支撑臂水平摆动，使水平支撑臂的长向变为横向；
(11)、运载小车继续横向驱动机构驱动运载小车向左移动，运载小车的凸块继续推动纸芯筒向左移动，直至整根纸芯筒完全套在收卷轴外面；
(12)、两通电磁阀动作，使两通电磁阀的第一个通道打开而第二个通道关闭，于是充气气源通过两通电磁阀的第一个通道、气嘴接头、气嘴向收卷轴充气，收卷轴胀气而将纸芯筒套紧；
(13)、第二气缸驱动水平夹板和气嘴接头向左滑动，同时两通电磁阀动作，使两通电磁阀的第一个通道关闭而第二个通道打开，气嘴接头从横向上离开收卷轴的气嘴，水平夹板从横向上与收卷轴错开；
(14)、机械夹手升降机构驱动左右两机械夹手下降，直至收卷轴进入左右两机械夹手的夹口，然后机械夹手开合机构驱动左右两机械夹手合拢，左右两机械夹手将收卷轴左右两端抓紧，之后机械夹手升降机构驱动左右两机械夹手上升，接着竖向吊臂驱动机构驱动竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最前端，左右两根竖向吊臂来到轴套中心轴线的正上方，收卷轴也来到轴套中心轴线的正上方，再接着，机械夹手升降机构驱动左右两机械夹手下降，收卷轴随之下降，直至收卷轴中心轴线与轴套中心轴线位置位于同一直线上；
(15)、左侧的第一气缸驱动左侧的轴套向右移动，右侧的第一气缸驱动右侧的轴套向左移动，收卷轴左右两端头分别插入对应侧的轴套，然后机械夹手开合机构驱动左右两机械夹手张开，之后机械夹手升降机构驱动左右两机械夹手上升，最后竖向吊臂驱动机构驱动竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最后端，这样，套有纸芯筒的收卷轴被安装在收卷位置，完成上芯。
本发明中，所谓横向，即左右方向，也是收卷轴的轴向，且以收卷轴带有气嘴的一端定义为收卷轴的左端，据此定义空间上的左右方；而所谓纵向，即前后方向，判定前后方向时，判定者左手位于空间上的左方，判定者右手位于空间上的右方，以判定者脸部朝向为前方，以判定者背部朝向为后方。
本发明具有以下优点和效果：
一、能实现自动卸卷、自动上芯，且能实现自动放气和自动充气，不需依靠工人操作进行充气和放气，自动化程度高；
二、只需设置运载小车，不需设置拔芯小车，即不需要两个小车。
三、运载小车的顶面板不必升降调节，简化结构，降低设备要求。
四、能适应于不同直径的膜卷。
附图说明
图1是本发明第一种具体实施例的侧视结构示意图。
图2是本发明第一种具体实施例的俯视结构示意图。
图3是本发明第一种具体实施例的在使用状态下的立体结构示意图。
图4是收卷轴在收卷状态下的安装结构示意图。
图5是收卷轴脱离轴套状态下的示意图。
图6是卸卷摆臂在直立时的使用状态示意图。
图7是卸卷摆臂向后摆动后的示意图。
图8是运载小车的立体结构示意图。
图9是运载小车的侧视结构示意图。
图10是夹持组件的侧视结构示意图。
图11是夹持组件的局部立体结构示意图。
图12是竖直夹板的侧视结构示意图。
图13是夹持组件将收卷轴左端夹住的立体结构示意图。
图14是收卷轴左端放在竖直夹板上但水平夹板与收卷轴左端在横向位置上错开的剖面示意图。
图15是夹持组件移动到下端、收卷轴左端放在竖直夹板上且水平夹板压在收卷轴左端环形凸肋上方、纸芯筒放置在运载小车上面的配合状态示意图。
图16是夹持组件移动到下端且水平夹板移动到左端的剖面示意图。
图17是夹持组件移动到上端且水平夹板移动到左端的剖面示意图。
图18是夹持组件移动到下端且水平夹板移动到右端的剖面示意图。
图19是夹持组件移动到下端且水平夹板移动到右端的剖面示意图。
图20是支撑臂组件的立体结构示意图。
图21是水平支撑臂为纵向时的主视结构示意图。
图22是水平支撑臂为纵向且支撑臂支座下降到下端的工作状态示意图。
图23是水平支撑臂为横向且支撑臂支座下降到下端的工作状态示意图。
图24是水平支撑臂为纵向且支撑臂支座上升到上端的工作状态示意图。
图25是水平支撑臂为纵向且支撑臂支座下降到中间位置的工作状态示意图。
图26是膜卷放置在运载小车上面时的侧视状态示意图。
图27是夹持组件夹住带膜卷的收卷轴左端的状态示意图。
图28是图27所示状态的俯视示意图。
图29是运载小车带动膜卷向右移动且水平支撑臂托住收卷轴右端的状态示意图。
图30是图29所示状态的俯视示意图。
图31是竖向吊臂移动到最前端、机械夹手竖向移动到上端且机械夹手合拢时的状态示意图。
图32是竖向吊臂移动到最前端、机械夹手竖向移动到上端且机械夹手张开时的状态示意图。
图33是竖向吊臂移动到最后端、机械夹手竖向移动到下端且机械夹手张开时的工作状态示意图。
图34是竖向吊臂移动到最后端、机械夹手竖向移动到上端且机械夹手张开时的状态示意图。
图35是竖向吊臂移动到最前端、机械夹手竖向移动到下端且机械夹手合拢时的状态示意图。
图36是收卷轴放气时的状态示意图。
具体实施方式
实施例一
一种自动卸卷上芯装置，包括左右两个收卷轴支座11，左右两个收卷轴支座11之间设有气胀式的收卷轴1，收卷轴1左右两端分别安装在左右两个收卷轴支座11上，收卷轴1的中心轴线沿横向延伸，收卷轴1左右两端头形成有锥度，左右两个收卷轴支座11分别设有轴套12，轴套12的中心轴线与收卷轴1的中心轴线重叠，轴套的内腔120带有与收卷轴端部对应的锥度；轴套12可轴向移动地安装在对应侧的收卷轴支座11上，每个收卷轴支座11上还设有驱动对应侧的轴套12横向移动的第一气缸，每个轴套12与对应侧的收卷轴端头形成活动插接关系，如图1、图2、图3、图4、图5所示；气胀式的收卷轴1设有用于充气放气的气嘴13，该气嘴13位于收卷轴的左端面中心；收卷轴1的左端段还形成有环形凸肋14，环形凸肋14的直径大于收卷轴1的直径；图1、图3、图8、图9所示，还设有运载膜卷的的运载小车2，运载小车2上的顶面板21在纵向截面上呈前后两侧高而中间低的V字形；
图1、图3、图10、图11、图14所示，在左侧收卷轴支座的后方还设有夹持组件3，图10、图11、图14、图15所示，所述夹持组件3包括有夹板支座30，夹板支座30上安装有竖直夹板31和水平夹板32，竖直夹板31相对于夹板支座30固定不动，水平夹板32能相对于夹板支座30横向滑动，水平夹板32位于竖直夹板31的左上方；从横向位置看，竖直夹板31的横向位置比收卷轴的环形凸肋14的横向位置更偏靠右方；图11、图12所示，竖直夹板31的顶沿带有V字形叉口33，该V字形叉口33的横向投影形状为V字形；图10、图11图16、图17所示，还设有驱动夹板支座30竖向移动的第一丝杆机构37；
图14、图15所示，夹板支座30上还安装有气嘴接头34和一个用以感测收卷轴位置的接近开关35，其中接近开关35相对于夹板支座30固定不动，气嘴接头34和水平夹板32两者固定连 在一起而同步活动，夹板支座30上还设有驱动水平夹板32和气嘴接头34横向滑动的第二气缸36；气嘴接头34右端的大小、形状与收卷轴的气嘴13吻合匹配；所述收卷轴1、水平夹板32、气嘴接头34和竖直夹板31四者形成以下配合关系：当收卷轴1的左端段水平搁放在竖直夹板的V字形叉口33上面时，收卷轴1的中心轴线与水平夹板32下表面之间的竖向距离等于收卷轴环形凸肋14的半径，气嘴接头34对准收卷轴1的中心轴线，如图14、图15所示；
气嘴接头34的左端连接有两通电磁阀，该两通电磁阀的第一个通道连接有充气气源，两通电磁阀的第二个通道连接有排气管，气嘴接头34的左端通过两通电磁阀择一地连通到充气气源或排气管；即当第一个通道关闭而第二个通道打开时，气嘴接头34连接排气管，而当第一个通道打开而第二个通道关闭时，气嘴接头34连接充气气源；
图2、图3、图27、图28所示，在夹持组件3的右方还设有横向延伸的横向导轨22，横向导轨22的长度大于收卷轴1长度的两倍，所述运载小车2安装在在横向导轨上，还设有驱动运载小车1横向移动的运载小车横向驱动机构；在运载小车2的V字形顶面板的右端还设有向上凸出的凸块23，凸块23凸出运载小车上顶面板的厚度相当于膜卷纸芯筒的筒壁厚度；竖直夹板31、收卷轴1和运载小车2形成以下配合关系：当竖直夹板31竖向移动(即随同夹板支座30竖向移动)达到其竖向移动轨迹的最下端，且收卷轴1左端水平放置竖直夹板的V字形叉口33时，收卷轴1的中心轴线与放置在运载小车2上的纸芯筒的中心轴线位于同一直线上，如图15所示(当纸芯筒放在运载小车2上时，纸芯筒必定自然滚落到运载小车顶面板21的V字形底部位置，即纸芯筒必定位于运载小车顶面板21的V字形底部位置)。
图1、图3、图6、图7所示，还设有左右两根能前后摆动的卸卷摆臂4，卸卷摆臂的水平摆轴40位于轴套12中心轴线的正下方；卸卷摆臂4的下端为固定端，卸卷摆臂4的上端为摆动端，还设有驱动左右两根卸卷摆臂4同步摆动的油缸41；卸卷摆臂4的上端形成有用以放置收卷轴的凹口42；
图1、图3、图31、图33、图34所示，还设有左右两根纵向吊轨51，每根纵向吊轨51上能前后滑动地安装有竖向吊臂52，竖向吊臂52的下端安装有机械夹手53，竖向吊臂52上还安装有驱动机械夹手53上下升降的机械夹手升降机构、驱动机械夹手53张开或合拢的机械夹手开合机构；还设有驱动竖向吊臂沿纵向吊轨51纵向移动的竖向吊臂驱动机构；当左右两根竖向吊臂52沿纵向吊轨移动到其纵向滑动轨迹的最后端且运载小车2沿横向导轨22移动到最左端时，左右两根竖向吊臂52位于运载小车V字形顶面板21的V字形底部(如图8中AB线所示部位，也如图9中D点所示部位)的正上方；当左右两根竖向吊臂52沿纵向吊轨51移动到其纵向滑动轨迹的最前端时，左右两根竖向吊臂52位于轴套12中心轴线的正上方；
图1、图3、图20、图21、图22所示，在横向导轨22旁边还设有支撑臂组件6，该支撑臂组件包括有水平支撑臂61、支撑臂支座62，该支撑臂支座62位于横向导轨22的后方；水平支撑臂61能水平转动地安装在支撑臂支座62上，支撑臂支座62还安装有驱动水平支撑臂水平摆动的 第三气缸63；水平支撑臂的竖向转轴60与所述竖直夹板31之间的横向距离小于收卷轴1的长度；支撑臂组件6还设有驱动支撑臂支座61竖向移动的第二丝杆机构64。
实施例二
一种自动卸卷上芯方法，其特征在于采用实施例一的自动卸卷上芯装置，依次包括以下步骤：
(1)、当膜卷8卷取达到设定长度而准备卸卷时，膜卷8卷绕在纸芯筒外面，纸芯筒套在气胀式的收卷轴1外面，收卷轴1处于胀紧状态而与纸芯筒紧密结合在一起，收卷轴1左右两端头分别插在对应侧的轴套12中，如图4所示；运载小车2位于收卷轴1的后下方，如图1、图2、图3所示，两根卸卷摆臂4处于向后倾斜状态，如图7所示，支撑臂支座62处于其竖向移动轨迹的下端，水平支撑臂61的长向处于横向状态，如图23、图20所示，左右两根竖向吊臂52位于其纵向滑动轨迹的后端，机械夹手53位于其竖向移动轨迹的上端，机械夹手53处于张开状态，如图34所示，夹板支座30位于其竖向移动轨迹的下端，水平夹板位32于其横向滑动轨迹的左端，如16所示，两通电磁阀的第一个通道关闭而第二个通道打开；
(2)、开始卸卷，油缸41驱动两根卸卷摆臂4向前摆动，直至两根卸卷摆臂4处于直立状态，两根卸卷摆臂的凹口42来到收卷轴1的正下方，如图6所示；
(3)、左侧的第一气缸驱动左侧的轴套12向左移动，右侧的第一气缸驱动右侧的轴套12向右移动，收卷轴1左右两端头分别脱离对应侧的轴套12，如图5所示，膜卷8连同收卷轴1、纸芯筒81下掉，直至收卷轴1左右两端落入到左右两根卸卷摆臂的凹口42中；
(4)、油缸41驱动两根卸卷摆臂4向后摆动，两根卸卷摆臂4向后倾斜，卸卷摆臂的凹口42的朝向随之改变，直至收卷轴1左右两端从两根卸卷摆臂的凹口42向后溜出，如图7所示，膜卷8连同收卷轴1、纸芯筒81下掉，膜卷8落入运载小车的V字形顶面板；
(5)、第一丝杆机构37驱动夹板支座30竖向上升，竖直夹板31随之上升，如图17所示，直至接近开关35检测到收卷轴1的左端段落在竖直夹板的V字形叉口33上面时，夹板支座30停止竖向上升，此时的收卷轴环形凸肋14位于竖直夹板31的左侧，竖直夹板的V字形叉口33向上托住收卷轴1的左端段，如图26所示；
(6)、第二气缸35驱动水平夹板32和气嘴接头34向右滑动，直至水平夹板32位于收卷轴环形凸肋14的正上方且气嘴接头34与收卷轴的气嘴13形成对接，如图27、图28、图36、图13、图19所示(图19的图面省略了收卷轴)，收卷轴1里面的气体依次通过气嘴13、气嘴接头34、两通电磁阀的第二个通道、排气管向外排走，收卷轴1放气，此时的收卷轴环形凸肋14圆周与水平夹板32下表面形成相切关系，如图36所示；
(7)、收卷轴1放气完成之后，运载小车横向驱动机构驱动运载小车2向右移动，膜卷8连同纸芯筒81在运载小车2带动下向右移动，但收卷轴的环形凸肋14由于受到水平夹板32和竖直夹板31的限制而不能向右移动，收卷轴1固定不动，于是膜卷8连同纸芯筒81逐渐从收卷轴1拔出；当纸芯筒81左端即将脱离收卷轴1的右端时，运载小车2暂停向右移动，如图28所 示，此后第三气缸63驱动水平支撑臂61水平摆动，使水平支撑臂61的长向变为纵向，如图21、图22所示，接着，第二丝杆机构64驱动支撑臂支座62上升，水平支撑臂61随之上升，直至水平支撑臂61的摆动端接触并托住收卷轴1的右端段，如图24、图29、图30所示，再接着，运载小车横向驱动机构驱动运载小车2继续向右移动，膜卷8连同纸芯筒81继续向右移动，直至纸芯筒81完全从收卷轴拔出，膜卷8完全与收卷轴1脱离，完成卸卷；
(8)、工人将膜卷8从运载小车上移走，并将新的纸芯筒81放在运载小车V字形顶面板21；
(9)、第一丝杆机构37驱动夹板支座30竖向下降，同时第二丝杆机构64驱动支撑臂支座62同步下降，使竖直夹板31和水平支撑臂61同步下降，进而使收卷轴1同步下降，直至夹板支座62达到其竖向移动轨迹的最下端，竖直夹板31随之达到其竖向移动轨迹的最下端，如图25、图15、图18所示状态(图18中省略了收卷轴)，收卷轴1的中心轴线与运载小车V字形顶面板21上的纸芯筒81中心轴线位于同一直线上；
(10)、运载小车横向驱动机构驱动运载小车2向左移动，如图15箭头所示，运载小车的凸块23推动纸芯筒3向左移动，当纸芯筒的左端套入收卷轴1的右端之后，运载小车2暂停向左移动，第二丝杆机构64继续驱动支撑臂支座62下降，使水平支撑臂61随之下降并脱离收卷轴1，图22所示，之后第三气缸63驱动水平支撑臂61水平摆动，使水平支撑臂61的长向变为横向，如图20、图23所示；
(11)、运载小车继续横向驱动机构驱动运载小车2向左移动，运载小车的凸块23继续推动纸芯筒81向左移动，直至整根纸芯筒81完全套在收卷轴1外面，如图3所示状态；
(12)、两通电磁阀动作，使两通电磁阀的第一个通道打开而第二个通道关闭，于是充气气源通过两通电磁阀的第一个通道、气嘴接头34、气嘴13向收卷轴1充气，收卷轴1胀气而将纸芯筒3套紧；
(13)、第二气缸36驱动水平夹板32和气嘴接头34向左滑动，同时两通电磁阀动作，使两通电磁阀的第一个通道关闭而第二个通道打开，气嘴接头34从横向上离开收卷轴的气嘴13，水平夹板32从横向上与收卷轴1错开，如图14所示；
(14)、机械夹手升降机构驱动左右两机械夹手53下降，直至收卷轴1进入左右两机械夹手53的夹口，如图33所示，然后机械夹手开合机构驱动左右两机械夹手53合拢，左右两机械夹手53将收卷轴1左右两端抓紧，之后机械夹手升降机构驱动左右两机械夹手53上升，接着竖向吊臂驱动机构驱动竖向吊臂52沿纵向吊轨51移动到其纵向滑动轨迹的最前端，左右两根竖向吊臂52来到轴套12中心轴线的正上方，收卷轴1也来到轴套12中心轴线的正上方，如图31所示，再接着，机械夹手升降机构驱动左右两机械夹手53下降，收卷轴1随之下降，直至收卷轴1中心轴线与轴套12中心轴线位置位于同一直线上，如图35所示；
(15)、左侧的第一气缸驱动左侧的轴套12向右移动，右侧的第一气缸驱动右侧的轴套12向左移动，收卷轴1左右两端头分别插入对应侧的轴套12，恢复到如图4所示，然后机械夹手开合 机构驱动左右两机械夹手53张开，之后机械夹手升降机构驱动左右两机械夹手53上升，如图32所示，最后竖向吊臂驱动机构驱动竖向吊臂52沿纵向吊轨51移动到其纵向滑动轨迹的最后端，如图34所示，这样，套有纸芯筒81的收卷轴1被安装在收卷位置，完成上芯。

Claims (2)

  1. 一种自动卸卷上芯装置，包括左右两个收卷轴支座，左右两个收卷轴支座之间设有气胀式的收卷轴，收卷轴两端分别安装在左右两个收卷轴支座上，收卷轴的中心轴线沿横向延伸，收卷轴左右两端头形成有锥度，左右两个收卷轴支座分别设有轴套，轴套的中心轴线与收卷轴的中心轴线重叠，轴套的内腔带有与收卷轴端部对应的锥度；轴套可轴向移动地安装在对应侧的收卷轴支座上，每个收卷轴支座上还设有驱动对应侧的轴套横向移动的第一气缸，每个轴套与对应侧的收卷轴端头形成活动插接关系；气胀式的收卷轴设有用于充气放气的气嘴，该气嘴位于收卷轴的左端面中心；收卷轴的左端段还形成有环形凸肋，环形凸肋的直径大于收卷轴的直径；还设有运载膜卷的的运载小车，运载小车上的顶面板在纵向截面上呈前后两侧高而中间低的V字形；
    其特征在于：在左侧收卷轴支座的后方还设有夹持组件，所述夹持组件包括有夹板支座，夹板支座上安装有竖直夹板和水平夹板，竖直夹板相对于夹板支座固定不动，水平夹板能相对于夹板支座横向滑动，水平夹板位于竖直夹板的左上方；从横向位置看，竖直夹板的横向位置比收卷轴的环形凸肋的横向位置更偏靠右方；还设有驱动夹板支座竖向移动的第一丝杆机构；竖直夹板的顶沿带有V字形叉口，该V字形叉口的横向投影形状为V字形，
    夹板支座上还安装有气嘴接头和一个用以感测收卷轴位置的接近开关，其中接近开关相对于夹板支座固定不动，气嘴接头和水平夹板两者固定连在一起，夹板支座上还设有驱动水平夹板和气嘴接头横向滑动的第二气缸；气嘴接头右端的大小、形状与收卷轴的气嘴吻合；
    所述收卷轴、水平夹板、气嘴接头和竖直夹板四者形成以下配合关系：当收卷轴的左端段水平搁放在竖直夹板的V字形叉口上面时，收卷轴的中心轴线与水平夹板下表面之间的竖向距离等于收卷轴环形凸肋的半径，气嘴接头对准收卷轴的中心轴线；
    气嘴接头的左端连接有两通电磁阀，该两通电磁阀的第一个通道连接有充气气源，两通电磁阀的第二个通道连接有排气管，气嘴接头的左端通过两通电磁阀择一地连通到充气气源或排气管；
    在夹持组件的右方还设有横向延伸的横向导轨，横向导轨的长度大于收卷轴长度的两倍，所述运载小车安装在在横向导轨上，还设有驱动运载小车横向移动的运载小车横向驱动机构；在运载小车的V字形顶面板的右端还设有向上凸出的凸块；
    还设有左右两根能前后摆动的卸卷摆臂，卸卷摆臂的水平摆轴位于轴套中心轴线的正下方；卸卷摆臂的下端为固定端，卸卷摆臂的上端为摆动端，还设有驱动左右两根卸卷摆臂同步摆动的油缸；卸卷摆臂的上端形成有用以放置收卷轴的凹口；
    还设有左右两根纵向吊轨，每根纵向吊轨上能前后滑动地安装有竖向吊臂，竖向吊臂的下端安装有机械夹手，竖向吊臂上还安装有驱动机械夹手上下升降的机械夹手升降机构、驱动机械夹手张开或合拢的机械夹手开合机构；还设有驱动竖向吊臂纵向移动的竖向吊臂驱动机构；当左右两根竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最后端且运载小车沿横向导轨移动到最左端时，左右两根竖向吊臂位于运载小车V字形顶面板的V字形底部的正上方；当左右两根竖向吊臂沿纵 向吊轨移动到其纵向滑动轨迹的最前端时，左右两根竖向吊臂位于轴套中心轴线的正上方；
    在横向导轨旁边还设有支撑臂组件，该支撑臂组件包括有水平支撑臂、支撑臂支座，该支撑臂支座位于横向导轨的后方；水平支撑臂能水平转动地安装在支撑臂支座上，支撑臂支座还安装有驱动水平支撑臂水平摆动的第三气缸；水平支撑臂的竖向转轴与所述竖直夹板之间的横向距离小于收卷轴的长度；支撑臂组件还设有驱动支撑臂支座竖向移动的第二丝杆机构。
    竖直夹板、收卷轴和运载小车形成以下配合关系：当竖直夹板竖向移动达到其竖向移动轨迹的最下端，且收卷轴左端水平放置竖直夹板的V字形叉口时，收卷轴的中心轴线与放置在运载小车上的纸芯筒的中心轴线位于同一直线上。
  2. 一种自动卸卷上芯方法，其特征在于其特征在于采用权利要求1所述的装置，依次包括以下步骤：
    (1)、当膜卷卷取达到设定长度而准备卸卷时，膜卷卷绕在纸芯筒外面，纸芯筒套在气胀式的收卷轴外面，收卷轴处于胀紧状态而与纸芯筒紧密结合在一起，收卷轴左右两端头分别插在对应侧的轴套中；运载小车位于收卷轴的后下方；两根卸卷摆臂处于向后倾斜状态，支撑臂支座处于其竖向移动轨迹的下端，水平支撑臂的长向处于横向状态，左右两根竖向吊臂位于其纵向滑动轨迹的后端，机械夹手位于其竖向移动轨迹的上端，机械夹手处于张开状态，夹板支座位于其竖向移动轨迹的下端，水平夹板位于其横向滑动轨迹的左端，两通电磁阀的第一个通道关闭而第二个通道打开；
    (2)、开始卸卷，油缸驱动两根卸卷摆臂向前摆动，直至两根卸卷摆臂处于直立状态，两根卸卷摆臂的凹口来到收卷轴的正下方；
    (3)、左侧的第一气缸驱动左侧的轴套向左移动，右侧的第一气缸驱动右侧的轴套向右移动，收卷轴左右两端头分别脱离对应侧的轴套，膜卷连同收卷轴下掉，收卷轴左右两端落入到左右两根卸卷摆臂的凹口中；
    (4)、油缸驱动两根卸卷摆臂向后摆动，两根卸卷摆臂向后倾斜，卸卷摆臂的凹口的朝向随之改变，直至收卷轴左右两端从两根卸卷摆臂的凹口向后溜出，膜卷连同收卷轴下掉，膜卷落入运载小车的V字形顶面板；
    (5)、第一丝杆机构驱动夹板支座竖向上升，竖直夹板随之上升，直至接近开关检测到收卷轴的左端段落在竖直夹板的V字形叉口上面时，夹板支座停止竖向上升，此时的收卷轴环形凸肋位于竖直夹板的左侧，竖直夹板的V字形叉口向上托住收卷轴的左端段；
    (6)、第二气缸驱动水平夹板和气嘴接头向右滑动，直至水平夹板位于收卷轴环形凸肋的正上方且气嘴接头与收卷轴的气嘴形成对接，收卷轴里面的气体依次通过气嘴、气嘴接头、两通电磁阀的第二个通道、排气管向外排走，收卷轴放气，此时的收卷轴环形凸肋圆周与水平夹板下表面形成相切关系；
    (7)、收卷轴放气完成之后，运载小车横向驱动机构驱动运载小车向右移动，膜卷连同纸芯筒在运载小车带动下向右移动，但收卷轴的环形凸肋由于受到水平夹板和竖直夹板的限制而不能 向右移动，收卷轴固定不动，于是膜卷连同纸芯筒逐渐从收卷轴拔出；当纸芯筒左端即将脱离收卷轴的右端时，运载小车暂停向右移动，第三气缸驱动水平支撑臂水平摆动，使水平支撑臂的长向变为纵向，接着，第二丝杆机构驱动支撑臂支座上升，水平支撑臂随之上升，直至水平支撑臂的摆动端接触并托住收卷轴的右端段，再接着，运载小车横向驱动机构驱动运载小车继续向右移动，膜卷连同纸芯筒继续向右移动，直至纸芯筒完全从收卷轴拔出，膜卷完全与收卷轴脱离，完成卸卷；
    (8)、工人将膜卷从运载小车上移走，并将新的纸芯筒放在运载小车V字形顶面板上；
    (9)、第一丝杆机构驱动夹板支座竖向下降，同时第二丝杆机构驱动支撑臂支座同步下降，使竖直夹板和水平支撑臂同步下降，进而使收卷轴同步下降，直至夹板支座达到其竖向移动轨迹的最下端，竖直夹板随之达到其竖向移动轨迹的最下端，收卷轴的中心轴线与纸芯筒的中心轴线位于同一直线上；
    (10)、运载小车横向驱动机构驱动运载小车向左移动，运载小车的凸块推动纸芯筒向左移动，当纸芯筒的左端套入收卷轴的右端之后，运载小车暂停向左移动，第二丝杆机构继续驱动支撑臂支座下降，使水平支撑臂随之下降并脱离收卷轴，之后第三气缸驱动水平支撑臂水平摆动，使水平支撑臂的长向变为横向；
    (11)、运载小车继续横向驱动机构驱动运载小车向左移动，运载小车的凸块继续推动纸芯筒向左移动，直至整根纸芯筒完全套在收卷轴外面；
    (12)、两通电磁阀动作，使两通电磁阀的第一个通道打开而第二个通道关闭，于是充气气源通过两通电磁阀的第一个通道、气嘴接头、气嘴向收卷轴充气，收卷轴胀气而将纸芯筒套紧；
    (13)、第二气缸驱动水平夹板和气嘴接头向左滑动，同时两通电磁阀动作，使两通电磁阀的第一个通道关闭而第二个通道打开，气嘴接头从横向上离开收卷轴的气嘴，水平夹板从横向上与收卷轴错开；
    (14)、机械夹手升降机构驱动左右两机械夹手下降，直至收卷轴进入左右两机械夹手的夹口，然后机械夹手开合机构驱动左右两机械夹手合拢，左右两机械夹手将收卷轴左右两端抓紧，之后机械夹手升降机构驱动左右两机械夹手上升，接着竖向吊臂驱动机构驱动竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最前端，左右两根竖向吊臂来到轴套中心轴线的正上方，收卷轴也来到轴套中心轴线的正上方，再接着，机械夹手升降机构驱动左右两机械夹手下降，收卷轴随之下降，直至收卷轴中心轴线与轴套中心轴线位置位于同一直线上；
    (15)、左侧的第一气缸驱动左侧的轴套向右移动，右侧的第一气缸驱动右侧的轴套向左移动，收卷轴左右两端头分别插入对应侧的轴套，然后机械夹手开合机构驱动左右两机械夹手张开，之后机械夹手升降机构驱动左右两机械夹手上升，最后竖向吊臂驱动机构驱动竖向吊臂沿纵向吊轨移动到其纵向滑动轨迹的最后端，套有纸芯筒的收卷轴被安装在收卷位置，完成上芯。
PCT/CN2019/000046 2018-12-29 2019-03-06 自动卸卷上芯装置和自动卸卷上芯方法 WO2020133551A1 (zh)

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