阅读说明：本技术 冲压带卷筒更换系统 (System for replacing spool of punching tape ) 是由 邓颖聪 张丹丹 胡绿海 谢逢春 鲁异 约瑟夫·辛德 陶宗杰 虞晓晨 司万普尼尔辛恩· 于 2020-05-14 设计创作，主要内容包括：本发明公开一种冲压带卷筒更换系统,包括自主移动机器人和自动导引车。自主移动机器人可自主移动到用于安装卷筒的卷筒驱动轴处,并具有适于抓取所述卷筒的抓取工具。自动导引车跟随所述自主移动机器人一起移动,其上搭载有还没有盘绕冲压带的空卷筒。所述自主移动机器人适于通过操作所述抓取工具从所述卷筒驱动轴上卸下已盘绕好冲压带的满卷筒和将卸下的满卷筒放置到所述自动导引车上；并且所述自主移动机器人还适于通过操作所述抓取工具从所述自动导引车上抓取空卷筒和将抓取的空卷筒安装到所述卷筒驱动轴上。在本发明中,冲压带卷筒更换系统能够自动地实现冲压带卷筒的更换,节省了人工成本,并且极大地提高了冲压机的利用率。(The invention discloses a punching tape reel replacing system which comprises an autonomous mobile robot and an automatic guide vehicle. The autonomous mobile robot is autonomously movable to a reel drive shaft for mounting a reel, and has a gripping tool adapted to grip the reel. The automatic guided vehicle moves together with the autonomous mobile robot, and an empty reel on which the punching belt is not wound is loaded. The autonomous mobile robot is adapted to unload a full reel wound with a punching tape from the reel driving shaft and to place the unloaded full reel onto the automated guided vehicle by operating the gripping tool; and the autonomous mobile robot is further adapted to grasp an empty reel from the automated guided vehicle by operating the grasping tool and mount the grasped empty reel on the reel drive shaft. According to the invention, the replacement system of the punching tape reel can automatically realize replacement of the punching tape reel, so that the labor cost is saved, and the utilization rate of the punching machine is greatly improved.)

1. A punch strip spool change system adapted to change a spool (2) for coiling a punch strip (110), characterized in that the punch strip spool change system comprises:

an autonomous mobile robot (10) autonomously movable to a reel drive shaft (1) for mounting a reel (2), having a gripping tool (14) adapted to grip the reel (2); and

an automatic guided vehicle (20) which moves together with the autonomous mobile robot (10) and on which an empty reel (2a) on which a punching belt (110) has not been wound is mounted,

-said autonomous mobile robot (10) is adapted to unload a full reel (2b) wound with punching tape (110) from said reel drive shaft (1) and to place the unloaded full reel (2b) onto said automated guided vehicle (20) by operating said gripping means (14); and is

The autonomous mobile robot (10) is further adapted to grasp an empty reel (2a) from the automated guided vehicle (20) by operating the grasping tool (14) and to mount the grasped empty reel (2a) on the reel drive shaft (1).

2. The punch strip spool change system of claim 1, wherein:

the punch strip spool change system further comprises a wireless communication module (40), the wireless communication module (40) being adapted to wirelessly communicate with the autonomous mobile robot (10) and the automated guided vehicle (20);

the wireless communication module (40) notifies the autonomous mobile robot (10) and the automated guided vehicle (20) of the presence of a replacement reel (2) on the reel drive shaft (1) when the reel (2) on the reel drive shaft (1) has approached full reel.

3. The punch strip spool change system of claim 2, wherein:

the punch strip spool change system further comprises a shearing mechanism (30), the shearing mechanism (30) being adapted to cut the punch strip (110) when the spool (2) on the spool drive shaft (1) is fully wound.

4. The punch strip spool change system of claim 3, wherein:

the autonomous mobile robot (10) further has a glue application tool (15), the glue application tool (15) being adapted to apply glue on the paper strip (120) wound on the punching strip (110) after the cutting mechanism (30) cuts the punching strip (110) so that the paper strip (120) wound on the punching strip (110) is bonded together to constrain and fix the punching strip (110) wound on the full roll (2b) to be replaced.

5. The punch strip spool change system of claim 4, wherein:

the cutting mechanism (30) is further adapted to cut the paper strips (120) wound on the stamping belt (110) when the paper strips (120) have been coated with glue and glued together.

6. The punch strip spool change system of claim 5, wherein:

the punch tape roll changing system further comprises a printer (50), the printer (50) being adapted to print a label (51) to be applied to a full roll (2b) to be changed;

the wireless communication module (40) is also adapted to inform the autonomous mobile robot (10) to apply the printed label (51) to a full roll (2b) to be replaced on the roll drive shaft (1) after the paper tape (120) is cut.

7. The punch strip spool change system of claim 6, wherein:

the autonomous mobile robot (10) further has a vacuum suction means (16), the autonomous mobile robot (10) being adapted to suck the printed label (51) and to stick the sucked label (51) onto the full roll (2b) to be replaced by means of the vacuum suction means (16) after receiving the instruction to stick the label.

8. The punch strip spool change system of claim 7, wherein:

the autonomous mobile robot (10) also has a visual inspection device (17), said visual inspection device (17) being adapted to inspect the appearance of the full reel (2b) to be replaced after the label (51) has been affixed to the full reel (2b) to be replaced.

9. The punch strip spool change system of claim 8, wherein:

the autonomous mobile robot (10) is adapted to unload a full reel (2b) from the reel drive shaft (1), place the unloaded full reel (2b) onto the automated guided vehicle (20), grasp an empty reel (2a) from the automated guided vehicle (20), and mount the grasped empty reel (2a) onto the reel drive shaft (1) by operating the grasping means (14) after the visual inspection is completed by the visual inspection device (17).

10. The punch strip spool change system of claim 8, wherein:

the autonomous mobile robot (10) includes a vehicle-type mobile robot (11) and an arm-type industrial robot (12) mounted on the vehicle-type mobile robot (11).

11. The punch strip spool change system of claim 10, wherein:

the arm type industrial robot (12) has a tool switching disk (13) mounted on an end arm thereof, the gripping tool (14), the glue application tool (15), and the vacuum suction tool (16) are mounted on the tool switching disk (13), so that rapid switching among the gripping tool (14), the glue application tool (15), and the vacuum suction tool (16) can be realized by the tool switching disk (13).

12. The punch strip spool change system of claim 11, wherein:

the vision inspection device (17) is mounted on the end arm of the arm-type industrial robot (12) such that the position of the vision inspection device (17) relative to the tool switching tray (13) remains unchanged.

13. The punch strip spool change system of claim 1, wherein:

the punching tape reel changing system further comprises a support table (21), the support table (21) is carried on the automated guided vehicle (20), and the empty reel (2a) and the full reel (2b) are stacked on the support table (21).

14. The punch strip spool change system of claim 13, wherein:

the support table (21) has rollers by means of which the support table (21) can be moved when it is detached from the automated guided vehicle (20).

Technical Field

The invention relates to a punching tape reel replacing system.

Background

Replacing the spool for coiling the stamping tape generally requires stopping the stamping press from unloading the spool already coiled with the stamping tape and loading an empty spool that has not yet coiled with the stamping tape to continue receiving and coiling the stamping tape output from the stamping press. In prior art, the change of reel is accomplished by the manual work usually, and the inefficiency of manual change reel has influenced the utilization ratio of punching machine.

Disclosure of Invention

An object of the present invention is to solve at least one of the above problems and disadvantages in the prior art.

According to one aspect of the present invention, there is provided a punch tape spool replacing system adapted to replace a spool for coiling a punch tape. The punch strip spool change system includes: an autonomous mobile robot autonomously movable to a reel drive shaft for mounting a reel, having a gripping tool adapted to grip the reel; and an automatic guided vehicle which moves together with the autonomous mobile robot and on which an empty reel on which the punching belt is not wound is loaded. The autonomous mobile robot is adapted to unload a full reel wound with a punching tape from the reel driving shaft and to place the unloaded full reel onto the automated guided vehicle by operating the gripping tool; and the autonomous mobile robot is further adapted to grasp an empty reel from the automated guided vehicle by operating the grasping tool and mount the grasped empty reel on the reel drive shaft.

According to an exemplary embodiment of the invention, the punch strip reel change system further comprises a wireless communication module adapted to wirelessly communicate with the autonomous mobile robot and the automated guided vehicle; the wireless communication module notifies the autonomous mobile robot and the automated guided vehicle of a previous change of the reel on the reel drive shaft when the reel on the reel drive shaft has approached full.

According to another exemplary embodiment of the present invention, the punch strip reel changer system further comprises a shearing mechanism adapted to cut the punch strip when the reel on the reel drive shaft is fully wound.

According to another exemplary embodiment of the present invention, the autonomous mobile robot further has a glue application tool adapted to apply glue on the paper tapes wound on the punching belt after the cutting mechanism cuts the punching belt so that the paper tapes wound on the punching belt are bonded together to restrain and fix the punching belt wound on the full roll to be replaced.

According to another exemplary embodiment of the present invention, the cutting mechanism is further adapted to cut the paper strips wound on the punching belt when the paper strips have been coated with glue and glued together.

According to another exemplary embodiment of the present invention, the die strip spool change system further comprises a printer adapted to print a label to be applied to a full spool to be changed; the wireless communication module is further adapted to notify the autonomous mobile robot to apply a printed label to a full roll to be replaced on the roll drive shaft after the paper tape is cut.

According to another exemplary embodiment of the present invention, the autonomous mobile robot further has a vacuum suction tool adapted to suck the printed label and paste the sucked label onto the full roll to be replaced by the vacuum suction tool after receiving the instruction to paste the label.

According to another exemplary embodiment of the invention, the autonomous mobile robot further has a visual inspection device adapted to inspect the appearance of the full roll to be replaced after the label has been affixed to the full roll to be replaced.

According to another exemplary embodiment of the present invention, the autonomous mobile robot is adapted to detach a full reel from the reel driving shaft by operating the gripping tool, place the detached full reel onto the automated guided vehicle, grip an empty reel from the automated guided vehicle, and mount the gripped empty reel onto the reel driving shaft after the visual inspection device completes the appearance inspection.

According to another exemplary embodiment of the present invention, the autonomous mobile robot includes a cart type mobile robot and an arm type industrial robot mounted on the cart type mobile robot.

According to another exemplary embodiment of the present invention, the arm type industrial robot has a tool switching tray mounted on an end arm thereof, the gripping tool, the glue application tool and the vacuum suction tool are mounted on the tool switching tray, so that rapid switching among the gripping tool, the glue application tool and the vacuum suction tool can be realized through the tool switching tray.

According to another exemplary embodiment of the present invention, the vision inspection device is mounted on the end arm of the arm type industrial robot such that the position of the vision inspection device with respect to the tool switching tray is kept constant.

According to another exemplary embodiment of the invention, the press belt reel changer system further comprises a support table, which is mounted on the automated guided vehicle, on which support table the empty reel and the full reel are stacked.

According to another exemplary embodiment of the present invention, the support table has rollers by which the support table can be moved when the support table is detached from the automated guided vehicle.

In each of the foregoing exemplary embodiments of the present invention, the punching tape roll replacing system can automatically realize replacement of the punching tape roll, save labor cost, and greatly improve the utilization rate of the punching machine.

Other objects and advantages of the present invention will become apparent from the following description of the invention which refers to the accompanying drawings, and may assist in a comprehensive understanding of the invention.

Drawings

Fig. 1 shows a schematic view of a punch strip spool change system according to an exemplary embodiment of the present invention.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention and should not be construed as limiting the invention.

Furthermore, in the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in schematic form in order to simplify the drawing.

According to one general technical concept of the present invention, there is provided a punch tape roll replacing system adapted to replace a roll for winding a punch tape. The punch strip spool change system includes: an autonomous mobile robot autonomously movable to a reel drive shaft for mounting a reel, having a gripping tool adapted to grip the reel; and an automatic guided vehicle which moves together with the autonomous mobile robot and on which an empty reel on which the punching belt is not wound is loaded. The autonomous mobile robot is adapted to unload a full reel wound with a punching tape from the reel driving shaft and to place the unloaded full reel onto the automated guided vehicle by operating the gripping tool; and the autonomous mobile robot is further adapted to grasp an empty reel from the automated guided vehicle by operating the grasping tool and mount the grasped empty reel on the reel drive shaft.

Fig. 1 shows a schematic view of a punch strip spool change system according to an exemplary embodiment of the present invention.

As shown in fig. 1, in the illustrated embodiment, the punch strip reel changer system is adapted to change the reel 2 for coiling the punch strip 110. The punch (not shown) forms the terminals on the punch strip 110 by a punching method.

As shown in fig. 1, in the illustrated embodiment, the punch strip spool change system basically comprises: an autonomous mobile robot 10 and an Automatic Guided Vehicle (AGV) 20. The autonomous mobile robot 10 is autonomously movable to the reel drive shaft 1 for mounting the reel 2, with a gripping tool 14 adapted to grip the reel 2. The automated guided vehicle 20 moves together with the autonomous mobile robot 10, and the automated guided vehicle 20 is mounted with an empty reel 2a on which the punching belt 110 is not wound yet, for supplying the empty reel 2a to the autonomous mobile robot 10.

As shown in fig. 1, in the illustrated embodiment, the autonomous mobile robot 10 is adapted to unload a full reel 2b wound with the punching tape 110 from the reel driving shaft 1 and to place the unloaded full reel 2b on the automated guided vehicle 20 by operating the gripping tool 14. Meanwhile, the autonomous mobile robot 10 is also adapted to grasp an empty reel 2a from the automated guided vehicle 20 by operating the grasping tool 14 and mount the grasped empty reel 2a on the reel drive shaft 1. In this way, the replacement operation of the reel 2 can be realized.

As shown in fig. 1, in the illustrated embodiment, the punch strip spool change system further includes a wireless communication module 40, the wireless communication module 40 being adapted to wirelessly communicate with the autonomous mobile robot 10 and the automated guided vehicle 20. When the roll 2 on the roll drive shaft 1 has approached full roll, the wireless communication module 40 notifies the autonomous mobile robot 10 and the automated guided vehicle 20 of the advance to replace the roll 2 on the roll drive shaft 1.

As shown in fig. 1, in the illustrated embodiment, the punch strip spool change system further includes a shearing mechanism 30, the shearing mechanism 30 being adapted to cut the punch strip 110 when the spool 2 on the spool drive shaft 1 is fully wound.

As shown in fig. 1, in the illustrated embodiment, the autonomous mobile robot 10 further has a glue application tool 15, the glue application tool 15 being adapted to apply glue on the paper strip 120 wound on the punching strip 110 after the cutting mechanism 30 cuts the punching strip 110, so that the paper strip 120 wound on the punching strip 110 is bonded together to restrain and fix the punching strip 110 wound on the full reel 2b to be replaced.

As shown in fig. 1, in the illustrated embodiment, the cutting mechanism 30 is further adapted to cut the paper strips 120 that are wound around the stamping belt 110 when the paper strips 120 have been coated with glue and bonded together.

As shown in fig. 1, in the illustrated embodiment, the die cutter roll change system further includes a printer 50, the printer 50 being adapted to print a label 51 to be applied to the full roll 2b to be changed. The wireless communication module 40 is also adapted to notify the autonomous mobile robot 10 to affix the printed label 51 to the full roll 2b to be replaced on the roll drive shaft 1 after the paper tape 120 is cut.

As shown in fig. 1, in the illustrated embodiment, the autonomous mobile robot 10 further has a vacuum suction tool 16, and the autonomous mobile robot 10 is adapted to suck the printed label 51 and to stick the sucked label 51 to the full roll 2b to be replaced by the vacuum suction tool 16 after receiving the instruction to stick the label.

As shown in fig. 1, in the illustrated embodiment, the autonomous mobile robot 10 also has a visual inspection device 17, the visual inspection device 17 being adapted to inspect the appearance of the full reel to be replaced 2b after the label 51 is affixed to the full reel to be replaced 2 b.

As shown in fig. 1, in the illustrated embodiment, the autonomous mobile robot 10 is adapted to detach a full reel 2b from the reel drive shaft 1 by operating the gripping tool 14, place the detached full reel 2b onto the automated guided vehicle 20, grip an empty reel 2a from the automated guided vehicle 20, and mount the gripped empty reel 2a onto the reel drive shaft 1 after the visual inspection device 17 completes the appearance inspection.

As shown in fig. 1, in the illustrated embodiment, an autonomous mobile robot 10 includes a vehicle-type mobile robot 11 and an arm-type industrial robot 12 mounted on the vehicle-type mobile robot 11.

As shown in fig. 1, in the illustrated embodiment, the arm type industrial robot 12 has a tool switching tray 13 mounted on an end arm thereof, and the gripping tool 14, the glue application tool 15, and the vacuum suction tool 16 are mounted on the tool switching tray 13, so that rapid switching among the gripping tool 14, the glue application tool 15, and the vacuum suction tool 16 can be realized by the tool switching tray 13.

As shown in fig. 1, in the illustrated embodiment, the vision inspection device 17 is mounted on the end arm of the arm-type industrial robot 12 such that the position of the vision inspection device 17 with respect to the tool switching tray 13 is kept constant.

As shown in fig. 1, in the illustrated embodiment, the platen roll changer system further includes a support table 21, the support table 21 is mounted on the automated guided vehicle 20, and the empty roll 2a and the full roll 2b are stacked on the support table 21.

As shown in fig. 1, in the illustrated embodiment, support table 21 has rollers that are movable when support table 21 is removed from automated guided vehicle 20.

The replacement process of the punched tape spool will be described below with reference to fig. 1.

First, when the roll 2 on the roll driving shaft 1 has approached full roll, the wireless communication module 40 notifies the autonomous mobile robot 10 and the automated guided vehicle 20 of the advance of replacing the roll 2 on the roll driving shaft 1;

then, when the roll 2 on the roll driving shaft 1 is fully wound, the shearing mechanism 30 cuts the punch belt 110;

then, the glue application tool 15 applies glue on the paper tape 120 wound on the punching tape 110 so that the paper tape 120 wound on the punching tape 110 is bonded together to restrain and fix the punching tape 110 wound on the full bobbin 2b to be replaced;

then, the cutting mechanism 30 cuts the paper tape 120 while the paper tape 120 wound on the punching belt 110 has been coated with the glue and bonded together;

then, the printer 50 prints the label 51 to be pasted on the full roll 2b to be replaced while the wireless communication module 40 notifies the autonomous mobile robot 10 to paste the printed label 51 on the full roll 2b to be replaced on the roll drive shaft 1;

then, the autonomous mobile robot 10 adsorbs the printed label 51 by the vacuum adsorption tool 16 and sticks the adsorbed label 51 to the full roll 2b to be replaced;

then, the autonomous mobile robot 10 inspects the appearance of the full reel 2b to be replaced by the vision inspection device 17;

then, the autonomous mobile robot 10 unloads the full reel 2b from the reel drive shaft 1 by operating the gripping tool 14 and places the unloaded full reel 2b onto the automated guided vehicle 20;

finally, the autonomous mobile robot 10 grabs the empty reel 2a from the automated guided vehicle 20 by operating the grabbing tool 14 and mounts the grabbed empty reel 2a onto the reel drive shaft 1.

It will be appreciated by those skilled in the art that the embodiments described above are exemplary and can be modified by those skilled in the art, and that the structures described in the various embodiments can be freely combined without conflict in structure or principle.

Although the present invention has been described in connection with the accompanying drawings, the embodiments disclosed in the drawings are intended to be illustrative of preferred embodiments of the present invention and should not be construed as limiting the invention.

Although a few embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the appended claims and their equivalents.

It should be noted that the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. Furthermore, any reference signs in the claims shall not be construed as limiting the scope of the invention.