CN109436406A - Self-propelled winding robot - Google Patents
Self-propelled winding robot Download PDFInfo
- Publication number
- CN109436406A CN109436406A CN201811453264.7A CN201811453264A CN109436406A CN 109436406 A CN109436406 A CN 109436406A CN 201811453264 A CN201811453264 A CN 201811453264A CN 109436406 A CN109436406 A CN 109436406A
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- 238000004804 winding Methods 0.000 title claims abstract description 75
- 210000000481 breast Anatomy 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims description 4
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 235000008429 bread Nutrition 0.000 claims 1
- 230000007423 decrease Effects 0.000 claims 1
- 238000012856 packing Methods 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/02—Wrapping articles or quantities of material, without changing their position during the wrapping operation, e.g. in moulds with hinged folders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B41/00—Supplying or feeding container-forming sheets or wrapping material
- B65B41/12—Feeding webs from rolls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides self-propelled winding robot, including cantilever linkage, cantilever column, fixed link, servo motor, roller, steering tire, loop bar, safe soft board and interior bar, cantilever column is welded on rear side of robot body upper surface, mounting base bosom position is equipped with cantilever linkage, film seat upper surface installed in front has fixed link, roller is installed on rear side of winding film, roller lower end surface is equipped with servo motor, the design solves the problems, such as that original goods packing equipment relevance grade is poor, robot body left side is equipped with safe soft board, connecting rod inside left is equipped with loop bar, interior bar is installed inside loop bar, interior bar lower end surface is connected with steering tire, the design solves the problems, such as that original goods packing equipment movement is not convenient enough, compared with prior art, structure of the invention is reasonable, automated package, economic cost is low, behaviour Make simple.
Description
Technical field
The present invention is self-propelled winding robot, belongs to packaging appurtenance technical field.
Background technique
It is packaged as protecting product in the circulation process, facilitates storage and transportation, promotes sale, by appearance used in certain technical method
The overall title of device, material and adminicle etc. also refers in order to achieve the above objectives using container, during material and adminicle
Apply the operant activity of certain technical method etc..Marketing type packaging stresses planning strategy, becomes the packaging of broad sense, can also be by certain
People or certain things dress up or help him to accomplish perfection in terms of certain as possible.
In the prior art, existing winding-packing machine according to the difference to goods packing mode can be divided into pallet wrapping machine,
Cantilever, cylinder, ring body, level etc. cause the applicability of winding-packing machine poor, and the structure of simultaneously wound packing machine is loaded down with trivial details, group
Part is numerous, connection relationship is complicated, easy to damage, fluctuation of service, processing and assembly difficulty, higher operating costs, simultaneously because twining
It is larger around packing machine volume, much room is occupied, victory inconvenient for use is also not convenient for transportation, and it is time-consuming and laborious, it is badly in need of now self-propelled
Winding robot solves the above problems.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide self-propelled winding robot, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the goals above, the present invention is to realize by the following technical solutions: self-propelled winding robot, packet
Include winding mechanism, knob, steering mechanism, robot body, traveling wheel, controller, printed circuit board, relay and electric power storage
Pond, the traveling wheel are mounted on robot body lower end surface, and the knob is welded on robot body left side middle position, institute
It states winding mechanism to be arranged on the right side of robot body, the steering mechanism is arranged on the left of robot body's rear end face, the machine
Device human agent's mounted inside has controller, and battery is equipped on the right side of the controller, printing electricity is equipped with inside the controller
Road plate, the controller are electrically connected with relay, and the relay is electrically connected with battery, welds on the printed circuit board
It is connected to A/D converter, single-chip microcontroller, memory and D/A converter, the winding mechanism includes top cover, cantilever linkage, peace
Fill seat, cantilever column, driving motor, rotary shaft, winding film, fixed link, film seat, servo motor and roller, the turning machine
Structure includes connecting rod, steering tire, loop bar, safe soft board, fixed pin, interior bar and pin hole.
Further, in winding mechanism, cantilever column, the cantilever are welded on rear side of the robot body upper surface
Pillar upper surface is welded with mounting base, and mounting base bosom position is equipped with cantilever linkage, behind the mounting base inside
Side is equipped with driving motor, and the driving motor front end face is connected with rotary shaft, and the rotary shaft is left inside cantilever linkage
Side, the cantilever linkage right side are welded with film seat, and film seat upper surface installed in front has fixed link, the fixed link annular side
Surface cover is equipped with winding film, is equipped with roller on rear side of the winding film, the roller lower end surface is equipped with servo motor, the roller
Upper surface is equipped with top cover.
Further, the top cover is detachable top cover, and the fixed link upper surface is equipped with anti-decylization, detachable
Top cover facilitate winding film to sequentially pass through roller, anti-decylization can be avoided winding film and fall off from fixed link.
Further, it is equipped with arc groove inside the mounting base, and arc groove matches with cantilever linkage, the mounting base
Inner front side offers through-hole, and the cantilever linkage inside left offers threaded hole one, and threaded hole one is mutually nibbled with rotary shaft
It closing, arc groove facilitates cantilever linkage to be embedded in inside mounting base, and driving motor work drives cantilever linkage movement by rotary shaft,
And then control the lifting of film seat.
Further, height photoelectric sensor, the output end of the height photoelectric sensor are installed inside the top cover
It is electrically connected with the input terminal of A/D converter, the output end of the A/D converter and the input terminal of single-chip microcontroller electrically connect
Connect, the input terminal of the output end of the single-chip microcontroller and D/A converter is electrically connected, the output end of the D/A converter with
The input terminal of relay is electrically connected, and the output end of the relay and the input terminal of battery are electrically connected, the battery
Output end and driving motor input terminal be electrically connected, the output end of the battery and the input terminal of servo motor electrically connect
It connects, is transmitted by the information of height photoelectric sensor, and then realize that cantilever linkage drives the lifting of film seat, automatically control twining for film
Around.
Further, the winding film bosom position is equipped with circular hole, and Circularhole diameter is greater than fixed shank diameter, described
Driving motor is Double-directional rotary motor, and the diameter of circular hole is greater than fixed shank diameter, and winding film is facilitated to surround fixed link flexible rotating,
The driving motor of Double-directional rotary, which facilitates, drives cantilever linkage raising and lowering.
Further, in steering mechanism, the robot body left side is equipped with safe soft board, the robot master
It is welded with connecting rod on the left of body rear end face, the connecting rod inside left is equipped with loop bar, is equipped with interior bar inside the loop bar,
The interior bar annular side offers pin hole, and the loop bar and interior bar junction are equipped with fixed pin, and the interior bar lower end surface connects
It is connected to steering tire.
Further, the connecting rod inside left is equipped with threaded hole two, and threaded hole two is meshed with loop bar, the set
Bar upper surface is equipped with swing handle, and swing handle outer surface is enclosed with Anti-slip cover, and the interior bar annular side offers more
A pin hole, the pin hole match with fixed pin, are connected through a screw thread, and loop bar is facilitated to be fixedly mounted on connecting rod inside left,
Swing handle facilitates the installing and dismounting of loop bar, and Anti-slip cover increases the antiskid effect of swing handle, and multiple pin holes, which facilitate, to be turned
To the up and down adjustment of tire.
Further, robot body's mounted inside has movable motor, and movable motor passes through transmission shaft and walking
Wheel is connected, and is equipped with proximity sensor inside the steering tire, and the output end of proximity sensor and A/D converter is defeated
Enter end to be electrically connected, the output end of the A/D converter and the input terminal of single-chip microcontroller are electrically connected, the output of the single-chip microcontroller
End and the input terminal of D/A converter are electrically connected, and the output end of the D/A converter and the input terminal of relay electrically connect
It connects, the input terminal of the output end of the relay and battery is electrically connected, the output end of the battery and movable motor
Input terminal is electrically connected, and is transmitted by the information of proximity sensor, and robot body can contact perception cargo by steering tire,
And then the direction of travel of traveling wheel is controlled, facilitate the winding of cargo.
Further, the knob outer surface is equipped with rubber soft rubber cover, and robot body's inner lower is equipped with counterweight
Plate, rubber soft rubber cover increase the usage comfort of knob, and Weight plate improves the stability in use of robot body, avoids machine
Device human agent's tumbles.
Beneficial effects of the present invention: self-propelled winding robot of the invention, because the present invention is added to top cover, cantilever connects
Bar, mounting base, cantilever column, driving motor, rotary shaft, winding film, fixed link, film seat, servo motor and roller, the design
It realizes goods packing equipment not limited by packing material size and weight, the winding package for freely carrying out various technique requirements is made
Industry, while realizing the automation of goods packing, it is time saving and energy saving, solve that original goods packing equipment relevance grade is poor to ask
Topic, improves practicability of the invention.
Because the present invention is added to connecting rod, steering tire, loop bar, safe soft board, fixed pin, interior bar and pin hole, this is set
Meter realizes moving at any time for goods packing equipment, saves the space in workshop and warehouse, convenient transportation is immediately begun to scene
Work solves the problems, such as that original goods packing equipment movement is not convenient enough, improves property easy to use of the invention.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of the self-propelled winding robot of the present invention；
Fig. 2 is the structural schematic diagram of the winding mechanism of the self-propelled winding robot of the present invention；
Fig. 3 is the right pseudosection of film seat in the self-propelled winding robot of the present invention；
Fig. 4 is the sectional view of mounting base in the self-propelled winding robot of the present invention；
Fig. 5 is the structural schematic diagram of steering mechanism in the self-propelled winding robot of the present invention；
Fig. 6 is the structural schematic diagram of steering tire in the self-propelled winding robot of the present invention；
Fig. 7 is the structural schematic diagram of controller in the self-propelled winding robot of the present invention；
Fig. 8 is the structural schematic diagram of printed circuit board in the self-propelled winding robot of the present invention；
Fig. 9 is the working principle diagram of the self-propelled winding robot of the present invention；
In figure: 1- winding mechanism, 2- knob, 3- steering mechanism, 4- robot body, 5- traveling wheel, 6- controller, 7- print
Circuit board processed, 8- relay, 9- battery, 11- top cover, 12- cantilever linkage, 13- mounting base, 14- cantilever column, 141- driving
Motor, 142- rotary shaft, 15- wind film, 16- fixed link, 17- film seat, 18- servo motor, 19- roller, 31- connecting rod, 32-
Steering tire, 33- loop bar, the safe soft board of 34-, 35- fixed pin, 36- interior bar, 37- pin hole, 71- A/D converter, 72- monolithic
Machine, 73- memory, 74- D/A converter.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Fig. 1-Fig. 9 is please referred to, the present invention provides a kind of technical solution: self-propelled winding robot, including winding mechanism 1,
Knob 2, steering mechanism 3, robot body 4, traveling wheel 5, controller 6, printed circuit board 7, relay 8 and battery 9, row
It walks wheel 5 and is mounted on 4 lower end surface of robot body, knob 2 is welded on 4 left side middle position of robot body, and winding mechanism 1 is set
It sets on 4 right side of robot body, steering mechanism 3 is arranged on the left of 4 rear end face of robot body, 4 mounted inside of robot body
There is controller 6, battery 9 is equipped on the right side of controller 6, printed circuit board 7 is equipped with inside controller 6, controller 6 is electrically connected
Have relay 8, relay 8 is electrically connected with battery 9, be welded on printed circuit board 7 A/D converter 71, single-chip microcontroller 72,
Memory 73 and D/A converter 74, winding mechanism 1 include top cover 11, cantilever linkage 12, mounting base 13, cantilever column 14,
Driving motor 141, rotary shaft 142, winding film 15, fixed link 16, film seat 17, servo motor 18 and roller 19, steering mechanism 3
Including connecting rod 31, steering tire 32, loop bar 33, safe soft board 34, fixed pin 35, interior bar 36 and pin hole 37.
In winding mechanism 1, cantilever column 14,14 upper surface of cantilever column are welded on rear side of 4 upper surface of robot body
It is welded with mounting base 13,13 bosom position of mounting base is equipped with cantilever linkage 12, and 13 inner back side of mounting base is equipped with drive
Dynamic motor 141,141 front end face of driving motor are connected with rotary shaft 142, and rotary shaft 142 runs through 12 inside left of cantilever linkage, hang
Film seat 17 is welded on the right side of arm link 12,17 upper surface installed in front of film seat has fixed link 16, and 16 annular side of fixed link is arranged
There is winding film 15, winds and roller 19 is installed on rear side of film 15,19 lower end surface of roller is equipped with servo motor 18,19 upper surface of roller
Top cover 11 is installed.
In steering mechanism 3,4 left side of robot body is equipped with safe soft board 34,4 rear end face of robot body left side
It is welded with connecting rod 31,31 inside left of connecting rod is equipped with loop bar 33, and interior bar 36,36 annular of interior bar are equipped with inside loop bar 33
Side offers pin hole 37, and loop bar 33 and 36 junction of interior bar are equipped with fixed pin 35, and 36 lower end surface of interior bar is connected with deflecting roller
Tire 32.
As an embodiment of the present invention: when carrying out cargo winding, staff passes through knob 2 for robot body
4 are moved to progress operation beside cargo, and 2 outer surfaces of knob are equipped with rubber soft rubber cover, and rubber soft rubber cover increases the use of knob 2
Winding film 15 can be placed into fixed link 16 by comfort level, staff, and 16 upper surface of fixed link is equipped with anti-decylization, anti-decylization
It can be avoided winding film 15 to fall off from fixed link 16, top cover 11 is that top cover 11 is detachable top cover, and staff removes top
Lid 11 allows winding film 15 to sequentially pass through roller 19, then fastens upper top cover 11 again, and the end for winding film 15 is arbitrarily fixed
On cargo, when starting winding work, robot body 4 is by the contact perception cargo of steering tire 32, because in steering tire 32
Portion is equipped with proximity sensor, and goods information is transmitted to A/D converter 71 by proximity sensor, and A/D converter 71 is by cargo
Information is sent in single-chip microcontroller 72, and the goods information that single-chip microcontroller 72 will acquire uses compared with the information in memory 73 pair
Complicated matching algorithm is matched, and single-chip microcontroller 72 issues one of control instruction by D/A converter 74 and is loaded into relay 8
In, relay 8 controls the current switching between battery 9 and movable motor, is transmitted by the information of proximity sensor, and then control
The direction of travel of traveling wheel 5 processed, while 4 inner lower of robot body is equipped with Weight plate, Weight plate improves robot body 4
Stability in use, avoid tumbling for robot body 4, the design achieves goods packing not by packing material size and weight limit
System, can freely carry out the winding package operation of various technique requirements.
As an embodiment of the present invention: steering tire 32 is connected by connecting rod 31 with robot body 4, is connected
31 inside left of bar is equipped with threaded hole two, and threaded hole two is meshed with loop bar 33, is connected through a screw thread, and facilitates loop bar 33 fixed
It is mounted on 31 inside left of connecting rod, while 33 upper surface of loop bar is equipped with swing handle, and swing handle outer surface is enclosed with
Anti-slip cover, swing handle facilitate the installing and dismounting of loop bar 33, and Anti-slip cover increases the antiskid effect of swing handle, while interior bar
36 annular sides offer multiple pin holes 37, and pin hole 37 matches with fixed pin 35, according to cargo placing height, multiple pin holes
37 facilitate the upper-lower height for adjusting steering tire 32.
As an embodiment of the present invention: in virtual package, robot body 4 perceives goods by steering tire 32
Object, and moved by traveling wheel 5 around cargo, servo motor 18, which is powered, at this time drives roller 19 to operate, because winding film 15
Bosom position is equipped with circular hole, and Circularhole diameter is greater than 16 diameter of fixed link, and winding film 15 can be carried out around fixed link 16
Flexible rotating guarantees the output of stablizing of winding film 15, and 14 upper surface of cantilever column is equipped with mounting base 13, and sets inside mounting base 13
There is arc groove, arc groove matches with cantilever linkage 12, and 13 inner back side of mounting base is equipped with driving motor 141, driving motor
141 front end faces are connected with rotary shaft 142, and rotary shaft 142 sequentially passes through threaded hole one and through-hole, and rotary shaft 142 and screw thread
The engagement of hole one is fixed, and driving motor 141 is powered on, and rotary shaft 142, which rotates clockwise, drives cantilever linkage 12 to move, and then controls
Be film-made seat 17 rising, thus realize cargo from bottom to top gradually twine film, when being wound to cargo top, inside top cover 11
Height photoelectric sensor is installed, goods information is transmitted to A/D converter 71, A/D converter by height photoelectric sensor
71 are sent to goods information in single-chip microcontroller 72, and the goods information that single-chip microcontroller 72 will acquire is compared with the information in memory 73
It is right, it is matched using complicated matching algorithm, single-chip microcontroller 72 issues one of control instruction by D/A converter 74 and is loaded into
In relay 8, relay 8 controls the current switching between battery 9 and driving motor 141, and the control of height photoelectric sensor is outstanding
The stopping of arm link 12 moves upwards, and the energization of driving motor 141 at this time rotates counterclockwise, and then drives cantilever linkage 12 to moving down
Dynamic, winding film 15 from top to bottom winds cargo again, stops operation until returning to ground.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. self-propelled winding robot, including winding mechanism, knob, steering mechanism, robot body, traveling wheel, controller, print
Circuit board, relay and battery processed, it is characterised in that: the traveling wheel is mounted on robot body lower end surface, the drawing
Hand is welded on robot body left side middle position, and the winding mechanism is arranged on the right side of robot body, the turning machine
Structure is arranged on the left of robot body's rear end face, and robot body's mounted inside has controller, dress on the right side of the controller
Equipped with battery, printed circuit board is equipped with inside the controller, the controller is electrically connected with relay, the relay
It is electrically connected with battery, A/D converter, single-chip microcontroller, memory and D/A switch are welded on the printed circuit board
Device, the winding mechanism include top cover, cantilever linkage, mounting base, cantilever column, driving motor, rotary shaft, winding film, fixation
Bar, film seat, servo motor and roller, the steering mechanism include connecting rod, steering tire, loop bar, safe soft board, fixation
Pin, interior bar and pin hole.
2. self-propelled winding robot according to claim 1, it is characterised in that: in winding mechanism, the robot
It is welded with cantilever column on rear side of main body upper surface, the cantilever column upper surface is welded with mounting base, in the mounting base inside
Between position cantilever linkage is installed, the mounting base inner back side is equipped with driving motor, the driving motor front end face connection
There is a rotary shaft, the rotary shaft runs through cantilever linkage inside left, film seat is welded on the right side of the cantilever linkage, on the film seat
End face installed in front has fixed link, and the fixed link annular side is arranged with winding film, is equipped with roller on rear side of the winding film,
The roller lower end surface is equipped with servo motor, and the roller upper surface is equipped with top cover.
3. self-propelled winding robot according to claim 2, it is characterised in that: the top cover is detachable top cover,
The fixed link upper surface is equipped with anti-decylization, and detachable top cover facilitates winding film to sequentially pass through roller, and anti-decylization can
Winding film is avoided to fall off from fixed link.
4. self-propelled winding robot according to claim 2, it is characterised in that: be equipped with arc inside the mounting base
Slot, and arc groove matches with cantilever linkage, the mounting base inner front side offers through-hole, the cantilever linkage inside left
Threaded hole one is offered, and threaded hole one is meshed with rotary shaft, arc groove facilitates cantilever linkage to be embedded in inside mounting base, drives
Dynamic motor work drives cantilever linkage movement by rotary shaft, and then controls the lifting of film seat.
5. self-propelled winding robot according to claim 1, it is characterised in that: be equipped with height light inside the top cover
Electric inductor, the output end of the height photoelectric sensor and the input terminal of A/D converter are electrically connected, and the analog/digital turns
The output end of parallel operation and the input terminal of single-chip microcontroller are electrically connected, the output end of the single-chip microcontroller and the input terminal of D/A converter
Be electrically connected, the input terminal of the output end of the D/A converter and relay is electrically connected, the output end of the relay with
The input terminal of battery is electrically connected, and the output end of the battery and the input terminal of driving motor are electrically connected, the electric power storage
The output end in pond and the input terminal of servo motor are electrically connected, and are transmitted by the information of height photoelectric sensor, and then are realized outstanding
Arm link drives the lifting of film seat, automatically controls the winding of film.
6. self-propelled winding robot according to claim 1, it is characterised in that: winding film bosom position is set
There is circular hole, and Circularhole diameter is greater than fixed shank diameter, the driving motor is Double-directional rotary motor, and the diameter of circular hole, which is greater than, to be fixed
Shank diameter facilitates winding film around fixed link flexible rotating, the driving motor of Double-directional rotary facilitate drive cantilever linkage rise and
Decline.
7. self-propelled winding robot according to claim 1, it is characterised in that: in steering mechanism, the robot
Main body left side is equipped with safe soft board, is welded with connecting rod on the left of robot body's rear end face, inside the connecting rod
Left side is equipped with loop bar, is equipped with interior bar inside the loop bar, and the interior bar annular side offers pin hole, the loop bar with it is interior
Bar junction is equipped with fixed pin, and the interior bar lower end surface is connected with steering tire.
8. self-propelled winding robot according to claim 7, it is characterised in that: the connecting rod inside left is equipped with spiral shell
Pit two, and threaded hole two is meshed with loop bar, the loop bar upper surface is equipped with swing handle, and swing handle appearance bread
It is wrapped with Anti-slip cover, the interior bar annular side offers multiple pin holes, and the pin hole matches with fixed pin, connects by screw thread
It connects, loop bar is facilitated to be fixedly mounted on connecting rod inside left, swing handle facilitates the installing and dismounting of loop bar, and Anti-slip cover increases
The antiskid effect of swing handle, multiple pin holes facilitate the up and down adjustment of steering tire.
9. self-propelled winding robot according to claim 7, it is characterised in that: robot body's mounted inside has
Movable motor, and movable motor is connected by transmission shaft with traveling wheel, and proximity sensor is equipped with inside the steering tire, and
The output end of proximity sensor and the input terminal of A/D converter are electrically connected, the output end and monolithic of the A/D converter
The input terminal of machine is electrically connected, and the output end of the single-chip microcontroller and the input terminal of D/A converter are electrically connected, the D/A
The output end of converter and the input terminal of relay are electrically connected, and the output end of the relay and the input terminal of battery are electrical
Connection, the output end of the battery and the input terminal of movable motor are electrically connected, and are transmitted by the information of proximity sensor, machine
Device human agent can contact perception cargo by steering tire, and then control the direction of travel of traveling wheel, facilitate the winding of cargo.
10. self-propelled winding robot according to claim 1, it is characterised in that: the knob outer surface is equipped with rubber
Soft rubber cover, robot body's inner lower are equipped with Weight plate, and rubber soft rubber cover increases the usage comfort of knob, counterweight
Plate improves the stability in use of robot body, avoids tumbling for robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453264.7A CN109436406B (en) | 2018-11-30 | 2018-11-30 | Self-propelled winding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453264.7A CN109436406B (en) | 2018-11-30 | 2018-11-30 | Self-propelled winding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109436406A true CN109436406A (en) | 2019-03-08 |
| CN109436406B CN109436406B (en) | 2024-01-19 |
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ID=65555117
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811453264.7A Active CN109436406B (en) | 2018-11-30 | 2018-11-30 | Self-propelled winding robot |
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| CN204433114U (en) * | 2015-02-09 | 2015-07-01 | 武汉市美奇斯机械设备有限公司 | A kind of packaging film wrapping machine with turntable bearing rotating mechanism |
| KR101755004B1 (en) * | 2016-03-03 | 2017-07-06 | (주)금도하이텍 | Autonomous navigation type wrapping appratus |
| CN209160085U (en) * | 2018-11-30 | 2019-07-26 | 小黄蜂智能科技（苏州）有限公司 | Self-propelled winding robot |
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