CN112959294A - Robot for feeding and discharging coiled materials of butt-joint machine table - Google Patents
Robot for feeding and discharging coiled materials of butt-joint machine table Download PDFInfo
- Publication number
- CN112959294A CN112959294A CN202110311982.6A CN202110311982A CN112959294A CN 112959294 A CN112959294 A CN 112959294A CN 202110311982 A CN202110311982 A CN 202110311982A CN 112959294 A CN112959294 A CN 112959294A
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- linear guide
- steering wheel
- lifting device
- robot
- linear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
Abstract
The invention discloses a robot for loading and unloading coiled materials of a docking station, which comprises: an omnidirectional chassis; the lower-layer jacking mechanism comprises a first lifting device carried on the omnidirectional chassis and a first linear moving device carried on the first lifting device; the upper layer jacking mechanism comprises a second lifting device carried on the first linear moving device and a second linear moving device carried on the second lifting device; the camera is mounted on the swing-out mechanism, and the swing-out mechanism is carried on the omnidirectional chassis; a support fixed to the second linear moving device.
Description
Technical Field
The invention relates to the technical field of carrying butt joint robots, in particular to a robot for loading and unloading coiled materials of a butt joint machine table.
Background
In the application field, the actual diameter range of the material roll is greatly different, the requirement on the butt joint precision is higher, and more working conditions are carried out by adopting a manual feeding mode; and adopt the mode of full-automatic butt joint, there are the problem: (1) the jacking stroke is insufficient, so that the requirement on the diameter of all material rolls is difficult to meet; (2) the butt joint mode is special, the existing butt joint precision can not meet the requirement, and the butt joint can be carried out only after the platform is placed, so that all corresponding platforms need to be modified; (3) in the butt joint process, the mechanical precision of the chassis wheel train cannot meet the butt joint requirement.
Disclosure of Invention
The embodiment of the invention aims to provide a robot for loading and unloading a coiled material of a docking machine, which aims to solve the problems of low I-manual docking efficiency and high cost in the related technology; II, when automatic butt joint is carried out, the mechanical precision is insufficient, and a machine table needs to be modified; and III, the problem of insufficient single-stage lifting stroke.
According to an embodiment of the present invention, a robot for loading and unloading a roll material of a docking station is provided, including: an omnidirectional chassis; the lower-layer jacking mechanism comprises a first lifting device carried on the omnidirectional chassis and a first linear moving device carried on the first lifting device, the first lifting device is used for moving in the vertical direction, and the first linear moving device is used for moving in the left-right direction; the upper-layer jacking mechanism comprises a second lifting device carried on the first linear moving device and a second linear moving device carried on the second lifting device, the second lifting device is used for providing movement in the vertical direction, and the second linear moving device is used for providing movement in the front-back direction; the camera is mounted on the swing-out mechanism, and the swing-out mechanism is carried on the omnidirectional chassis; a support fixed to the second linear moving device.
Further, the omnidirectional chassis comprises a chassis base, a laser navigation system, a front steering wheel, a rear steering wheel, two universal wheels, a lithium battery and a control system, the laser navigation system is arranged on the chassis base, the front steering wheel, the rear steering wheel and the two universal wheels are arranged on the chassis base to form a chassis wheel train, the two universal wheels are arranged diagonally, the driving force is provided by the front steering wheel and the rear steering wheel, the power supply of the front steering wheel and the rear steering wheel is provided by the lithium battery, the control system controls the movement of the front steering wheel and the rear steering wheel, the rear steering wheel and the universal wheel are respectively arranged at two sides of a swing arm, the middle part of the swing arm is hinged on the chassis base, the hinged part is used as a rear side pivot, and forms three pivots together with the front steering wheel and the universal wheel, so that the chassis wheel train can be grounded simultaneously.
Further, the first lifting device adopts a screw nut lifting device, a scissor fork lifting device, a chain type lifting device or a spiral lifting device.
Further, first elevating gear includes jacking platform bottom plate, first drive arrangement, first straight line direction subassembly, lead screw, screw-nut down, first straight line direction subassembly is installed along vertical direction on the chassis base, jacking platform bottom plate is installed down on the first straight line direction subassembly, follow first straight line direction subassembly slides from top to bottom, first drive arrangement drive the lead screw rotates, the screw-nut coupling is in on the lead screw, jacking platform bottom plate down with screw-nut fixed connection.
Further, first drive arrangement includes band-type brake motor, speed reducer, hold-in range, first synchronous pulley, second synchronous pulley, the power transmission of band-type brake motor arrives on the speed reducer, install first synchronous pulley on the output shaft of speed reducer, fixed connection second synchronous pulley on the lead screw, install the hold-in range between first synchronous pulley and the second synchronous pulley, still the coupling has outside idler and inboard idler on the hold-in range.
Further, the first linear guide assembly comprises support legs, a first linear guide rail and a second linear guide rail, the first linear guide rail and the second linear guide rail are distributed on the left side and the right side of the screw rod, and the lower jacking platform bottom plate is fixed on the first linear guide rail and the second linear guide rail through the support legs.
Furthermore, the second lifting device comprises an upper platform bottom plate, a screw rod lifter, a second linear guide assembly and a second driving device, the second linear guide assembly is installed on the upper platform bottom plate along the vertical direction, the screw rod lifter is installed on the upper platform bottom plate, the second linear moving device is installed at the driving end of the screw rod lifter and the sliding end of the second linear guide assembly, and the second driving device drives the screw rod lifter to move.
Further, the second linear moving device comprises a supporting plate, a third driving device and a linear guide rail, the supporting plate is installed at the driving end of the screw rod lifter and the sliding end of the second linear guide assembly, the second linear guide assembly is installed on the supporting plate, the supporting piece is installed on the linear guide rail, and the third driving device drives the supporting piece to slide along the linear guide rail.
Further, the third driving device comprises a motor, a speed reducer, a pinion and a rack, wherein the power of the motor is output to the speed reducer, the pinion is mounted on an output shaft of the speed reducer, the rack is mounted on the support, and the pinion is meshed with the rack.
Further, still include weighing sensor, weighing sensor sets up between second rectilinear movement device and the lead screw lift for detect the weight of material book.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
according to the embodiment, the jacking process of the lower jacking mechanism and the jacking process of the upper jacking mechanism are divided into two parts, so that the space is saved, the stroke is increased, and the lifting requirements of various materials are met; a double-layer jacking mode is adopted, so that the jacking stroke is increased, and the jacking speed is increased; the lower jacking mechanism and the upper jacking mechanism provide an executing mechanism with 6 degrees of freedom, the chassis can be kept still when the butt joint is accurate, the precision is improved, and the butt joint process is independent of the chassis to ensure the realization of accurate butt joint. Put out the mechanism and provide the camera and put out the function, detect the butt joint of material and board, especially to the mode of conical head butt joint, can solve the not enough problem of precision, at the butt joint in-process, through visual detection, judge the butt joint position error, whole motion control precision can arrive the millimeter level, can satisfy the required precision of current board and need not to carry out the board and reform transform
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a block diagram illustrating a robot for loading and unloading a roll material of a docking station according to an exemplary embodiment.
FIG. 2 is a schematic diagram of a rudder wheel cantilever mechanism according to an exemplary embodiment.
Fig. 3 is a diagram illustrating an omnidirectional chassis layout, according to an exemplary embodiment.
FIG. 4 is an actuator layout diagram shown in accordance with an exemplary embodiment.
FIG. 5 is a diagram illustrating a first linear motion device, according to an exemplary embodiment.
Figure 6 is a schematic diagram of a timing belt configuration shown in accordance with an exemplary embodiment.
Fig. 7 is a diagram illustrating a second linear motion base, according to an exemplary embodiment.
Fig. 8 is a second linear motion mechanism diagram shown in accordance with an exemplary embodiment.
FIG. 9 is a top level linear motion mechanism diagram shown in accordance with an exemplary embodiment.
Fig. 10 is a schematic diagram illustrating a V-block configuration according to an exemplary embodiment.
FIG. 11 is an illustration of a camera pan mechanism diagram in accordance with an exemplary embodiment.
In the figure: omnidirectional chassis 1, actuating mechanism 2, front laser 3, front steering wheel 4, rear steering wheel 5, rear laser 6, chassis base 7, swing arm pin shaft 8, lithium battery 9, control system 10, swing arm 11, universal wheel 12, lower layer jacking mechanism 13, upper layer jacking mechanism 14, swing-out mechanism 15, band-type brake motor 16, speed reducer 17, synchronous belt 18, outer idle wheel 19, inner idle wheel 20, first synchronous pulley 21, lead screw 22, second synchronous pulley 23, second regulating block 24, lead screw nut 25, motor 26, pinion 27, first linear guide rail 28, upper platform bottom plate 29, rack 30, lifting limit baffle 31, first induction sheet 32, first photoelectric sensor 33, lower jacking platform bottom plate 34, support leg 35, second linear guide rail 36, drag chain 37, linear bearing 38, guide shaft 39, lead screw lifter 40, motor 41, coupling 42, weighing sensor 43, the device comprises a support plate 44, a laser 45, a linear guide rail 46, a photoelectric sensor 47, a pinion 48, a speed reducer 49, a rack 50, a platform bottom plate 51, a shielding plate 52, a bearing platform bottom plate 53, a V-shaped block 54, a speed reducer 55, a driver 56, a motor 57, a camera mounting seat 58, a rotating shaft 59, a second photoelectric sensor 60, a second sensing sheet 61, a mounting plate 62 and a camera 63.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Fig. 1 to 11 are structural diagrams illustrating a robot for loading and unloading a roll material of a docking station according to an exemplary embodiment, and referring to fig. 1, an embodiment of the present invention provides a robot for loading and unloading a roll material of a docking station, including: the lifting device comprises an omnidirectional chassis 1, a lower layer jacking mechanism 13, an upper layer jacking mechanism 14 and a supporting piece, wherein the lower layer jacking mechanism 13 comprises a first lifting device carried on the omnidirectional chassis 1 and a first linear moving device carried on the first lifting device, the first lifting device is used for providing movement in the vertical direction, and the first linear moving device is used for providing movement in the left-right direction; the upper lifting mechanism 14 includes a second lifting device mounted on the first linear moving device and a second linear moving device mounted on the second lifting device, the second lifting device is used for providing movement in the up-down direction, and the second linear moving device is used for providing movement in the front-back direction; the camera 63 is installed on the swing-out mechanism 15, the swing-out mechanism 15 is carried on the omnidirectional chassis 1, and the supporting piece is fixed on the second linear moving device.
According to the embodiment, the jacking process of the lower jacking mechanism 13 and the jacking process of the upper jacking mechanism 14 are divided into two parts, so that the space is saved, the stroke is increased, and the lifting requirements of various materials are met; a double-layer jacking mode is adopted, so that the jacking stroke is increased, and the jacking speed is increased; the lower jacking mechanism 13 and the upper jacking mechanism 14 provide the actuating mechanism 2 with 6 degrees of freedom, so that the chassis can be kept still during accurate butt joint, the precision is improved, and the butt joint process is independent of the chassis to ensure accurate butt joint. The swinging-out mechanism 15 provides a camera swinging-out function, detects the butt joint of materials and a machine table, and particularly solves the problem of insufficient precision in the mode of butt joint of conical heads.
In this embodiment, the omnidirectional chassis 1 includes a chassis base 7, a laser navigation system, a front steering wheel 4, a rear steering wheel 5, two universal wheels 12, a lithium battery 9, and a control system 10, the laser navigation system is installed on the chassis base 7, the front steering wheel 4, the rear steering wheel 5, and the two universal wheels 12 are installed on the chassis base 7 to form a chassis wheel train, the two universal wheels 12 are diagonally arranged, a driving force is provided by the front steering wheel 4 and the rear steering wheel 12, a power source for the front steering wheel 4 and the rear steering wheel 12 is provided by the lithium battery 9, the control system 10 controls the movement of the front steering wheel 4 and the rear steering wheel 12, the rear steering wheel 5 and the universal wheels 12 are respectively installed on two sides of a swing arm 11, the middle portion of the swing arm 11 is hinged to the chassis base 7 through a swing arm pin 8, the rear steering wheel 5 and the universal wheels 12 float with the swing arm 11 as an origin, the hinged part is connected to form a rear side pivot, and the rear side pivot, the front steering wheel 4 and the universal wheel 12 form three pivots together, so that the chassis wheel train can be grounded simultaneously. The influence of the unbalance loading on the contact plane can be reduced, and compared with independent suspension, the pressure given to the steering wheel is more sufficient, and enough driving force can be ensured.
In this embodiment, the laser navigation system mainly includes a front laser 3 and a rear laser 6, which are respectively used for collecting an obstacle and a reference point within a range of 270 °. The front and back combination can cover the 360-degree range of the whole vehicle, and the navigation precision and the safety are ensured.
In this embodiment, the first lifting device is a screw nut lifting device, a scissor fork lifting device, a chain lifting device, a screw lifting device, or the like.
In this embodiment, first elevating gear includes jacking platform bottom plate 34, first drive arrangement, first straight line guide assembly, lead screw 22, screw-nut 25 down, first straight line guide assembly is installed along vertical direction on the chassis base, jacking platform bottom plate 34 is installed down on the first straight line guide assembly, follow first straight line guide assembly slides from top to bottom, first drive arrangement drive lead screw 22 rotates, screw-nut 25 coupling is in on the lead screw 22, jacking platform bottom plate 34 down with screw-nut 25 fixed connection. The rotation of the lead screw 22 is corresponding to the lifting of the lead screw nut 25, and the synchronous belt 18 enables the lead screws on the two sides to synchronously rotate, so that the bottom plate 34 can be stably lifted. The bilateral screw rods are good in synchronism and high in control precision.
Optionally, the first driving device includes a band-type brake motor 16, a speed reducer 17, a synchronous belt 18, a first synchronous pulley 21, and a second synchronous pulley 23, the power of the band-type brake motor 16 is transmitted to the speed reducer 17, the first synchronous pulley 21 is installed on the output shaft of the speed reducer 17, the second synchronous pulley 23 is fixedly connected to the lead screw 22, and the synchronous belt 18 is installed between the first synchronous pulley 21 and the second synchronous pulley 23. The torque transmission is carried out through the synchronous belt 18, the screw rods on the two sides are synchronous, the space of the transmission assembly is compressed, and the band-type brake motor ensures that the first driving device stably stops at a fixed position.
Optionally, an outer idler 19 and an inner idler 20 are coupled to the timing belt 18 to apply a preload to the timing belt 18. This is to make the number of meshing teeth on the synchronous pulley 21 sufficient and to avoid a space for electric wiring.
Optionally, the device further comprises a first adjusting block 17 and a second adjusting block 24, wherein the first adjusting block 17 and the second adjusting block 24 are respectively used for tensioning two sides of the synchronous belt 18. The driving side and the opposite side need to be tensioned and adjusted, and the phenomenon that the synchronizing wheel jumps teeth is avoided.
Optionally, the first linear guide assembly includes a support leg 35, a first linear guide 28, and a second linear guide 36, the first linear guide 28 and the second linear guide 36 are distributed on two sides of the screw rod 22, and the lower jacking platform bottom plate 34 is fixed on the first linear guide 28 and the second linear guide 36 through the support leg 35. The multi-guide-rail assembly is convenient for the stable movement of the bottom plate and has higher control precision
Optionally, the first linear moving device comprises a motor 26, a pinion 27 and a rack 30, the pinion 27 is mounted on a rotating shaft of the motor 26, the rack 30 is mounted on the upper jacking mechanism 14, and the pinion 27 is meshed with the rack 30. And the gear and the rack are adopted for transmission, so that the space is compressed, and the precision is higher.
In this embodiment, the present invention further includes a first photoelectric detection device, configured to detect position information of the upper jacking mechanism 14 on the lower jacking mechanism 13.
Optionally, the first photoelectric detection device includes a first photoelectric sensor 33 and a first sensing sheet 32, the first photoelectric sensor 33 is disposed on the lower jacking platform bottom plate 34, the first sensing sheet 32 is disposed on the upper jacking mechanism 14, and the first photoelectric sensor 33 is configured to identify the first sensing sheet 32. The photoelectric light sensors are divided into 3 parts, the middle part is an original point, the two sides are left and right limit positions, the zero is found by the original point in the middle, and the two sides are the maximum stroke of the first linear moving device, so that the safety of motion control is ensured.
In this embodiment, the second lifting device is a screw nut lifting device, a scissor fork lifting device, a chain lifting device, or a screw lifting device.
Optionally, the second lifting device includes an upper platform bottom plate 29, a screw rod lifter 40, a second linear guide assembly, and a second driving device, the second linear guide assembly is installed on the upper platform bottom plate 29 along a vertical direction, the screw rod lifter 40 is installed on the upper platform bottom plate 29, the second linear moving device is installed at a driving end of the screw rod lifter 40 and a sliding end of the second linear guide assembly, and the second driving device drives the screw rod lifter 40 to move. The worm gear of the screw rod lifter and the self-locking function of the T-shaped screw rod enable the materials to stay at fixed positions, and the space is saved by subtracting the use of a band-type brake motor.
Optionally, the second driving device comprises a motor 41 and a coupling 42 connecting the input shaft of the screw rod lifter 40 and the output shaft of the motor 41.
Alternatively, the second linear guide assembly may include a guide shaft 39 and a linear bearing 38, the linear bearing 38 is fixed on the upper platform base plate 29, the guide shaft 39 is slidably installed in the linear bearing 38, and one end of the guide shaft 39 is fixed on the second linear moving device. The guide shafts 39 on the two sides guide the movement direction in the second linear movement process, so that the movement process is stable and the control precision is improved, the assembly can also comprise a lifting limiting blocking piece 31, and the lifting limiting blocking piece 31 plays a limiting role and prevents a screw rod from falling off the lifter; a tow chain 37 may also be included, the tow chain 37 being for enabling the electrical harness to follow the movement.
Optionally, the second linear moving device includes a support plate, a third driving device, and a linear guide 46, the support plate is installed at the driving end of the screw rod elevator 40 and the sliding end of the second linear guide assembly, the second linear guide assembly is installed on the support plate, the support member is installed on the linear guide 46, and the third driving device drives the support member to slide along the linear guide 46.
Alternatively, the third driving device includes a motor, a speed reducer 49, a pinion 48, and a rack 50, the power of the motor is output to the speed reducer 49, the pinion 48 is mounted on an output shaft of the speed reducer 49, the rack 50 is mounted on the support, and the pinion 48 and the rack 50 are engaged with each other. And the gear and the rack are adopted for transmission, so that the space is compressed, and the precision is higher.
In this embodiment, a load cell 43 is further included, and the load cell 43 is disposed between the second linear moving device and the screw rod elevator 40, and is used for detecting the weight of the material roll.
In this embodiment, the device further comprises a laser 45 mounted on the support plate 44 for detecting the presence of the material roll on the support.
In this embodiment, the support member includes a platform bottom plate 51, a shielding plate 52, a receiving platform bottom plate 53 and a V-shaped block 54, which are sequentially connected from bottom to top, the platform bottom plate 51 is installed on the linear guide 46, and the shielding plate 52 protects an inner side structural member and a wire harness. The shielding plate 52 moves together with the platform bottom plate 51 and always covers the inner side structural members and the wiring harness on the platform bottom plate 51
In this embodiment, the device further includes a photoelectric sensor 47 mounted on the platform bottom plate 51 for identifying an origin position and front and rear limit positions of the supporting platform, wherein the middle position is the origin and the two sides are the limit positions.
In this embodiment, the system further comprises an image detection device for detecting the butt joint of the material and the machine.
Optionally, the image detection device includes a camera and a swing-out mechanism 15, and the swing-out mechanism 15 drives the camera to swing out. During the butt joint process, the swinging mechanism works to enable the camera to detect the butt joint and the material roll in a proper position
Optionally, the swing-out mechanism 15 includes a fourth driving device, a mounting plate 62, and a rotating shaft 59, the camera may be mounted on the camera mounting base 58, the camera mounting base 58 may design a corresponding mounting angle according to a requirement of a field of view after the camera is unfolded, the camera and the camera mounting base 58 are integrally mounted on the mounting plate 62, the mounting plate 62 is fixed on the rotating shaft 59, and the fourth driving device drives the rotating shaft 59 to rotate.
In this embodiment, the apparatus further includes a second photo-detection device for detecting the zero point and the 90 ° position swung by the camera 63. By detecting the notch position of the second sensing piece 61, the position of the origin of the camera and the right-angle position are respectively corresponded
Optionally, the second photoelectric detection device includes a second photoelectric sensor 60 and a second sensing piece 61, the second photoelectric sensor 60 is mounted on the back plate, and the second sensing piece 61 is fixed to the rotating shaft 59 and rotates along with the rotating shaft.
Optionally, the fourth driving device includes a motor 57, a driver 56, and a speed reducer 55, the motor 57 is connected to the speed reducer 55 and then drives the rotating shaft 59 to rotate, and the driver 56 drives the motor 57. The speed reducer increases the torque and provides self-locking capability, and the camera can be stabilized for a long time at the right-angle position to perform visual detection work
In this example, the camera extension mode is currently a swing link mode, and a horizontally extending alternative scheme can be adopted.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. The utility model provides a robot that is used for unloading on the roll shape material of butt joint board which characterized in that includes:
an omnidirectional chassis;
the lower-layer jacking mechanism comprises a first lifting device carried on the omnidirectional chassis and a first linear moving device carried on the first lifting device, the first lifting device is used for moving in the vertical direction, and the first linear moving device is used for moving in the left-right direction;
the upper-layer jacking mechanism comprises a second lifting device carried on the first linear moving device and a second linear moving device carried on the second lifting device, the second lifting device is used for providing movement in the vertical direction, and the second linear moving device is used for providing movement in the front-back direction;
the camera is mounted on the swing-out mechanism, and the swing-out mechanism is carried on the omnidirectional chassis;
a support fixed to the second linear moving device.
2. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 1, wherein the omnidirectional chassis comprises a chassis base, a laser navigation system, a front steering wheel, a rear steering wheel, two universal wheels, a lithium battery, and a control system, the laser navigation system is installed on the chassis base, the front steering wheel, the rear steering wheel, and the two universal wheels are installed on the chassis base to form a chassis wheel train, the two universal wheels are diagonally arranged, a driving force is provided by the front steering wheel and the rear steering wheel, a power source for the front steering wheel and the rear steering wheel is provided by the lithium battery, the control system controls the movement of the front steering wheel and the rear steering wheel, the rear steering wheel and the universal wheels are respectively installed on two sides of a swing arm, the middle part of the swing arm is hinged to the chassis base, and the hinged part serves as a rear fulcrum, three pivot points are formed together with the front steering wheel and the universal wheel, so that the chassis wheel system can be grounded simultaneously.
3. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 1, wherein the first lifting device is a screw nut lifting device, a scissor lifting device, a chain lifting device or a spiral lifting device.
4. The robot of claim 1, wherein the first lifting device comprises a lower lifting platform bottom plate, a first driving device, a first linear guide assembly, a screw rod and a screw nut, the first linear guide assembly is vertically mounted on the chassis base, the lower lifting platform bottom plate is mounted on the first linear guide assembly and slides up and down along the first linear guide assembly, the first driving device drives the screw rod to rotate, the screw nut is coupled to the screw rod, and the lower lifting platform bottom plate is fixedly connected with the screw nut.
5. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 4, wherein the first driving device comprises a band-type brake motor, a speed reducer, a synchronous belt, a first synchronous pulley and a second synchronous pulley, the power of the band-type brake motor is transmitted to the speed reducer, the first synchronous pulley is mounted on an output shaft of the speed reducer, the second synchronous pulley is fixedly connected to the lead screw, the synchronous belt is mounted between the first synchronous pulley and the second synchronous pulley, and an outer idler and an inner idler are further coupled to the synchronous belt.
6. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 4, wherein the first linear guide assembly comprises a support leg, a first linear guide rail and a second linear guide rail, the first linear guide rail and the second linear guide rail are distributed on the left and right of the two sides of the screw rod, and the bottom plate of the lower jacking platform is fixed on the first linear guide rail and the second linear guide rail through the support leg.
7. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 1, wherein the second lifting device comprises an upper platform base plate, a screw rod lifter, a second linear guide assembly and a second driving device, the second linear guide assembly is vertically mounted on the upper platform base plate, the screw rod lifter is mounted on the upper platform base plate, the second linear moving device is mounted at a driving end of the screw rod lifter and a sliding end of the second linear guide assembly, and the second driving device drives the screw rod lifter to move.
8. The robot for loading and unloading roll material of a docking station as claimed in claim 7, wherein the second linear moving device comprises a support plate, a third driving device, and a linear guide rail, the support plate is installed at the driving end of the screw rod elevator and at the sliding end of the second linear guide assembly, the second linear guide assembly is installed on the support plate, the support member is installed on the linear guide rail, and the third driving device drives the support member to slide along the linear guide rail.
9. The robot for loading and unloading roll-shaped materials of a docking station as claimed in claim 8, wherein the third driving device comprises a motor, a speed reducer, a pinion and a rack, the power of the motor is output to the speed reducer, the pinion is mounted on an output shaft of the speed reducer, the rack is mounted on the support, and the pinion and the rack are meshed.
10. The robot for loading and unloading a roll material of a docking station as recited in claim 1, further comprising a load cell disposed between the second linear motion device and the screw lift for detecting the weight of a roll of material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110311982.6A CN112959294A (en) | 2021-03-24 | 2021-03-24 | Robot for feeding and discharging coiled materials of butt-joint machine table |
Applications Claiming Priority (1)
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| CN114852652A (en) * | 2022-05-16 | 2022-08-05 | 杭州数创自动化控制技术有限公司 | Material coil falling machine and method |
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