CN113213080A

CN113213080A - Panel storage device and robot

Info

Publication number: CN113213080A
Application number: CN202110574958.1A
Authority: CN
Inventors: 马晓东
Original assignee: Shanghai Clobotics Technology Co ltd
Current assignee: Shanghai Clobotics Technology Co ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-08-06

Abstract

The utility model relates to a fan blade technical field, it relates to panel storage device and robot to excel in, and wherein, panel storage device includes the transfer portion, and the transfer portion is equipped with the rotation unit for deposit panel. According to the plate conveying device, the rotating unit is designed, so that the rotating unit not only has the function of storing plates, but also has the function of conveying the plates; in practical application, the number of required boards to be pasted is set according to the actual condition of the surface of the fan blade, the boards with the preset number are stored in the rotating unit in advance, the rotating unit gradually conveys the boards with the preset number to the robot one by one through rotation, a plurality of boards are stored once, and the stored boards are conveyed to the robot one by one, so that the robot can efficiently paste the boards onto the surface of the fan blade, and the working efficiency of pasting the boards onto the surface of the fan blade is improved.

Description

Panel storage device and robot

Technical Field

The disclosure relates to the technical field of fan blades, in particular to a plate storage device and a robot.

Background

The VG (Vortex Generator) plate is a structural material capable of improving the power generation efficiency of the fan, and when the VG (Vortex Generator) plate is attached to a blade of a wind driven Generator, the VG (Vortex Generator) plate can change the direction of air flow and generate a Vortex with higher intensity, so that the kinetic energy of the fan is improved.

Disclosure of Invention

The utility model provides a panel storage device and robot, panel storage device not only has the function of depositing panel, still has the panel of depositing and send the robot to make the robot paste panel to fan blade surface high-efficiently.

In order to achieve the purpose of the invention, the following technical scheme is adopted in the disclosure:

the present disclosure provides a sheet material storage device for conveying a sheet material to be attached required for a surface of a fan blade to a robot, the sheet material storage device including a conveying part;

a rotating unit is arranged in the conveying part;

the rotating unit is provided with a gap for storing plates;

when the rotating unit rotates, the plate is driven to move along the extending direction of the rotating unit.

Further preferably, the rotating unit drives the plate to move linearly by a screw rotation.

Preferably, the rotating unit includes a spiral body, a spiral gap extending in a length direction of the spiral body and formed in a spiral shape is formed in a circumferential surface of the spiral body, and the spiral gap is used for storing the plate.

Further preferably, the spiral body is a spiral spring, and a gap of the spiral spring is used for storing the plate.

Further preferably, the conveying part is provided with a bottom plate at the end opposite to the spiral spring, and the plate moves along the extending direction of the spiral spring until falling onto the bottom plate.

Further preferably, a preset distance is arranged between the tail end of the spiral spring and the bottom plate, and the preset distance enables the plate to fall off from the tail end of the spiral spring onto the bottom plate.

Further preferably, a plurality of plate materials are stored in the gap of the coil spring at intervals along the length direction of the coil spring.

Further preferably, the conveying part further comprises a driving unit for driving the helical spring to perform a helical motion.

Further preferably, the rotating unit comprises two groups of spiral springs, and the driving unit comprises a motor, a first worm gear assembly, a second worm gear assembly and a gear transmission assembly;

one group of spiral springs is connected with the first worm and gear assembly, the other group of spiral springs is connected with the second worm and gear assembly, and opposite spiral gaps between the two groups of spiral springs are used for storing plates;

the first worm gear assembly and the second worm gear assembly are in transmission through the gear transmission assembly, the motor is connected with the first worm gear assembly or the second worm gear assembly, the motor drives the worm gear assembly connected with the motor to move, and the motor drives the other worm gear assembly to move through the gear transmission assembly, so that the first worm gear assembly and the second worm gear assembly respectively drive the spiral spring connected with the first worm gear assembly and the second worm gear assembly to move spirally.

Further preferably, the conveying part further comprises a supporting shaft and a limiting rod;

the supporting shaft comprises a first end part and a second end part, the first end part is connected with a worm wheel in the worm wheel and worm assembly, the second end part is fixedly connected with the spiral spring, and the second end part is provided with a limiting groove;

one end of the limiting rod penetrates through the spiral spring and is limited in the limiting groove, and the other end of the limiting rod is fixedly arranged opposite to the spiral spring.

The present disclosure also provides a robot, the robot includes foretell panel storage device, panel storage device is used for conveying the required panel of treating of fan blade surface to the robot.

Compared with the prior art, the beneficial effects of this disclosure are:

the plate storage device comprises a conveying part, wherein the conveying part is provided with a rotating unit, and the rotating unit is designed to have the function of storing plates and the function of conveying the plates; in practical application, the number of required plates to be pasted is set according to the actual condition of the surface of the fan blade, the plates with the preset number are stored in a rotating unit of a plate storage device in advance, the rotating unit gradually conveys the plates with the preset number to the robot one by one through rotation, the stored plates are conveyed to the robot one by one through one storage of the plates, the robot is enabled to efficiently paste the plates to the surface of the fan blade, and the working efficiency of pasting the plates on the surface of the fan blade is improved.

Drawings

FIG. 1 is a schematic view of a sheet material storage device;

FIG. 2 is a schematic view of another orientation of the sheet storage device;

FIG. 3 is a cross-sectional view of a sheet material storage device;

FIG. 4 is a schematic view of another orientation of the sheet material storage device.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.

At present, VG plates are generally pasted manually, workers carry out high-altitude operation, the danger is high, the operation difficulty is high, the pasting position precision is low, the working strength is high, one blade only needs to draw a positioning line for at least one day, and one fan needs to consume 3-4 days for at least 2 persons.

Besides manual pasting, a few robots are adopted to replace manual pasting of VG plates, the robot pasting process needs to timely convey plates to be pasted to the robots, the existing plate conveying mode is that one plate to be pasted is conveyed each time, if a plurality of plates need to be pasted, the plates need to be conveyed back and forth for many times, the pasting work efficiency is reduced, and the reciprocating conveying process is complicated. Based on this, the present disclosure provides a panel storage device, set up the required quantity of waiting to paste the panel according to fan blade surface actual conditions, set up the panel of predetermineeing quantity in advance in panel storage device's conveying portion, then, this panel of predetermineeing quantity is conveyed to the robot one by one to the conveying portion of rethread panel storage device, through once saving a plurality of panels, and convey the robot with the panel of storage one by one to make the robot paste panel to fan blade surface high-efficiently, improve the work efficiency of fan blade surface panel laminating.

First, the plate material according to the present application is mainly a VG plate material as an example, but may be a plate material of other material in other embodiments, and the present application does not limit the material of the plate material.

Fig. 1 shows a structural diagram of the plate material storage device, which includes a conveying portion 100, a rotating unit 110 is provided in the conveying portion 100, a gap for storing the plate material 200 is provided in the rotating unit 110, and the plate material 200 is driven to move along an extending direction of the rotating unit 110 when the rotating unit 110 rotates.

The present disclosure designs the rotating unit 110, so that the rotating unit 110 not only has a function of storing the sheet material, but also has a function of transferring the sheet material. In practical application, the number of the plates to be attached can be set according to the actual situation of the surface of the fan blade, a preset number of plates are stored in the gap of the rotating unit 110 in advance, and when the robot needs to attach the plates to the surface of the fan blade, the rotating unit 110 drives the plates to move towards the tail end of the rotating unit 110, so that the plates at the tail end of the rotating unit 110 are preferentially separated from the rotating unit 110 (the plates separated from the rotating unit 110 are conveyed to the position to be attached on the surface of the fan blade); by analogy, the plates stored on the rotating unit 110 are sequentially separated from the tail end of the rotating unit 110, and finally, the plate attaching work on the surface of the fan blade is completed.

The present disclosure preferably provides a best mode of the rotating unit 110, in which the rotating unit 110 drives the plate to move along a straight line by a spiral rotation, and the principle of converting a spiral motion into a straight line motion is used to enable the rotating unit 110 to be applied in a space-limited environment, for example, a robot for attaching the plate to a fan.

The rotating unit 110 of the present disclosure may be designed in a modified manner by those skilled in the art, for example, the rotating unit 110 moving linearly is designed, and any design is within the scope of the present disclosure, as long as the plate material can be stored and conveyed.

In order to enable the rotating unit 110 to store the plate and to drive the plate to move along a straight line based on the spiral rotation, the rotating unit 110 of the present disclosure includes a spiral body, and a spiral gap extending in a length direction of the spiral body and having a spiral shape is formed on a circumferential surface of the spiral body, and the spiral gap is used for storing the plate.

More specifically, the spiral body is a spiral spring, and the gap of the spiral spring is used for storing plates, for example, according to the actual situation, a plurality of plates may be stored in the gap of the spiral spring at intervals along the length direction of the spiral spring, and 1 plate may also be stored.

The end of the conveying part 100 opposite to the coil spring is provided with a bottom plate 120, and when the coil spring rotates, the plate moves along the straight line of the coil spring until the plate is separated from the coil spring and falls onto the bottom plate 120.

Further, in order to allow the plate material to smoothly fall off the end of the coil spring onto the base plate 120, the end of the coil spring is spaced from the base plate 120 by a predetermined distance, which allows the plate material to fall off the end of the coil spring onto the base plate 120. For example, the interval between the end of the coil spring and the base plate 120 is 3mm or more.

The transfer part 100 further includes a driving unit 130, and the driving unit 130 drives the coil spring to move spirally. The driving unit 130 and the coil spring are engaged in the following manner: the rotating unit 110 comprises two groups of spiral springs, wherein each group of spiral springs comprises two spiral springs 111, the driving unit 130 comprises a motor 131, a first worm and gear assembly 132, a second worm and gear assembly 133 and a gear transmission assembly 134, one group of spiral springs is connected with the first worm and gear assembly 132, the other group of spiral springs is connected with the second worm and gear assembly 133, and opposite spiral gaps between the two groups of spiral springs are used for storing plates; the first worm and gear assembly 132 and the second worm and gear assembly 133 are driven by a gear transmission assembly 134, the motor 131 is connected with the first worm and gear assembly 132 or the second worm and gear assembly 133, the motor 131 drives the worm and gear assembly connected with the motor to move, and drives the other worm and gear assembly to move by the gear transmission assembly 134, so that the first worm and gear assembly 132 and the second worm and gear assembly 133 respectively drive the spiral springs connected with the worm and gear assembly to move spirally.

To describe the specific structure of the driving unit 130 and the installation manner thereof in more detail, referring to fig. 1 and fig. 2, the conveying part 100 further includes a top plate 140 and two side plates 150, the number of the side plates 150 is two, and the shapes of the two side plates 150 may be the same or different, for example, the shapes of the two side plates 150 in this embodiment are different, specifically, the height of the side plate on the side where the motor 131 is installed is higher than that of the other side plate, and the installation manner between the plates is as follows: the two side plates 150 are relatively and fixedly arranged on the bottom plate 120, the top plate 140 is fixedly arranged between the two side plates 150, and the interval between the two side plates 150 is larger than the length of the plate material 200.

In order to improve the overall stability of the storage device, the preferred installation method that this disclosure adopted is: the conveying part 100 further includes an auxiliary plate 160, the auxiliary plate 160 is fixedly connected to the bottom plate 120 through a plurality of support columns, the auxiliary plate 160 is located above the bottom plate 120, and an accommodating space for accommodating the plate material is formed between the auxiliary plate 160 and the bottom plate 120. Two side plates 150 are fixed between the top plate 140 and the auxiliary plate 160.

Further, the auxiliary plate 160 is provided with a channel 161, the opening length of the channel 161 is greater than the length of the plate, and the opening width is greater than the width of the plate, so that the plate falls into the accommodating space through the channel 161 from top to bottom, and then falls onto the bottom plate 120.

The mounting structure of the bottom plate 120, the top plate 140, the side plates 150, and the auxiliary plate 160 is used to support the mounting of the driving unit 130. As shown in fig. 2, some components of the driving unit 130 are mounted on the top plate 140, some components are mounted on the side plate 150, specifically, the first worm gear assembly 132, the second worm gear assembly 133 and the gear assembly 134 are mounted on the top plate 140, and the motor 131 is mounted on the side plate 150, wherein the first worm gear assembly 132 and the second worm gear assembly 133 have similar structures, for example, both include: the bearing and the bearing seat are matched and used in pairs, the worm wheel and the worm are matched and used in pairs, the bearing and the bearing seat are matched and then arranged at two ends of the shaft, the worm is arranged on the shaft, the worm wheel is arranged on one side of the worm, and the worm wheel and the worm are meshed with each other.

The gear transmission assembly 134 includes a first gear and a second gear, wherein the first gear is disposed on the shaft of the first worm gear assembly 132, the second gear is disposed on the shaft of the second worm gear assembly 133, the first gear and the second gear are engaged with each other, and the first gear and the second gear are driven in a ratio of 1: 1.

The motor 131 is connected with the shaft of one of the worm gear assemblies through the coupler, when the motor 131 drives the shaft connected with the motor to move through the coupler, the other shaft is driven to move based on the gear transmission assembly 134, the worm on each shaft is driven to move, the effect of movement of each worm gear is finally achieved, and the rotation direction and the rotation speed of each worm gear are consistent.

Can learn directly perceivedly from fig. 2, this application adopts a motor 131 to realize the motion of two sets of worm gear drive assembly, and not only structural design is simple, control cost is low, can effectively and accurately control the direction of rotation and the restraint unanimity of each worm wheel moreover. On the basis, a person skilled in the art can also add a motor, that is, each group of worm and gear assemblies is controlled by a separate motor, and simple changes of the technical scheme are also within the protection scope of the present disclosure.

As can be seen from fig. 2, one end of each of the coil springs is connected to a worm wheel in the worm and gear assembly, and the other end of each of the coil springs extends into the accommodating space through the channel 161 of the auxiliary plate 160, and each of the coil springs matches with a pair of worm and gear, taking four coil springs as an example, when the motor 131 works, each of the worm wheels can drive each of the coil springs to rotate simultaneously in the same direction and at the same rotation speed.

In order to allow the coil spring to rotate smoothly, the auxiliary plate 160 has an escape opening formed at a side thereof contacting the coil spring. For example, a semicircular notch is formed to match the coil spring, and the coil spring is partially received in the semicircular notch during the rotation to prevent the side edge of the auxiliary plate 160 from blocking the rotation of the coil spring.

In order to further prevent the coil spring from swinging due to elasticity during the movement process and enable the coil spring to stably rotate, the conveying part 100 further comprises a supporting shaft 170 and a limiting rod 180, the supporting shaft 170 comprises a first end part and a second end part, the first end part is connected with a worm wheel in the worm and gear assembly, the second end part is fixedly connected with the coil spring, and the second end part is provided with a limiting groove; one end of the limiting rod 180 penetrates through the coil spring and is limited in the limiting groove, and the other end is fixedly arranged relative to the coil spring, for example, the tail end of the limiting rod 180 is fixed on the bottom plate 120.

The specific installation manner of the support shaft 170, the coil spring 111 and the limiting rod 180 is as shown in fig. 3 and 4, the first end portion penetrates through the top plate 140 to be connected with a worm wheel in the worm and gear assembly, the second end portion is located below the top plate 140, the diameter of the second end portion is larger than that of a through hole provided in the top plate 140 and through which the first end portion penetrates, and the second end portion is provided with a limiting groove; one end of the spiral spring 111 is fixedly connected with the second end part, and the other end extends into the accommodating space; one end of the limiting rod 180 is fixed on the bottom plate 120, and the other end of the limiting rod 180 penetrates through the coil spring 111 and is limited in the limiting groove, for example, the other end of the limiting rod 180 can be rotatably linked in the limiting groove. Based on the limit rod 180, the spiral spring can be effectively prevented from swinging during the rotation movement, or the spiral spring is allowed to swing within an allowed range through the limit action of the limit rod 180.

The specific working mode of the plate storage device is as follows: the number of the required plates to be pasted is set according to the practical situation of the surface of the fan blade, for example, 4 plates to be pasted are needed, the 4 plates to be pasted are arranged on the four spiral springs at intervals, for example, the side plate 150 at one side without the motor 131 is taken down (when the side plate 150 at the side is taken down, the top plate 140 is supported by the side plate 150 at the side with the motor 131 and the 4 corresponding limiting rods 180), the plates to be pasted are inserted into the spiral gaps of the spiral springs which are oppositely arranged from the side, then the side plate 150 which is taken down is installed, thus, the four spiral springs store 4 plates to be pasted from top to bottom, when the robot needs the plates, the motor 131 works, and drives the four worm gears to drive the four spiral springs to spirally rotate in the same direction and at the same rotating speed through the coupler, the first gear and the second gear, the 4 plates to be pasted are simultaneously moved from top to bottom through changing the spiral motion into the linear motion, until the board at the end of the spiral spring drops onto the bottom plate 120, the motor 131 stops working, the spiral spring stops rotating, at this time, 3 boards to be attached remain between the four spiral springs from top to bottom, and similarly, 4 boards to be attached stored in the four spiral springs can be conveyed onto the bottom plate 120 one by one.

Based on this panel storage device that the disclosure provided, this disclosure still provides a robot, and this robot includes the panel storage device that the aforesaid provided, panel storage device is used for conveying the required panel of waiting to paste in fan blade surface to the robot. For a detailed description of the plate storage device, please refer to the above description, which is not repeated herein.

The quantity of the required board of waiting to paste is set up according to fan blade surface actual conditions, and the board that will predetermine the quantity sets up in the conveying portion of panel storage device in advance, then, the conveying portion of rethread panel storage device conveys the panel of this predetermined quantity to the robot one by one, through once saving a plurality of boards, and convey the robot to the board of storage one by one to make the robot paste panel to fan blade surface high-efficiently, improve the work efficiency of fan blade surface panel laminating.

The foregoing description of the present disclosure has been presented with specific examples to aid understanding thereof, and is not intended to limit the present disclosure. Numerous simple inferences, variations, or alternatives can be made based on the concepts of the present disclosure for those skilled in the art to which the present disclosure pertains.

Claims

1. The plate storage device is characterized by being used for conveying a plate to be attached required by the surface of a fan blade to a robot, and comprising a conveying part;

a rotating unit is arranged in the conveying part;

the rotating unit is provided with a gap for storing plates;

2. The sheet storage device of claim 1, wherein the rotating unit drives the sheet to move in a straight line by a spiral rotation.

3. The sheet storing device according to claim 2, wherein the rotating unit includes a spiral body, a circumferential surface of the spiral body is provided with a spiral gap extending in a longitudinal direction thereof and having a spiral shape, and the spiral gap is used for storing the sheet.

4. The sheet storing device according to claim 3, wherein the coil body is a coil spring, and a gap of the coil spring is used for storing the sheet.

5. The sheet storing device according to claim 4, wherein the conveying portion is provided with a bottom plate with respect to an end of the coil spring, and the sheet moves in an extending direction of the coil spring until it falls onto the bottom plate.

6. The sheet storing device according to claim 5, wherein the distal end of the coil spring is spaced from the base plate by a predetermined distance, the predetermined distance allowing the sheet to be dropped from the distal end of the coil spring onto the base plate.

7. A sheet material storage device according to any one of claims 4 to 6, wherein said transfer section further includes a driving unit for driving said coil spring to perform a spiral motion.

8. The sheet storing device according to claim 7, wherein the rotating unit includes two sets of coil springs, and the driving unit includes a motor, a first worm gear assembly, a second worm gear assembly, a gear assembly;

9. The sheet material storage device according to claim 8, wherein the transfer portion further includes a support shaft and a stopper rod;

10. A robot, characterized in that the robot comprises a sheet material storage device according to any one of claims 1-9 for conveying to the robot the sheet material to be attached required by the surface of the fan blade.