CN114194892A - Full-automatic coil stock carrying and transferring manipulator - Google Patents
Full-automatic coil stock carrying and transferring manipulator Download PDFInfo
- Publication number
- CN114194892A CN114194892A CN202111402955.6A CN202111402955A CN114194892A CN 114194892 A CN114194892 A CN 114194892A CN 202111402955 A CN202111402955 A CN 202111402955A CN 114194892 A CN114194892 A CN 114194892A
- Authority
- CN
- China
- Prior art keywords
- movable block
- winding drum
- fixedly connected
- transferring
- tensioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
- B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H16/00—Unwinding, paying-out webs
- B65H16/02—Supporting web roll
- B65H16/021—Multiple web roll supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H16/00—Unwinding, paying-out webs
- B65H16/02—Supporting web roll
- B65H16/04—Supporting web roll cantilever type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/04—Kinds or types
- B65H75/08—Kinds or types of circular or polygonal cross-section
- B65H75/10—Kinds or types of circular or polygonal cross-section without flanges, e.g. cop tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/18—Constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/18—Constructional details
- B65H75/24—Constructional details adjustable in configuration, e.g. expansible
- B65H75/242—Expansible spindles, mandrels or chucks, e.g. for securing or releasing cores, holders or packages
- B65H75/243—Expansible spindles, mandrels or chucks, e.g. for securing or releasing cores, holders or packages actuated by use of a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/11—Dimensional aspect of article or web
- B65H2701/113—Size
- B65H2701/1133—Size of webs
Landscapes
- Winding, Rewinding, Material Storage Devices (AREA)
Abstract
The invention discloses a full-automatic coil stock carrying and transferring manipulator, which comprises a portal frame; a clamp is movably connected below the portal frame and comprises a connecting block, one end of the connecting block is fixedly connected with a winding drum and an in-place detection mechanism, and two sides inside the winding drum are movably connected with tensioning and pulling mechanisms; the tensioning material pulling mechanism comprises a movable block movably connected in the winding drum, a tensioning material cylinder is fixedly connected to the movable block, and the movable end of the tensioning material cylinder penetrates through the side wall of the winding drum and is positioned on the outer side of the winding drum; the movable block is elastically connected with a telescopic rod, and the movable block is provided with a travel switch; the air bag cylinder realizes tensioning, the air bag standard component is simple and easy to control, and the components can be replaced and maintained; meanwhile, automatic material taking and automatic blanking can be realized, and detection of coil materials is facilitated.
Description
Technical Field
The invention relates to the technical field of coil stock carrying, in particular to a full-automatic coil stock carrying and transferring manipulator.
Background
The traditional coil material is moved and carried, and manual operation is adopted. The device is only suitable for the transportation of light-load coil materials with the weight of less than 500kg in a small range. Heavy load, or carry the year in large-scale, the manpower promotes that the distance is longer, and speed is slower. The long-time operation intensity of labour is great and efficiency is lower, and the detection to coil stock width value is inconvenient to realize to the current coil stock transport moves and carries the manipulator simultaneously, has consequently brought the inconvenience for the staff to a certain extent.
Disclosure of Invention
The invention aims to provide a full-automatic coil stock carrying and transferring manipulator, which solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the full-automatic coil stock carrying and transferring manipulator comprises a portal frame;
a clamp is movably connected below the portal frame and comprises a connecting block, one end of the connecting block is fixedly connected with a winding drum and an in-place detection mechanism, and two sides inside the winding drum are movably connected with tensioning and pulling mechanisms;
the tensioning material pulling mechanism comprises a movable block movably connected in the winding drum, a tensioning material cylinder is fixedly connected to the movable block, and the movable end of the tensioning material cylinder penetrates through the side wall of the winding drum and is positioned on the outer side of the winding drum;
the movable block is elastically connected with a telescopic rod, the movable block is provided with a travel switch, the movable block is movably connected with a photoelectric switch, the movable block is fixedly connected with a spring, and one end of the spring is fixedly connected onto the telescopic rod.
The connecting block is internally provided with a cavity, the cavity is internally and fixedly connected with a motor, an output shaft of the motor is fixedly connected with a lead screw, and the lead screw is connected with the movable block.
The outer side wall of the winding drum is provided with a tensioning air bag.
The movable block is fixedly connected with a telescopic cylinder, and the movable end of the telescopic cylinder is fixedly connected with a photoelectric switch.
The inside of reel is provided with the guide rail, and movable block swing joint is on the guide rail.
The tip fixedly connected with camera of reel, camera shooting board butt joint axle, the central point that butt joint axle was gone up to the butt joint board in the vision was sought to the vision after the vision was shot puts, sends to our side's equipment to after calculating, send the equipment signal that to need X, Z to carry out the secondary correction, ensure that the counter shaft is accurate. The problem of accumulative error is solved.
The movable block is fixedly connected with a cutting block, the cutting block ensures that the distance between two coil stocks to be cut off is 120mm, so that the two coil stocks can be ensured to be simultaneously placed on the outer side wall of the winding drum, and interference can not occur.
Install blowing clearance detection switch on the reel, the blowing is accomplished on unloading to the work or material rest, and equipment meeting descending equipment axle can be thrown off with the reel, produces certain distance between the messenger, and blowing clearance detection switch detects when the distance is big then axle below distance undersize, and the reel can be pressed to the axle on the equipment. The gap detection prevents the equipment from being damaged and excessively descending to press the coil.
The movable block is provided with a photoelectric switch baffle.
A return detector control valve is arranged on the movable block and used for detecting that the second coil material is pulled in place (the return detector control valve touches the front end of the first coil material to indicate that the second coil material is pulled in place); before the material pulling and cutting mechanism is ready to pull materials, the tensioning material cylinder retracts, a photoelectric signal is sent to the front side of the material pulling, and the fact that the winding drum is detected in front and the tensioning material cylinder reaches the inside of the winding drum is proved. The photoelectric switch is pushed forward, the tensioning material cylinder extends into the winding drum, the material pulling mechanism is in place, and a coil stock is arranged.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, double-roll coil taking and placing are adopted, so that double-roll automatic material pulling can be automatically carried out in place according to the requirement, and the carrying efficiency is improved; the air bag cylinder realizes tensioning, the air bag standard component is simple and easy to control, and the components can be replaced and maintained; meanwhile, automatic material taking and automatic blanking can be realized, and detection of coil materials is facilitated.
Drawings
FIG. 1 is a schematic view of a full-automatic coil handling transfer robot;
FIG. 2 is an external view of a connecting block and a reel in a full-automatic coil handling transfer robot;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is an internal schematic view of a connecting block and a reel in a full-automatic coil handling transfer robot;
FIG. 5 is a partial enlarged view of the portion B in FIG. 4;
FIG. 6 is a schematic view of an in-place detection mechanism and a partition block in a full-automatic coil handling transfer robot;
FIG. 7 is a schematic view of the photoelectric switch and the dividing block in the full-automatic coil handling transfer robot;
FIG. 8 is a schematic view of a discharge gap detection switch in the full-automatic coil handling transfer robot;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, in an embodiment of the present invention, a full-automatic coil handling transfer robot includes a gantry 1;
a clamp 22 is movably connected below the portal frame 1, the clamp 22 comprises a connecting block 2, one end of the connecting block 2 is fixedly connected with a winding drum 3 and an in-place detection mechanism 4, and two sides inside the winding drum 3 are movably connected with tensioning and pulling mechanisms;
the tensioning material pulling mechanism comprises a movable block 51 movably connected in the winding drum 3, a tensioning material cylinder 52 is fixedly connected to the movable block 51, and the movable end of the tensioning material cylinder 52 penetrates through the side wall of the winding drum 3 and is positioned on the outer side of the winding drum 3;
elastic connection has telescopic link 6 on the movable block 51, installs travel switch 7 on the movable block 51, and swing joint has photoelectric switch 8 on the movable block 51, fixedly connected with spring 19 on the movable block 51, and spring 19's one end fixed connection is on telescopic link 6.
The cavity 9 is formed in the connecting block 2, the motor 10 is fixedly connected in the cavity 9, the lead screw 11 is fixedly connected to an output shaft of the motor 10, the lead screw 11 is connected with the movable block 51, when the movable block 51 needs to move, the lead screw 11 rotates when the motor 10 works, and the lead screw 11 is in threaded connection with the movable block 51, so that the movable block 51 moves in the rotating process of the lead screw 11, and the position of the movable block 51 is adjusted in the moving process of the movable block 51.
The outer side wall of the winding drum 3 is provided with the tensioning airbag 13, the tensioning airbag 13 is arranged to facilitate tensioning and locking of the coil stock sleeved on the outer side of the winding drum 3, the tensioning airbag 13 located at the first coil stock position works to achieve tensioning of the first coil stock, and the first coil stock is located on the outer side wall of the winding drum 3.
Fixedly connected with telescopic cylinder 14 on movable block 51, telescopic cylinder 14's expansion end and photoelectric switch 8 fixed connection, place first coil stock on the lateral wall of reel 3, tight material cylinder 52 work that rises realizes supporting tightly the inside wall of first coil stock, telescopic cylinder 14 work is stretched out, motor 10 work realizes that lead screw 11 rotates, 11 pivoted in-process realization movable block 51 moves from a left side to the right side at lead screw, the in-process that moves from a left side to the right side at movable block 51 realizes that tight material cylinder 52 moves from a left side to the right side, thereby realize that first coil stock is located the inboard of reel 3, the tip up to first coil stock is aligned with detection mechanism 4 that targets in place, thereby realize measuring the width value of first coil stock.
The guide rail 15 is arranged inside the winding drum 3, the movable block 51 is movably connected on the guide rail 15, and the movable block 51 can move relative to the winding drum 3 conveniently through the arrangement of the guide rail 51, so that the movable block 15 can move along the guide rail 15.
The tip fixedly connected with camera 16 of reel 3, camera 16 shoot the board and dock the axle, and the vision is shot the back vision and is look for the central point that docks the axle on the board in the field of vision and put, send to our side's equipment to after the calculation, it needs X, Z to carry out the secondary correction to convey the equipment signal, ensures that the counter shaft is accurate. The problem of accumulative error is solved.
The movable block 51 is fixedly connected with a cutting block 17, the cutting block 17 ensures that the distance between two coil stocks is 120mm, so that the two coil stocks can be placed on the outer side wall of the winding drum 3 simultaneously, and interference can not occur.
Install blowing clearance detection switch 18 on the reel 3, the blowing is accomplished on unloading to the work or material rest, and equipment can the descending equipment axle can throw off with the reel, produces certain distance between the messenger, and then axle below is apart from the undersize when blowing clearance detection switch 18 detects the distance when big, and the reel can be pressed to the axle on the equipment. The gap detection prevents the equipment from being damaged and excessively descending to press the coil.
Install photoelectric switch baffle 20 on the movable block 51, (as figure 2-5) telescopic cylinder 14 work is stretched out, the work of motor 10 realizes that lead screw 11 rotates, it moves from a left side to right to realize movable block 51 at lead screw 11 pivoted in-process, it moves from a left side to right to realize telescopic link 6 at the in-process that movable block 51 moved from a left side to right, realize that telescopic link 6 collides with the coil stock, spring 19 is compressed, photoelectric switch 8 detects photoelectric switch baffle 20, tight material cylinder 52 stretches out and realizes supporting tightly around the coil stock of rolling up at the lateral wall of reel 3, the work of motor 10 realizes moving the coil stock at the lateral wall of reel 3. The motor 10 works to move the movable block 51 from right to left until the telescopic rod 6 collides with the hard limit, the spring 19 compresses the travel switch 7, the tensioning airbag 13 is opened, and the material tensioning cylinder 52 retracts, so that the material is taken out of the outer side of the winding drum 3.
The movable block 51 is provided with a return detector control valve 21, and the return detector control valve 21 detects that the second coil material is pulled in place (the return detector control valve 21 touches the front end of the first coil material to indicate that the second coil material is pulled in place); before the material pulling and cutting mechanism is ready to pull the material, the tensioning material cylinder 52 retracts, a photoelectric signal is sent to the front side of the material pulling, the fact that a winding drum is detected in front is proved, and when the tensioning material cylinder 52 reaches the inside of the winding drum. The photoelectric switch 8 is pushed forward, the tensioning material cylinder 52 extends into the winding drum 3, and the material pulling mechanism is in place.
When the tension device is used, a first coil stock is placed on the outer side wall of the winding drum 3, the tension material cylinder 52 works to tightly abut against the inner side wall of the first coil stock, the telescopic cylinder 14 works to extend out, the motor 10 works to rotate the screw rod 11, the movable block 51 moves from left to right in the rotation process of the screw rod 11, the tension material cylinder 52 moves from left to right in the left-to-right movement process of the movable block 51, and therefore the first coil stock is located on the inner side of the winding drum 3 until the end portion of the first coil stock is aligned with the in-place detection mechanism 4, and the width value of the first coil stock is measured.
The tensioning airbag 13 located at the first material rolling position works to realize tensioning of the first material rolling, that is, the first material rolling is positioned on the outer side wall of the winding drum 3.
The motor 10 works to realize that the screw rod 11 rotates, so that the movable block 51 moves to the end part of the winding drum 3, then a second coil stock is placed on the outer side wall of the winding drum 3, the tension material cylinder 52 works to realize that the tension material cylinder 52 supports the inner side wall of the coil stock tightly, the motor 10 works to realize that the second coil stock moves on the outer side of the winding drum 3, and the return detector control valve 21 detects that the second coil stock is pulled in place (the return detector control valve 21 touches the front end of the first coil stock to indicate that the second coil stock is pulled in place); before the material pulling and cutting mechanism is ready to pull the material, the tensioning material cylinder 52 retracts, a photoelectric signal is sent to the front side of the material pulling, the fact that the winding drum is detected in front is proved, and the tensioning material cylinder 52 reaches the inside of the winding drum. The photoelectric switch 8 is pushed forward, the tensioning material cylinder 52 extends into the reel 3, the material pulling mechanism is in place, and the coiled material exists.
The working process during material taking: (like in fig. 2-5) telescopic cylinder 14 work is stretched out, the work of motor 10 realizes that lead screw 11 rotates, it moves from left to right to realize movable block 51 at the pivoted in-process of lead screw 11, it moves from left to right to realize telescopic link 6 at the in-process that movable block 51 moved from left to right, realize that telescopic link 6 collides with the coil stock, spring 19 is compressed, photoelectric switch 8 detects photoelectric switch baffle 20, tight material cylinder 52 stretches out and realizes supporting tightly the coil stock of rolling up at the lateral wall of reel 3, the work of motor 10 realizes moving the coil stock at the lateral wall of reel 3. The motor 10 works to move the movable block 51 from right to left until the telescopic rod 6 collides with the hard limit, the spring 19 compresses the travel switch 7, the tensioning airbag 13 is opened, and the material tensioning cylinder 52 retracts, so that the material is taken out of the outer side of the winding drum 3.
"fixedly connected" as described in the present invention means that two parts connected to each other are fixed together, typically by welding, screwing or gluing; "rotationally coupled" means that two components are coupled together and capable of relative motion.
Although the present description is described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art should be able to integrate the description as a whole, and the embodiments can be appropriately combined to form other embodiments as will be understood by those skilled in the art.
Therefore, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (10)
1. The full-automatic coil stock carrying and transferring manipulator is characterized by comprising a portal frame (1);
a clamp (22) is movably connected below the portal frame (1), the clamp (22) comprises a connecting block (2), one end of the connecting block (2) is fixedly connected with a winding drum (3) and an in-place detection mechanism (4), and two sides inside the winding drum (3) are movably connected with tensioning and pulling mechanisms;
the tensioning material pulling mechanism comprises a movable block (51) movably connected in the winding drum (3), a tensioning material cylinder (52) is fixedly connected to the movable block (51), and the movable end of the tensioning material cylinder (52) penetrates through the side wall of the winding drum (3) and is positioned on the outer side of the winding drum (3);
the utility model discloses a solar energy battery protection device, including activity piece (51), flexible connection has telescopic link (6) on activity piece (51), install travel switch (7) on activity piece (51), swing joint has photoelectric switch (8) on activity piece (51).
2. The full-automatic coil conveying and transferring manipulator as claimed in claim 1, wherein a cavity (9) is formed in the connecting block (2), a motor (10) is fixedly connected in the cavity (9), a lead screw (11) is fixedly connected to an output shaft of the motor (10), and the lead screw (11) is connected with the movable block (51).
3. The manipulator according to claim 1, wherein the movable block (51) is provided with a photoelectric switch shutter (20).
4. The manipulator for transferring and carrying rolled material according to claim 1, wherein the outer side wall of the winding drum (3) is provided with a tension air bag (13).
5. The manipulator for carrying and transferring the full-automatic coil stock according to claim 1, wherein a telescopic cylinder (14) is fixedly connected to the movable block (51), and a movable end of the telescopic cylinder (14) is fixedly connected to the photoelectric switch (8).
6. The manipulator for transferring and carrying coiled material according to claim 1, wherein a guide rail (15) is provided inside the reel (3), and the movable block (51) is movably connected to the guide rail (15).
7. The robot for transferring coil stock according to claim 1, wherein a camera (16) is fixedly connected to an end of the reel (3).
8. The robot for transferring coil stock according to claim 1, wherein a dividing block (17) is fixedly connected to the movable block (51).
9. The robot for transferring and loading coil stock according to claim 1, wherein a discharge gap detecting switch (18) is mounted on the reel (3).
10. The robot for transferring and loading coil stock according to claim 1, wherein a return detector control valve (21) is attached to the movable block (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111402955.6A CN114194892A (en) | 2021-11-24 | 2021-11-24 | Full-automatic coil stock carrying and transferring manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111402955.6A CN114194892A (en) | 2021-11-24 | 2021-11-24 | Full-automatic coil stock carrying and transferring manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114194892A true CN114194892A (en) | 2022-03-18 |
Family
ID=80648659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111402955.6A Pending CN114194892A (en) | 2021-11-24 | 2021-11-24 | Full-automatic coil stock carrying and transferring manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114194892A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828610A (en) * | 2015-04-29 | 2015-08-12 | 广东泰格威机器人科技有限公司 | Robot gripper for roll material |
| CN207827486U (en) * | 2018-01-29 | 2018-09-07 | 合肥国轩高科动力能源有限公司 | A kind of semi-automatic feeding device of lithium battery winder |
| CN112209037A (en) * | 2020-10-22 | 2021-01-12 | 苏州冠鸿智能装备有限公司 | Intelligent transfer robot |
| CN214140848U (en) * | 2020-12-26 | 2021-09-07 | 常州耐恩工业技术有限公司 | Take coil stock pusher's coiling material axle |
-
2021
- 2021-11-24 CN CN202111402955.6A patent/CN114194892A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828610A (en) * | 2015-04-29 | 2015-08-12 | 广东泰格威机器人科技有限公司 | Robot gripper for roll material |
| CN207827486U (en) * | 2018-01-29 | 2018-09-07 | 合肥国轩高科动力能源有限公司 | A kind of semi-automatic feeding device of lithium battery winder |
| CN112209037A (en) * | 2020-10-22 | 2021-01-12 | 苏州冠鸿智能装备有限公司 | Intelligent transfer robot |
| CN214140848U (en) * | 2020-12-26 | 2021-09-07 | 常州耐恩工业技术有限公司 | Take coil stock pusher's coiling material axle |
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