CN222540022U - Handling robot with cantilever axis device - Google Patents
Handling robot with cantilever axis device Download PDFInfo
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- CN222540022U CN222540022U CN202421189122.5U CN202421189122U CN222540022U CN 222540022 U CN222540022 U CN 222540022U CN 202421189122 U CN202421189122 U CN 202421189122U CN 222540022 U CN222540022 U CN 222540022U
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- cantilever shaft
- shaft device
- guide rail
- cantilever
- ball screw
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Abstract
本实用新型公开了一种具有悬臂轴装置的搬运机器人，它属于悬臂轴机械技术领域，其解决现有技术中卷料与设备工作台之间的上下料、卷料的转运工作较为繁杂的问题。它主要包括机器人本体，所述机器人本体底部设有驱动模块，机器人本体上设有悬臂轴装置，所述的悬臂轴装置包括安装平台，所述安装平台上设有悬臂轴框架和测距传感器，所述的悬臂轴框架上设有止挡机构和推出机构，所述的推出机构包括导轨组件和滚珠丝杠组件。本实用新型主要实现了悬臂轴装置与设备工作台之间的自动对接，卷料的自动下料，卷料的自动止挡夹紧及转运，卷料的自动上料推出功能。
The utility model discloses a handling robot with a cantilever shaft device, which belongs to the field of cantilever shaft mechanical technology, and solves the problem in the prior art that the loading and unloading and the transfer of coils between the coils and the equipment workbench are relatively complicated. It mainly includes a robot body, a driving module is provided at the bottom of the robot body, a cantilever shaft device is provided on the robot body, the cantilever shaft device includes a mounting platform, a cantilever shaft frame and a distance measuring sensor are provided on the mounting platform, a stop mechanism and a push-out mechanism are provided on the cantilever shaft frame, and the push-out mechanism includes a guide rail assembly and a ball screw assembly. The utility model mainly realizes the automatic docking between the cantilever shaft device and the equipment workbench, the automatic unloading of coils, the automatic stop clamping and transfer of coils, and the automatic loading and pushing out of coils.
Description
Technical Field
The utility model relates to the technical field of cantilever shaft machinery, in particular to a transfer robot with a cantilever shaft device.
Background
The carrying robot with the cantilever shaft device is mainly used for carrying coiled materials and automatically feeding and discharging the coiled materials, and the cantilever shaft device plays the most critical role. With the increasing development of new energy, the capacity of the lithium battery industry is continuously expanded, so as to reduce the fatigue strength and personal safety of operators in the process of carrying. In order to improve the production efficiency, the production beat is more controllable. The carrying robot with the cantilever shaft device mainly completes the work of blanking, transferring, winding and feeding of the pole piece winding and coiling material die in the production process of the lithium battery.
Most of the transfer robots with cantilever shaft devices commonly used in the prior art are only responsible for completing the transfer work of coiled materials, and cannot realize the butt joint with an equipment workbench and the automatic feeding and discharging work of the coiled materials. The feeding and discharging work of the coiled material is completed by manually using a power-assisted arm with an air expansion shaft. In the working process of pole piece coil stock mould blanking, transferring and winding feeding, a worker uses a booster arm to be in butt joint with an equipment workbench, the coil stock is manually pushed onto an air expansion shaft of the booster arm after alignment, the coil stock is prevented from sliding by inflation and is placed in a station buffer zone, a transfer robot transfers the coil stock to the winding feeding station buffer zone, the worker uses the booster arm to insert the coil stock, the air expansion shaft is inflated and expanded, the coil stock is lifted to be in butt joint with the equipment workbench, the air expansion shaft is deflated after alignment, and the coil stock is manually aligned onto the air expansion shaft of the equipment workbench. Therefore, the efficiency is low, the occupied space of equipment is large, and the labor intensity and the manufacturing cost of workers are high.
Disclosure of utility model
The utility model aims to provide a transfer robot with a cantilever shaft device, which solves the problems of complicated loading and unloading and transferring work of coil stock between coil stock and a device workbench in the prior art.
The utility model is realized by the following technical scheme:
A transfer robot with a cantilever shaft device comprises a robot body, a driving module is arranged at the bottom of the robot body, the cantilever shaft device is arranged on the robot body and comprises a mounting platform, a cantilever shaft frame and a distance measuring sensor are arranged on the mounting platform, a stop mechanism and a pushing mechanism are arranged on the cantilever shaft frame, the pushing mechanism comprises a guide rail assembly and a ball screw assembly, a pushing support is arranged on the ball screw assembly and is in sliding connection with the guide rail assembly, and a camera and a diffuse reflection switch are arranged on the cantilever shaft body. The distance measuring sensor is fixed on the mounting platform and used for detecting whether coiled materials exist or not and detecting the distance of the cantilever shaft device inserted into the coiled materials. The diffuse reflection switch is fixed on the cantilever shaft body and used for detecting whether coiled materials exist or not and detecting the limit pushing-out position when the coiled materials are pushed out. The camera is fixed on the cantilever shaft body to realize the secondary positioning and butt joint function between the cantilever shaft device and the equipment workbench. The distance measuring sensor is fixed on the mounting platform and used for detecting whether coiled materials exist or not and detecting the distance of the cantilever shaft device inserted into the coiled materials.
Further, the ball screw assembly comprises a servo motor, the servo motor is connected with a planetary reducer, a rear bearing seat is arranged on the planetary reducer, a screw nut seat is arranged on the rear bearing seat, the screw nut seat is connected with the ball screw assembly, a front bearing seat is arranged on the ball screw assembly, and the ball screw assembly is fixedly connected with a push-out support.
Further, the guide rail assembly comprises a guide rail, a sliding block is arranged on the guide rail, the sliding block is fixed with the pushing-out support, and the pushing-out support is in sliding connection with the guide rail through the sliding block.
Further, the cantilever shaft frame is provided with a bullnose bearing, and the cantilever shaft frame is in sliding connection with the push-out bracket through the bullnose bearing. The bullnose bearing is fixed on the cantilever shaft body, so that resistance can be reduced when the coiled material is pushed out and pushed in, and a rolling effect is achieved.
Further, the stop mechanism comprises a gear motor, the gear motor is arranged on the mounting plate, an output gear is arranged on an output shaft of the gear motor, a rotary bearing seat is fixed on the mounting plate, a rotary baffle plate is rotatably arranged on the rotary bearing seat, and the rotary baffle plate is meshed with the output gear. The stop mechanism is assembled on the cantilever shaft body to prevent coiled materials from sliding off.
Further, the mounting plate is provided with a plurality of proximity switches.
Compared with the prior art, the utility model has the beneficial effects that:
The utility model adopts a mode of matching the pushing mechanism and the stop mechanism, thereby realizing the full automation of blanking, transferring and winding feeding processes of the coil stock die. The utility model is provided with the laser ranging sensor, the diffuse reflection switch, the proximity switch and the camera, and the auxiliary cantilever shaft device is controlled, so that the functions of automatic butt joint between the cantilever shaft device and the equipment workbench, automatic blanking of coiled materials, automatic stop clamping and transferring of the coiled materials and automatic feeding and pushing of the coiled materials are realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic illustration of a portion of the structure of a cantilever shaft apparatus of the present utility model;
FIG. 3 is an internal cross-sectional view of the cantilever shaft apparatus of the present utility model;
FIG. 4 is a schematic view of the ejector mechanism of the present utility model;
FIG. 5 is a schematic view of a stop mechanism of the present utility model;
FIG. 6 is a front view of the stop mechanism of the present utility model;
FIG. 7 is a rear view of the stop mechanism of the present utility model;
FIG. 8 is a schematic view of a mounting plate portion of the present utility model.
In the figure, 1, a robot body; 2, a cantilever shaft device, 3, a coil stock, 21, a mounting platform, 22, a cantilever shaft frame, 23, a push-out mechanism, 24, a stop mechanism, 25, a camera, 26, a distance measuring sensor, 27, a diffuse reflection switch, 28, a proximity switch I, 29, a bullseye bearing, 231, a guide rail, 232, a ball screw, 233, a front bearing seat, 234, a push-out bracket, 235, a screw nut seat, 237, a planetary reducer, 238, a servo motor, 239, a rear bearing seat, 241, a gear motor, 242, an output gear, 243, a rotary stop block, 244, a rotary bearing seat, 245, a proximity switch II, 246, a proximity switch III, 247 and a mounting plate.
Detailed Description
In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present utility model, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present utility model. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the utility model.
The utility model is further described below with reference to the accompanying drawings.
Embodiment 1, a transfer robot with cantilever shaft device, as shown in fig. 1-8, includes a robot body 1, a driving module is disposed at the bottom of the robot body 1, a cantilever shaft device 2 is disposed on the robot body 1, the cantilever shaft device 2 includes a mounting platform 21, a cantilever shaft frame 22 and a ranging sensor 26 are disposed on the mounting platform 21, a stop mechanism 24 and a push-out mechanism 23 are disposed on the cantilever shaft frame 22, the push-out mechanism 23 includes a guide rail assembly and a ball screw assembly, a push-out bracket 234 is disposed on the ball screw assembly, the push-out bracket 234 is slidably connected with the guide rail assembly, and a camera 25 and a diffuse reflection switch 27 are disposed on the cantilever shaft body. A laser ranging sensor 26 is fixed to the mounting platform 21 to detect whether there is a roll 3 and to detect the distance the cantilever shaft device 2 is inserted into the roll 3. The diffuse reflection switch 27 is fixed to the cantilever shaft body, and detects whether the coil stock 3 is present or not and the limit pushing position when the coil stock 3 is pushed out. The camera 25 is fixed on the cantilever shaft body to realize the secondary positioning and butt joint function between the cantilever shaft device 2 and the equipment workbench. The distance measuring sensor 26 is fixed to the mounting platform 21, and detects whether the coil stock 3 is present or not and detects the distance by which the cantilever shaft device 2 is inserted into the coil stock 3. The push-out mechanism 23 is assembled on the cantilever shaft frame 22 to realize the push-out function when the coil stock 3 is fed and the fixing function of the coil stock 3 together with the stop mechanism 24 in the process of shipping the coil stock 3. The robot body 1 is provided with an alarm module.
In embodiment 2, as shown in fig. 4, the ball screw assembly includes a servo motor 238, the servo motor 238 is connected with a planetary reducer 237, a rear bearing seat 239 is provided on the planetary reducer 237, a screw nut seat 235 is provided on the rear bearing seat 239, a ball screw assembly is connected to the screw nut seat 235, a front bearing seat 233 is provided on the ball screw assembly, and the ball screw assembly is fixedly connected to a push-out support 234 to provide power for the movement of the push-out support 234.
The guide rail assembly comprises a guide rail 231, a sliding block is arranged on the guide rail 231, the sliding block is fixed with a push-out bracket 234, and the push-out bracket 234 is in sliding connection with the guide rail 231 through the sliding block, so that the push-out bracket 234 can reciprocate along the axial direction of the cantilever shaft device 2.
The cantilever shaft frame 22 is provided with a bullnose bearing 29, and the cantilever shaft frame 22 is slidably connected with the push-out bracket 234 through the bullnose bearing 29. The bullnose bearing 29 is fixed to the cantilever shaft body, and reduces resistance when pushing out and pushing in the coil stock 3, thereby achieving a rolling function.
As shown in fig. 5-7, the stop mechanism 24 includes a gear motor 241, the gear motor 241 is disposed on a mounting plate 247, an output gear 242 is disposed on an output shaft of the gear motor 241, a rotary bearing seat 244 is fixed on the mounting plate 247, a rotary baffle is rotatably disposed on the rotary bearing seat 244, and the rotary baffle is meshed with the output gear 242. The stopper mechanism 24 is mounted on the cantilever shaft body to prevent the coil stock 3 from slipping off, the rotation bearing support 244 and the mounting plate 247 are fixed to the cantilever shaft frame 22, and the rotation stopper 243 is mounted on the rotation bearing support 244 by a bearing so as to be rotatable in the axial direction. The DC gear motor 241 is mounted on a mounting plate 247 and the output gear 242 is mounted on the motor shaft of the gear motor 241 and is in gear engagement with the rotational stop 243 assembly. The direct-current gear motor 241 drives the rotation stopper 243 to rotate, thereby realizing the lifting of the stopper.
The mounting plate 247 is provided with a proximity switch II245 and a proximity switch III246, the proximity switch II245 is used for detecting the rising state of the rotation stop block 243, the proximity switch III246 is used for detecting the falling state of the rotation stop block 243, the mounting platform 21 is provided with a proximity switch I28, and the proximity switch I28 carries out the withdrawal of the push-out mechanism 23 and the zero detection of the start-up. The other steps are the same as in example 1.
When the feeding device is used for feeding, the robot body 1 runs to a specified position of a feeding station of the coil 3, the camera 25 scans a two-dimensional code on the end face of the air expansion shaft of the equipment workbench, after the two-dimensional code is detected in place, the equipment workbench pushes the coil 3 out of the cantilever shaft device 2, the distance measuring sensor 26 detects the push-in distance of the coil 3, the diffuse reflection switch 27 detects the coil 3 in place, the rotary stop block 243 of the stop mechanism 24 is lifted, the push-out mechanism 23 moves forwards, the coil 3 is clamped between the push-out support 234 and the rotary stop block 243, the diffuse reflection switch 27 detects the coil 3, and the motor torque is fed back to a set value to stop. The handling robot transfers the coil stock 3 to a fixed station. If the distance measuring sensor 26 and the diffuse reflection switch 27 do not detect the coil stock 3 or the coil stock is not detected in place, the alarm module alarms. And if the stop block rising signal of the stop mechanism 24 is not detected, an alarm is sent out, and the alarm module gives an alarm. If the diffuse reflection switch 27 detects that the coil 3 is not in the coil 3 or the motor torque feedback of the pushing mechanism 23 does not reach the set value after the pushing mechanism 23 pushes the set distance interval forwards in the process of clamping the coil 3, the alarm module alarms.
When the transfer robot runs to the designated position of the blanking station of the coil stock 3, the camera 25 scans the two-dimensional code on the end face of the air expansion shaft of the equipment workbench, after the two-dimensional code is detected, the push-out mechanism 23 moves backwards for setting a distance to release the coil stock 3, the rotation stop block 243 of the stop mechanism 24 descends, the push-out mechanism 23 moves forwards to push the coil stock 3 out of the cantilever shaft device 2 to push the coil stock 3 onto the air expansion shaft of the equipment workbench, and the ranging sensor 26 and the diffuse reflection sensor detect the situation in place. The push-out mechanism 23 moves backward to return to the zero position after detecting the position, and the proximity switch I28 detects the zero position. An alarm is given if the rotation stop 243 of the stop mechanism 24 is not detected to be lowered. If the push-out mechanism 23 pushes forward for a set distance, or the distance detected by the distance measuring sensor 26 is not within the set interval, or the diffuse reflection sensor does not detect the position, the alarm module alarms. The foregoing detailed description of the utility model has been presented for purposes of illustration and description, but is not intended to limit the scope of the utility model, i.e., the utility model is not limited to the details shown and described.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421189122.5U CN222540022U (en) | 2024-05-28 | 2024-05-28 | Handling robot with cantilever axis device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421189122.5U CN222540022U (en) | 2024-05-28 | 2024-05-28 | Handling robot with cantilever axis device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222540022U true CN222540022U (en) | 2025-02-28 |
Family
ID=94719132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421189122.5U Active CN222540022U (en) | 2024-05-28 | 2024-05-28 | Handling robot with cantilever axis device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222540022U (en) |
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2024
- 2024-05-28 CN CN202421189122.5U patent/CN222540022U/en active Active
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