Pay-off robot driven pay-off structure and high-precision positioning method
By using a wire-laying robot drive structure and a high-precision positioning method, the problems of cable tension fluctuation and positioning accuracy in traditional wire-laying structures have been solved, achieving high-precision positioning and equipment stability, improving production efficiency and reducing maintenance costs.
Patent Information
- Application Number
- CN202511514427.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2025-12-16
AI Technical Summary
Traditional wire laying structures suffer from the following problems: wire breakage due to cable tension fluctuations, material damage, path deviation affecting processing accuracy and equipment adaptability, environmental interference leading to decreased positioning accuracy and poor system stability, high maintenance costs and slow fault recovery, which affect production efficiency.
The cable-laying robot employs a drive structure that combines positioning, lifting, and buffering components. Through modular design and pneumatic actuators, it achieves uniform cable release and controllable tension. Combined with a linear guide rail and lead screw pair structure, it enables multi-dimensional positioning control. The buffering component absorbs vibration energy, ensuring real-time cable path correction and equipment stability.
It achieves constant cable tension and no vibration or breakage under complex working conditions, maintains high-precision positioning, improves the stability and production efficiency of equipment in complex environments, and reduces maintenance costs.
Smart Images
Figure CN121134435A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of automatic logistics positioning, and in particular to a pay-off robot driving pay-off structure and high-precision positioning method. BACKGROUND
[0002] With the rapid development of intelligent manufacturing technology, in the process of automatic warehouse system construction, the cargo storage area needs to be accurately partitioned and lined, at which time a pay-off structure needs to be used; The pay-off structure of the similar structure still has many defects in actual use, such as: the traditional pay-off structure has the problems of cable tension fluctuation leading to the risk of cable breakage and material damage, cable path deviation under complex working conditions affecting processing precision and insufficient equipment adaptability, and environmental factor interference of the traditional pay-off structure leading to decreased positioning precision and poor system stability, high maintenance cost and slow fault recovery affecting production efficiency, so a pay-off robot driving pay-off structure and high-precision positioning method needs to be designed. SUMMARY
[0003] To solve the above technical problems, the present application provides a pay-off robot driving pay-off structure and high-precision positioning method.
[0004] The present application adopts the following technical scheme: a pay-off robot driving pay-off structure and high-precision positioning method, comprising a mounting assembly, the mounting assembly comprising a robot body, an embedding groove is formed on the outer surface of the robot body, a limiting groove is formed on the bottom of the robot body, further comprising: a positioning assembly, the positioning assembly comprising a positioning device body fixedly connected to the inside of the robot body, and a pay-off wheel rotatably connected to the bottom of the positioning device body through a connecting frame; a first lifting assembly, the first lifting assembly comprising a drive wheel slidably mounted in the limiting groove through a first adjusting cylinder; a buffer assembly, the buffer assembly comprising a lifting seat movably mounted on the bottom of the robot body through a spring damper, and a pulley fixedly connected to the outer surface of the lifting seat; a second lifting assembly, the second lifting assembly comprising a second adjusting cylinder movably mounted on the top of the lifting seat, and the top of the second adjusting cylinder movably mounted in the inside of the robot body through a moving seat.
[0005] As a further improvement of the above scheme, the inner wall of the embedding groove is fixedly connected with a placing plate, the bottom of the placing plate is fixedly connected with the positioning device body, the bottom of the positioning device body is fixedly connected with the connecting frame, and the connecting frame is rotatably connected with the pay-off wheel in the inside of the connecting frame.
[0006] Through the technical scheme, the structure operation of modular integrated design drives the generation of key component protection and maintenance convenience improvement effect, the placement plate serves as an electrical element carrier, effectively isolates the interference of dust and oil stains on the precision sensor, and provides a visual window for maintenance.
[0007] As a further improvement of the above scheme, the inner wall of the limiting groove is fixedly connected with a first adjusting cylinder, the bottom of the first adjusting cylinder is fixedly connected with a connecting seat, the inside of the connecting seat is rotatably connected with a driving wheel, the outer surface of the connecting seat is fixedly connected with a connecting plate, and the side away from the driving wheel of the connecting plate is rotatably connected to the inside of the connecting frame.
[0008] Through the technical scheme, the structure operation of the combination of the pneumatic actuator and the hinge four-bar linkage drives the generation of the motion trajectory adaptive adjustment and lateral force compensation effect. This design allows the driving wheel to automatically correct the angle deviation when vertically sliding, ensuring that the cable guiding accuracy is not affected by the inclination of the equipment.
[0009] As a further improvement of the above scheme, the bottom of the robot body away from the limiting groove is provided with a mounting groove, the inner wall of the mounting groove is fixedly connected with an adjusting screw, and the outer surface of the adjusting screw is fixedly connected with a mounting seat.
[0010] Through the technical scheme, the structure operation of the linear guide rail and the screw pair cooperation drives the generation of the load uniform distribution transmission and the force state visualization effect. The mounting groove serves as a reference platform, providing a positioning reference surface for subsequent components, simplifying the assembly process and improving the structural rigidity.
[0011] As a further improvement of the above scheme, the bottom of the mounting seat is fixedly connected with a first mounting block, the bottom of the first mounting block is fixedly connected with a spring damper, and the bottom of the spring damper is fixedly connected with a first connecting block.
[0012] Through the technical scheme, the structure operation of the progressive buffer system drives the generation of the impact energy graded absorption and the fatigue life extension effect. The multi-stage shock absorption design effectively reduces the transmission efficiency of high-frequency vibration to the base frame, protecting sensitive components from resonance damage.
[0013] As a further improvement of the above scheme, the bottom of the first connecting block is fixedly connected with a lifting seat, the inside of the lifting seat is rotatably connected with a second connecting block, and the outer surface of the second connecting block is fixedly connected with a second adjusting cylinder.
[0014] Through the technical scheme, the structure operation of the floating support platform drives the generation of the gravity load dynamic balance and the attitude stability enhancement effect. The lifting seat serves as an intermediate transition unit, converting vertical motion into horizontal displacement to achieve multi-dimensional freedom control.
[0015] As a further improvement of the above scheme, the top of the second adjusting cylinder is fixedly connected with a second mounting block, the second mounting block is rotationally connected to the inside of a moving seat, and the moving seat is threadedly connected to the outer surface of the adjusting screw rod.
[0016] Through the structure operation of the precision screw rod transmission system, the micro-level displacement control and the back gap elimination effect are generated, and the design ensures that the zero gap transmission can be maintained after long-term use, and the high-precision positioning demand is met.
[0017] A high-precision positioning method of a pay-off robot driving pay-off structure, comprising the following steps: S: With the connecting frame mounted to the outer surface of the pay-off wheel, the connecting frame is rotationally connected to the inside of the pay-off wheel, and with the rolling of the pay-off wheel, since the top of the connecting frame is fixedly connected with the positioning device body, the positioning device body can accurately record and position the rolling of the pay-off wheel, so that the user can conveniently perform high-precision positioning on the robot body.
[0018] Compared with the prior art, the beneficial effects of the present application are: The present application drives the uniform release of the cable and the controllable tension effect through the driving structure operation of the positioning device body, the connecting frame and the pay-off wheel in the positioning assembly, the first adjusting cylinder of the first lifting assembly pushes the driving wheel to slide along the limiting groove, the rotational compensation mechanism of the connecting plate is combined, the cable path is corrected in real time, the spring damper of the buffer assembly acts on the lifting seat, the pulley continuously adheres to the ground to absorb vibration energy, and finally the effects of constant cable tension and no shaking and breaking of the cable during equipment movement are achieved.
[0019] The present application drives the height fine-tuning response and vibration grading suppression effect through the vertical adjusting structure operation of the second connecting block driven by the second adjusting cylinder of the second lifting assembly along the adjusting screw rod, the mounting seat in the bottom mounting groove and the first mounting block construct a rigid base frame, the nested spring damper provides a flexible transition interface, cooperates with the horizontal displacement compensation function of the first lifting assembly, forms a multi-dimensional closed loop control of the spatial coordinate system, and finally realizes the high-precision positioning effect that the robot body can still keep high trajectory coincidence degree and small position deviation under complex working conditions. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the overall bottom structure of the present application; Figure 3 It is a schematic diagram of the overall bottom structure of the present application; Figure 2 It is an enlarged schematic diagram of the structure at A in the present application; Figure 4 It is a schematic diagram of the inside of the overall bottom structure of the present application; Figure 5 For the application Figure 4 Enlarged schematic view of the structure at B in the application; Figure 6 For the application Figure 7 For the application Figure 6 Enlarged schematic view of the structure at C in the application; Figure 8 For the application
[0021] Main symbol explanation: 1, mounting assembly; 101, robot body; 102, embedded groove; 103, limiting groove; 2, positioning assembly; 201, placement plate; 202, positioning device body; 203, connecting frame; 204, pay-off wheel; 3, first lifting assembly; 301, first adjusting cylinder; 302, connecting seat; 303, drive wheel; 304, connecting plate; 4, buffer assembly; 401, mounting groove; 402, adjusting screw; 403, mounting seat; 404, first mounting block; 405, spring damper; 406, first connecting block; 407, lifting seat; 408, pulley; 5, second lifting assembly; 501, second connecting block; 502, second adjusting cylinder; 503, second mounting block; 504, moving seat. DETAILED DESCRIPTION
[0022] In the following, the application will be further described in conjunction with the drawings and specific embodiments. It should be noted that the following described embodiments or technical features can be combined in any manner to form new embodiments without conflict.
[0023] Embodiment: Please combine Figures 1-8 The pay-off robot drive pay-off structure and high-precision positioning method of the embodiment includes a mounting assembly 1, which includes a robot body 101. The outer surface of the robot body 101 is provided with an embedded groove 102. The bottom of the robot body 101 is provided with a limiting groove 103. The mounting assembly 1 further includes: A positioning assembly 2 is fixedly connected to the inside of the robot body 101. The positioning device body 202 is rotatably connected to the pay-off wheel 204 through the connecting frame 203 at the bottom of the positioning device body 202. A first lifting assembly 3 includes a drive wheel 303 which is slidably installed in the limiting groove 103 through a first adjusting cylinder 301. A buffer assembly 4 includes a lifting seat 407 which is movably installed at the bottom of the robot body 101 through a spring damper 405. The outer surface of the lifting seat 407 is fixedly connected to a pulley 408. The second lifting assembly 5 comprises a second adjusting cylinder 502 movably mounted on the top of the lifting seat 407, and the top of the second adjusting cylinder 502 is movably mounted in the interior of the robot body 101 through a moving seat 504.
[0024] The inner wall of the embedding groove 102 is fixedly connected with a placing plate 201, the bottom of the placing plate 201 is fixedly connected with a positioning device body 202, the bottom of the positioning device body 202 is fixedly connected with a connecting frame 203, and the interior of the connecting frame 203 is rotatably connected with a pay-off wheel 204.
[0025] The inner wall of the limiting groove 103 is fixedly connected with a first adjusting cylinder 301, the bottom of the first adjusting cylinder 301 is fixedly connected with a connecting seat 302, the interior of the connecting seat 302 is rotatably connected with a driving wheel 303, the outer surface of the connecting seat 302 is fixedly connected with a connecting plate 304, and the side, away from the driving wheel 303, of the connecting plate 304 is rotatably connected to the interior of the connecting frame 203.
[0026] The first adjusting cylinder 301 of the first lifting assembly 3 pushes the driving wheel 303 to vertically slide along the limiting groove 103, and cooperates with the rotary pair structure of the connecting plate 304 and the connecting frame 203 to realize dynamic adjustment of the cable running direction, in the process, the spring damper 405 of the buffer assembly 4 acts on the lifting seat 407, so that the pulley 408 always adheres to the ground and absorbs vibration energy.
[0027] The bottom, away from the limiting groove 103, of the robot body 101 is provided with a mounting groove 401, the inner wall of the mounting groove 401 is fixedly connected with an adjusting screw 402, and the outer surface of the adjusting screw 402 is fixedly connected with a mounting seat 403.
[0028] The bottom of the mounting seat 403 is fixedly connected with a first mounting block 404, the bottom of the first mounting block 404 is fixedly connected with a spring damper 405, and the bottom of the spring damper 405 is fixedly connected with a first connecting block 406.
[0029] The bottom of the first connecting block 406 is fixedly connected with a lifting seat 407, the interior of the lifting seat 407 is rotatably connected with a second connecting block 501, and the outer surface of the second connecting block 501 is fixedly connected with a second adjusting cylinder 502.
[0030] The top of the second adjusting cylinder 502 is fixedly connected with a second mounting block 503, the second mounting block 503 is rotatably connected to the interior of the moving seat 504, and the moving seat 504 is threadedly connected to the outer surface of the adjusting screw 402.
[0031] The mounting seat 403 arranged in the mounting groove 401 at the bottom and the first mounting block 404 form a rigid support base, and the spring damper 405 nested therein further filters residual vibration. The double-layer buffering architecture combines the horizontal displacement compensation function of the first lifting assembly 3, so that the robot body 101 can realize accurate positioning in three-dimensional space.
[0032] A high-precision positioning method of a pay-off robot driving a pay-off structure, comprising the following steps: S1: As the connecting frame 203 is mounted to the outer surface of the pay-off wheel 204, ensure that the connecting frame 203 is rotationally connected inside the pay-off wheel 204. As the pay-off wheel 204 rolls, the top of the connecting frame 203 is fixedly connected with the positioning device body 202, which can accurately record and position the rolling of the pay-off wheel 204, ensuring that the user can conveniently perform high-precision positioning on the robot body 101.
[0033] The implementation principle of the pay-off robot driving pay-off structure and high-precision positioning method in the embodiment of the application is as follows: when the equipment is started, the positioning device body 202 in the positioning assembly 2 drives the pay-off wheel 204 to rotate and pay off the wire through the connecting frame 203. At the same time, the first adjusting cylinder 301 of the first lifting assembly 3 pushes the driving wheel 303 to vertically slide along the limiting groove 103, cooperates with the revolute pair structure of the connecting plate 304 and the connecting frame 203, and realizes dynamic adjustment of the cable running direction. In this process, the spring damper 405 of the buffering assembly 4 acts on the lifting seat 407, so that the pulley 408 always adheres to the ground and absorbs vibration energy, effectively eliminating the impact load generated when the equipment moves. This design ensures that the cable tension remains stable under complex working conditions, avoiding the problems of wire breakage or deviation caused by shaking; In the vertical direction, the second adjusting cylinder 502 of the second lifting assembly 5 pushes the moving seat 504 to move axially along the adjusting screw 402 through the second connecting block 501, drives the entire upper structure to be finely adjusted in height at the micron level, and the mounting seat 403 arranged in the mounting groove 401 at the bottom and the first mounting block 404 form a rigid support base, and the spring damper 405 nested therein further filters residual vibration. This double-layer buffering architecture combines the horizontal displacement compensation function of the first lifting assembly 3, so that the robot body 101 can realize accurate positioning in three-dimensional space. In particular in high-speed running scenarios, the placement plate 201 embedded in the slot 102 provides a protective barrier for electrical elements, preventing dust from interfering with the transmission of coded signals and ensuring that the positioning device body 202 continuously outputs high-precision position feedback data.
[0034] The above-mentioned embodiments are only preferred embodiments of the application, and cannot be used to limit the scope of protection of the application. Any non-essential changes and replacements made by those skilled in the art on the basis of the application all belong to the scope of protection claimed by the application.
Claims
1. A wire-laying robot driven wire-laying structure, comprising an installation component (1), the installation component (1) comprising a robot body (101), wherein an embedding groove (102) is formed on the outer surface of the robot body (101), and a limiting groove (103) is formed on the bottom of the robot body (101), characterized in that, Also includes: The positioning component (2) includes a positioning device body (202) fixedly connected inside the robot body (101), and a wire feeding wheel (204) is rotatably connected to the bottom of the positioning device body (202) through a connecting frame (203). The first lifting assembly (3) includes a drive wheel (303) that is slidably mounted inside the limiting groove (103) via a first adjusting cylinder (301). The buffer assembly (4) includes a lifting seat (407) movably mounted on the bottom of the robot body (101) via a spring damper (405), and a pulley (408) is fixedly connected to the outer surface of the lifting seat (407). The second lifting assembly (5) includes a second adjusting cylinder (502) movably mounted on the top of the lifting seat (407), the top of the second adjusting cylinder (502) being movably mounted inside the robot body (101) via a movable seat (504).
2. The wire-laying robot drive structure as described in claim 1, characterized in that: The inner wall of the embedding groove (102) is fixedly connected to a placement plate (201), the bottom of the placement plate (201) is fixedly connected to a positioning device body (202), the bottom of the positioning device body (202) is fixedly connected to a connecting frame (203), and the inside of the connecting frame (203) is rotatably connected to a wire feeding wheel (204).
3. The wire-laying robot drive structure as described in claim 1, characterized in that: The inner wall of the limiting groove (103) is fixedly connected to a first adjusting cylinder (301), the bottom of the first adjusting cylinder (301) is fixedly connected to a connecting seat (302), the inside of the connecting seat (302) is rotatably connected to a drive wheel (303), the outer surface of the connecting seat (302) is fixedly connected to a connecting plate (304), and the side of the connecting plate (304) away from the drive wheel (303) is rotatably connected to the inside of the connecting frame (203).
4. The wire-laying robot drive structure as described in claim 1, characterized in that: The bottom of the robot body (101) is provided with a mounting groove (401) on the side away from the limiting groove (103). An adjusting screw (402) is fixedly connected to the inner wall of the mounting groove (401), and a mounting base (403) is fixedly connected to the outer surface of the adjusting screw (402).
5. The wire-laying robot drive structure as described in claim 4, characterized in that: The bottom of the mounting base (403) is fixedly connected to a first mounting block (404), the bottom of the first mounting block (404) is fixedly connected to a spring damper (405), and the bottom of the spring damper (405) is fixedly connected to a first connecting block (406).
6. The wire-laying robot drive structure as described in claim 5, characterized in that: The bottom of the first connecting block (406) is fixedly connected to a lifting seat (407), the interior of the lifting seat (407) is rotatably connected to a second connecting block (501), and the outer surface of the second connecting block (501) is fixedly connected to a second adjusting cylinder (502).
7. The wire-laying robot drive structure as described in claim 6, characterized in that: The top of the second adjusting cylinder (502) is fixedly connected to a second mounting block (503), the second mounting block (503) is rotatably connected to the inside of the movable seat (504), and the movable seat (504) is threadedly connected to the outer surface of the adjusting screw (402).
8. A high-precision positioning method for a wire-laying robot driving a wire-laying structure as described in any one of claims 1-7: S1: As the connecting frame (203) is installed on the outer surface of the wire feeding wheel (204), the connecting frame (203) is rotatably connected to the inside of the wire feeding wheel (204). As the wire feeding wheel (204) rolls, the positioning device body (202) is fixedly connected to the top of the connecting frame (203). The positioning device body (202) can accurately record and position the rolling of the wire feeding wheel (204), ensuring that users can easily perform high-precision positioning on the robot body (101).