Steering mechanism of self-propelled winding machine

Abstract

According to the steering mechanism of the self-propelled winding machine, a connecting rod is rotatably arranged on a walking trolley body, a rotatable guide wheel is arranged at the other end of the connecting rod, and the guide wheel is used for making contact with the outer contour side wall of an object in a rolling mode; a torque spring is arranged at the joint of a rotating shaft of the connecting rod and the walking trolley body and used for driving the guide wheel to elastically abut against the outer contour side wall of an object. A torque sensor is further arranged at the joint of the rotating shaft of the connecting rod and the walking trolley body and used for detecting the torque of the rotating shaft of the connecting rod; a steering wheel frame is rotatably arranged at the bottom of the walking trolley body, a front steering wheel is arranged on the steering wheel frame, and a driving device used for driving the steering wheel to rotate is arranged on a Z-axis rotating shaft of the steering wheel frame. Through cooperation of the torque spring and the guide wheel, the device can adjust the position and posture of the guide wheel in a self-adaptive mode according to the outer contour shape of a wound object, it is ensured that the device makes close contact with the object, and the winding compactness and uniformity are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of winding machines, and in particular relates to a steering mechanism of a self-propelled winding machine. Background Art

[0002] Self-propelled wrapping machines usually consist of an autonomous mobile platform, a wrapping arm and lifting device, a control system, and a film supply system. Through the automatic control system and the preset program, the equipment can automatically wrap the film around the goods to form one or more layers of tight packaging. This not only ensures the safety of the goods during transportation, but also improves packaging efficiency. Existing self-propelled wrapping machines usually use guide wheels to hard-extrude the outer contour of the trestle to achieve the steering of the wrapping machine, so as to wrap the packaging film around the product. For products without a trestle at the bottom, and products with a soft surface and unstable center of gravity, the guide wheels of the existing self-propelled wrapping machines directly act on the surface of the product, which will cause the risk of product collapse and cannot be automatically wrapped. Utility Model Content

[0003] The technical problem to be solved by the utility model is: to solve the deficiencies in the prior art, thereby providing a steering mechanism for a self-propelled wrapping machine, aiming to effectively avoid the risk of collapse when wrapping soft products with unstable center of gravity, improve packaging applicability, and reduce damage to items and safety accidents caused by collapse.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A steering mechanism of a self-propelled winding machine comprises: a walking trolley body, a connecting rod rotatably provided on the walking trolley body, a rotatable guide wheel is provided at the other end of the connecting rod, and the guide wheel is used for rolling contact with the outer contour side wall of an object;

[0006] A torque spring is provided at the connection between the rotating shaft of the connecting rod and the walking trolley body, and the torque spring is used to drive the guide wheel to elastically abut against the outer contour side wall of the object;

[0007] A torque sensor is also provided at the connection between the rotating shaft of the connecting rod and the walking trolley body, and the torque sensor is used to detect the torque of the rotating shaft of the connecting rod;

[0008] A steering wheel frame is rotatably provided at the bottom of the walking trolley body, a front steering wheel is provided on the steering wheel frame, and a driving device for driving the steering wheel to rotate is provided on the Z-axis rotating shaft of the steering wheel frame.

[0009] Preferably, the steering mechanism of a self-propelled winding machine of the utility model, the driving device includes a servo motor, a reducer and a transmission gear assembly, the transmission gear assembly includes a driving gear connected to the power output shaft of the reducer and a driven gear connected to the Z-axis rotating shaft of the steering wheel frame, and the servo motor is used to drive the steering wheel frame to steer around the Z-axis rotating shaft.

[0010] Preferably, the steering mechanism of a self-propelled winding machine of the utility model also includes a control module, which is used to receive the rotational torque information provided by the torque sensor, and controls the rotation direction and speed of the servo motor in combination with a preset winding program, so that the steering wheel frame follows the guide wheel to turn around the side wall of the outer contour of the material.

[0011] Preferably, in the steering mechanism of a self-propelled winding machine of the utility model, the initial position of the connecting rod is set to be 45° laterally of the straight forward direction of the steering wheel frame.

[0012] Preferably, in the steering mechanism of a self-propelled winding machine of the utility model, the outer surface of the guide wheel is covered with a wear-resistant and elastic material, and the material is selected from rubber and polyurethane.

[0013] Preferably, in the steering mechanism of a self-propelled winding machine of the utility model, the rotating shaft of the guide wheel is inserted into the lockable pin hole at the end of the connecting rod.

[0014] The beneficial effects of the utility model are:

[0015] (1) Through the cooperation of the torque spring and the guide wheel, the device can adaptively adjust the position and posture of the guide wheel according to the outer contour shape of the wound object, ensuring close contact with the object and improving the tightness and uniformity of winding;

[0016] (2) Improve packaging efficiency and safety. With its adaptive steering function, the mechanism can effectively avoid the risk of collapse when wrapping soft or unstable products, thereby improving packaging efficiency and reducing damage to items and safety accidents caused by collapse. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The technical solution of the present application is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the vehicle body of an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of the bottom plan structure of the trolley body of an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the cross-sectional structure of a bogie frame according to an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the structure of the driving device of an embodiment of the present application;

[0022] The reference numerals in the figure are:

[0023] The trolley body 10, the connecting rod 11, the guide wheel 12, the steering wheel frame 13, the steering wheel 14, the driving device 15, and the rotating pin 16. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0025] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0027] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0028] Example

[0029] This embodiment provides a steering mechanism for a self-propelled wrapping machine, the core of which is its adaptive steering function, which is realized through a carefully designed mechanism, so that when the wrapping machine wraps soft and unstable products, it can avoid the risk of product collapse, while improving packaging efficiency and safety. Figure 1 and Figure 2, including a walking trolley body 10, a connecting rod 11, a guide wheel 12, a torque spring, a torque sensor, a steering wheel frame 13 and a driving device.

[0030] The walking trolley body 10 is the basic platform of the steering mechanism of the self-propelled winding machine. It is made of strong and durable materials to ensure stable performance under long-term and high-intensity working conditions. There are multiple mounting points on the walking trolley body 10 for fixing and connecting the connecting rod 11, guide wheel 12 and other components.

[0031] Reference Figure 4 One end of the connecting rod 11 is rotatably connected to the traveling trolley body 10 through a rotating pin 16 and a bearing and other components, and the other end is provided with a guide wheel 12. A torque spring is installed at the connection between the rotating shaft of the connecting rod 11 and the traveling trolley body 10. The torque spring provides a basically constant torsional elasticity for the connecting rod 11, so that the guide wheel 12 can adaptively adjust its position and posture according to the outer contour shape of the object to ensure close contact with the object.

[0032] The guide wheel 12 is made of a wear-resistant and elastic material, such as rubber or polyurethane. The diameter and width of the guide wheel 12 can be adjusted according to actual needs to adapt to products of different sizes and shapes. The rotating shaft of the guide wheel 12 is inserted into the lockable pin hole at the end of the connecting rod 11, which is convenient for adjusting the height of the guide wheel 12, thereby adjusting the position of the guide wheel 12 contacting the object.

[0033] The torque spring (not shown) is arranged at the connection between the rotating shaft of the connecting rod 11 and the walking trolley body 10. When the guide wheel 12 contacts the object and squeezes the torque spring, the torque spring will generate a substantially constant elastic force within its travel range, so that the guide wheel 12 can cling to the outer contour side wall of the object. By selecting a torque spring with a smaller rebound force, the force of the guide wheel 12 clinging to the object is very small, so as not to crush the surface of the object or even push down the object.

[0034] The torque sensor (not shown) is mounted on the rotating shaft of the connecting rod 11. When the connecting rod 11 rotates, the torque sensor will detect and record the rotation torque of the connecting rod 11 in real time. The torque information will be transmitted to the control module for processing and analysis.

[0035] Reference Figure 3 The steering wheel frame 13 is rotatably arranged at the bottom of the traveling trolley body 10. A pair of steering wheels 14 are mounted thereon, which are responsible for the movement and steering of the entire mechanism. A driving device 15 is mounted on the Z-axis rotating shaft of the steering wheel frame 13, and the driving device 15 includes a servo motor, a reducer, and a transmission gear assembly. The driving device can accurately control the rotation direction and speed of the steering wheel according to the instructions of the control module.

[0036] The control module (not shown) is the brain of the steering mechanism of the self-propelled winding machine. It receives the torque information provided by the torque sensor and the data of other sensors, combines the preset torque value, the winding program and algorithm, calculates the angle and direction to be rotated, and sends instructions to the servo motor. At the same time, the control module can also monitor and adjust the operating status of the entire mechanism in real time to ensure the smooth progress of the winding process.

[0037] It should be noted that the device also includes a power supply module for powering and a rear-wheel drive mechanism, and the rear-wheel drive mechanism is used to drive the device forward or backward.

[0038] In this embodiment, when the guide wheel 12 is out of contact with the material (not subject to external force), the connecting rod is driven by the torque spring, and its initial position is 85° lateral to the straight-line forward direction of the steering wheel frame, and the steering wheel frame is in a state of being fully rotated to the right. At this time, the rotational torque is at a minimum value. When the guide wheel 12 contacts the object, causing the connecting rod to rotate, and the angle between the connecting rod and the straight-line forward direction of the steering wheel frame is 60°, the rotational torque at this time is the preset torque value. When the connecting rod continues to rotate with the guide wheel 12, the control module determines the rotation direction and rotation size of the servo motor based on the comparison between the detected torque value and the preset torque value, so as to realize the winding machine turning and walking around the wrapped object.

[0039] The working principle of the device of the utility model is as follows: when the self-propelled winding machine needs to turn, the control module first sends instructions to the servo motor according to the preset winding program and the rotation torque information provided by the torque sensor to drive the steering wheel frame to rotate. During the steering process, the guide wheel 12 always clings to the outer contour side wall of the object, and the elastic action of the torque spring ensures that the contact force with the object is constant. At the same time, the torque sensor detects the rotation torque of the connecting rod 11 in real time. When the rotation torque reaches the set value, the direction is kept constant, and the rotation angle information is fed back to the control module to achieve precise control of the steering.

[0040] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A steering mechanism for a self-propelled winding machine, comprising: A walking trolley body (10), wherein a connecting rod (11) is rotatably provided on the walking trolley body (10), and a rotatable guide wheel (12) is provided at the other end of the connecting rod (11), and the guide wheel (12) is used for rolling to contact the outer contour side wall of the object; It is characterized in that a torque spring is provided at the connection between the rotating shaft of the connecting rod (11) and the walking trolley body (10), and the torque spring is used to drive the guide wheel (12) to elastically abut against the outer contour side wall of the object; A torque sensor is also provided at the connection between the rotating shaft of the connecting rod (11) and the walking trolley body (10), and the torque sensor is used to detect the torque of the rotating shaft of the connecting rod (11); A steering wheel frame is rotatably provided at the bottom of the walking trolley body (10), a front steering wheel is provided on the steering wheel frame, and a driving device for driving the steering wheel to rotate is provided on the Z-axis rotating shaft of the steering wheel frame.

2. The steering mechanism of a self-propelled winding machine according to claim 1, characterized in that: The driving device includes a servo motor, a reducer and a transmission gear assembly. The transmission gear assembly includes a driving gear connected to the power output shaft of the reducer and a driven gear connected to the Z-axis rotating shaft of the steering wheel frame. The servo motor is used to drive the steering wheel frame to steer around the Z-axis rotating shaft.

3. A steering mechanism for a self-propelled winding machine according to claim 1 or 2, characterized in that: It also includes a control module, which is used to receive the rotational torque information provided by the torque sensor, and control the rotation direction and speed of the servo motor in combination with a preset winding program, so that the steering wheel frame follows the guide wheel to turn around the side wall of the outer contour of the material.

4. The steering mechanism of a self-propelled winding machine according to claim 3, characterized in that: The initial position of the connecting rod (11) is set to be 45 degrees laterally of the straight forward direction of the bogie frame.

5. The steering mechanism of a self-propelled winding machine according to claim 1, characterized in that: The outer surface of the guide wheel (12) is covered with a wear-resistant and elastic material, which is selected from rubber and polyurethane.

6. The steering mechanism of a self-propelled winding machine according to claim 5, characterized in that: The rotating shaft of the guide wheel (12) is inserted into the lockable pin hole at the end of the connecting rod (11).

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