Transfer robot with cantilever shaft device

Abstract

The utility model discloses a transfer robot with a cantilever shaft device, belongs to the technical field of cantilever shaft machinery, and solves the problem that in the prior art, loading and unloading between a coil stock and an equipment workbench and transfer of the coil stock are relatively complicated. The robot mainly comprises a robot body, a driving module is arranged at the bottom of the robot body, a cantilever shaft device is arranged on the robot body, the cantilever shaft device comprises a mounting platform, a cantilever shaft frame and a distance measuring sensor are arranged on the mounting platform, a stop mechanism and a push-out mechanism are arranged on the cantilever shaft frame, and the distance measuring sensor is connected with the stop mechanism. The push-out mechanism comprises a guide rail assembly and a ball screw assembly. According to the utility model, the automatic butt joint between the cantilever shaft device and the equipment workbench, the automatic blanking of the coil stock, the automatic stopping, clamping and transferring of the coil stock, and the automatic feeding and pushing-out functions of the coil stock are mainly realized.

Description

Technical Field

[0001] The utility model relates to the technical field of cantilever shaft machinery, in particular to a handling robot with a cantilever shaft device. Background Art

[0002] The handling robot with cantilever shaft device is mainly used for coil handling and automatic loading and unloading of coils, and the cantilever shaft device plays the most critical role in it. With the growing development of new energy, the production capacity of the lithium battery industry continues to expand. In order to reduce the fatigue intensity and personal safety of operators during the handling process. In order to improve production efficiency and make the production rhythm more controllable. The handling robot with cantilever shaft device mainly completes the work of die-cutting, unloading, transporting, winding and loading of pole sheet coils in the production process of lithium batteries.

[0003] Most of the common handling robots with cantilever shaft devices in the existing technology are only responsible for completing the transfer of coils, and cannot achieve docking with the equipment workbench and automatic loading and unloading of coils. It is necessary to manually use a booster arm with an inflatable shaft to complete the loading and unloading of coils. During the process of die-cutting, unloading, transporting, and winding and loading of pole piece coils, workers use the booster arm to dock with the equipment workbench, manually push the coil onto the inflatable shaft of the booster arm after alignment, inflate and tighten to prevent the coil from sliding, and put it in the workstation buffer area. The handling robot transfers the coil to the buffer area of ​​the winding and loading station, and the worker uses the booster arm to insert the coil, inflate the inflatable shaft, lift the coil to dock with the equipment workbench, deflate the inflatable shaft after alignment, and manually align the coil to the inflatable shaft of the equipment workbench. This will not only result in low efficiency and large equipment space occupation, but also high labor intensity and manufacturing costs for workers. Utility Model Content

[0004] The purpose of the utility model is to provide a handling robot with a cantilever shaft device to solve 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.

[0005] The utility model is realized by the following technical solutions:

[0006] A handling robot with a cantilever shaft device comprises a robot body, a driving module is arranged at the bottom of the robot body, a cantilever shaft device is arranged on the robot body, the cantilever shaft device comprises a mounting platform, a cantilever shaft frame and a distance measuring sensor are arranged on the mounting platform, a stop mechanism and a push-out mechanism are arranged on the cantilever shaft frame, the push-out mechanism comprises a guide rail assembly and a ball screw assembly, a push-out bracket is arranged on the ball screw assembly, and the push-out bracket is slidably connected with the guide rail assembly; a camera and a diffuse reflection switch are arranged on the cantilever shaft body. The distance measuring sensor is fixed on the mounting platform to detect whether there is a coil and the distance of the cantilever shaft device inserted into the coil. The diffuse reflection switch is fixed on the cantilever shaft body to detect whether there is a coil and the limit push-out position detection when the coil is pushed out. The camera is fixed on the cantilever shaft body to realize the secondary positioning and docking function between the cantilever shaft device and the equipment workbench. The distance measuring sensor is fixed on the mounting platform to detect whether there is a coil and the distance of the cantilever shaft device inserted into the coil.

[0007] Furthermore, the ball screw assembly includes a servo motor, the servo motor is connected to a planetary reducer, the planetary reducer is provided with a rear bearing seat, the rear bearing seat is provided with a screw nut seat, the screw nut seat is connected to the ball screw assembly, the ball screw assembly is provided with a front bearing seat, and the ball screw assembly is fixedly connected to the ejection bracket.

[0008] Furthermore, the guide rail assembly includes a guide rail, a slider is provided on the guide rail, the slider is fixed to the ejection bracket, and the ejection bracket is slidably connected to the guide rail through the slider.

[0009] Furthermore, the cantilever shaft frame is provided with a bull's eye bearing, and the cantilever shaft frame is slidably connected with the push-out bracket through the bull's eye bearing. The bull's eye bearing is fixed on the cantilever shaft body, and can reduce resistance when the coil is pushed out and pushed in, and play a rolling role.

[0010] Furthermore, the stop mechanism includes a reduction motor, which is arranged on a mounting plate, an output gear is arranged on the output shaft of the reduction motor, a rotating bearing seat is fixed on the mounting plate, a rotating baffle is rotatably arranged on the rotating bearing seat, and the rotating baffle is meshed with the output gear. The stop mechanism is assembled on the cantilever shaft body to prevent the coil from slipping.

[0011] Furthermore, a plurality of proximity switches are provided on the mounting plate.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model adopts the method of cooperating the ejection mechanism and the stop mechanism to realize the full automation of the coil die-cutting unloading, transfer, and winding loading process. The utility model is equipped with a laser distance sensor, a diffuse reflection switch, a proximity switch, and a camera to assist the cantilever shaft device in control, realize the automatic docking between the cantilever shaft device and the equipment workbench, the automatic unloading of the coil, the automatic stop clamping and transfer of the coil, and the automatic loading and ejection of the coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a partial structural schematic diagram of the cantilever shaft device of the utility model;

[0016] Figure 3 It is an internal cross-sectional view of the cantilever shaft device of the utility model;

[0017] Figure 4 It is a schematic diagram of the structure of the ejection mechanism of the utility model;

[0018] Figure 5 It is a schematic diagram of the structure of the stop mechanism of the utility model;

[0019] Figure 6 It is a front view of the stop mechanism of the utility model;

[0020] Figure 7 It is a rear view of the stop mechanism of the utility model;

[0021] Figure 8 It is a partial structural schematic diagram of the mounting plate of the utility model.

[0022] In the figure: 1. robot body; 2. cantilever shaft device; 3. coil; 21. mounting platform; 22. cantilever shaft frame; 23. ejection mechanism; 24. stop mechanism; 25. camera; 26. distance sensor; 27. diffuse reflection switch; 28. proximity switch I; 29. ​​bull's eye bearing; 231. guide rail; 232. ball screw; 233. front bearing seat; 234. ejection bracket; 235. lead screw nut seat; 237. planetary reducer; 238. servo motor; 239. rear bearing seat; 241. reduction motor; 242. output gear; 243. rotating block; 244. rotating bearing seat; 245. proximity switch II; 246. proximity switch III; 247. mounting plate. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only referenced to the directions of the drawings. Therefore, the directional words used are used to illustrate rather than limit the creation of the present invention.

[0024] The utility model is further described below in conjunction with the accompanying drawings.

[0025] Embodiment 1: A handling robot having a cantilever shaft device, such as Figure 1-Figure 8 As shown, it includes a robot body 1, a driving module is provided at the bottom of the robot body 1, a cantilever shaft device 2 is provided on the robot body 1, the cantilever shaft device 2 includes a mounting platform 21, a cantilever shaft frame 22 and a distance sensor 26 are provided on the mounting platform 21, a stop mechanism 24 and a push-out mechanism 23 are provided on the cantilever shaft frame 22, and the push-out mechanism 23 includes a guide rail assembly and a ball screw assembly, and a push-out bracket 234 is provided on the ball screw assembly, and the push-out bracket 234 is slidably connected with the guide rail assembly; a camera 25 and a diffuse reflection switch 27 are provided on the cantilever shaft body. The laser distance sensor 26 is fixed on the mounting platform 21 to detect whether there is a coil 3 and to detect the distance of the cantilever shaft device 2 inserted into the coil 3. The diffuse reflection switch 27 is fixed on the cantilever shaft body to detect whether there is a coil 3 and to detect the limit push-out position when the coil 3 is pushed out. The camera 25 is fixed on the cantilever shaft body to realize the secondary positioning and docking function between the cantilever shaft device 2 and the equipment workbench. The distance sensor 26 is fixed on the mounting platform 21 to detect whether there is a coil 3 and the distance of the cantilever shaft device 2 inserted into the coil 3. The push-out mechanism 23 is assembled on the cantilever shaft frame 22 to realize the push-out function when the coil 3 is loaded and to realize the fixation function of the coil 3 together with the stop mechanism 24 during the transportation of the coil 3. An alarm module is provided on the robot body 1.

[0026] Embodiment 2: A handling robot having a cantilever shaft device, such as Figure 4 As shown, the ball screw assembly includes a servo motor 238, and the servo motor 238 is connected to a planetary reducer 237. The planetary reducer 237 is provided with a rear bearing seat 239, and the rear bearing seat 239 is provided with a screw nut seat 235. The screw nut seat 235 is connected to the ball screw assembly, and the ball screw assembly is provided with a front bearing seat 233. The ball screw assembly is fixedly connected to the ejection bracket 234 to provide power for the movement of the ejection bracket 234.

[0027] The guide rail assembly includes a guide rail 231 , on which a slider is provided, which is fixed to a push-out bracket 234 , and the push-out bracket 234 is slidably connected to the guide rail 231 via the slider, so that the push-out bracket 234 can reciprocate along the axial direction of the cantilever shaft device 2 .

[0028] The cantilever shaft frame 22 is provided with a bull's eye bearing 29, and the cantilever shaft frame 22 is slidably connected with the push-out bracket 234 through the bull's eye bearing 29. The bull's eye bearing 29 is fixed on the cantilever shaft body, and can reduce resistance when the coil 3 is pushed out and pushed in, and play a rolling role.

[0029] like Figure 5-Figure 7 As shown, the stop mechanism 24 includes a reduction motor 241, which is arranged on a mounting plate 247. An output gear 242 is arranged on the output shaft of the reduction motor 241. A rotating bearing seat 244 is fixed on the mounting plate 247. A rotating baffle is rotatably arranged on the rotating bearing seat 244, and the rotating baffle is meshed with the output gear 242. The stop mechanism 24 is assembled on the cantilever shaft body to prevent the coil 3 from slipping; the rotating bearing seat 244 and the mounting plate 247 are fixed on the cantilever shaft frame 22, and the rotating block 243 is mounted on the rotating bearing seat 244 through a bearing and can rotate along the axial direction. The DC reduction motor 241 is mounted on the mounting plate 247, and the output gear 242 is mounted on the motor shaft of the reduction motor 241 and meshed with the rotating block 243 assembly gear. The DC reduction motor 241 drives the rotating block 243 to rotate, so as to realize the lifting and lowering of the block.

[0030] The mounting plate 247 is provided with a proximity switch II 245 and a proximity switch III 246, wherein the proximity switch II 245 is used to detect the state of the rotating block 243 being raised, and the proximity switch III 246 is used to detect the state of the rotating block 243 being lowered; the mounting platform 21 is provided with a proximity switch I 28, which is used to detect the return of the ejection mechanism 23 and the zero position of the start-up. The rest is the same as in the first embodiment.

[0031] When the utility model is loading materials: the robot body 1 runs to the designated position of the unloading station of the coil 3, the camera 25 scans the QR code of the end face of the inflatable shaft of the equipment workbench, and after detecting that it is in place, the equipment workbench pushes the coil 3 onto the cantilever shaft device 2, the distance sensor 26 detects the pushing distance of the coil 3 and the diffuse reflection switch 27 detects that the coil 3 is in place, the rotating block 243 of the stop mechanism 24 rises, the push-out mechanism 23 moves forward, and the coil 3 is clamped between the push-out bracket 234 and the rotating block 243, the diffuse reflection switch 27 detects that there is a coil 3, and the motor stops when the torque feedback reaches the set value. The handling robot transports the coil 3 to a fixed station. If the distance sensor 26 and the diffuse reflection switch 27 do not detect the coil 3 or do not detect that it is in place, the alarm module sounds an alarm. If an alarm is issued when the stop block of the stop mechanism 24 is not detected, the alarm module sounds an alarm. If, during the clamping of the coil 3, the push-out mechanism 23 is pushed forward for a set distance and the diffuse reflection switch 27 detects that there is no coil 3 or the torque feedback of the motor of the push-out mechanism 23 does not reach the set value, the alarm module will sound an alarm.

[0032] During material unloading of the utility model: when the handling robot runs to the designated position of the unloading station of the coil 3, the camera 25 scans the QR code on the end face of the inflatable shaft of the equipment workbench. After detecting that it is in position, the push-out mechanism 23 moves backwards to a set distance to release the coil 3, the rotating block 243 of the stop mechanism 24 is lowered, and the push-out mechanism 23 moves forward to push the coil 3, and pushes the coil 3 out of the cantilever shaft device 2 onto the inflatable shaft of the equipment workbench. The distance sensor 26 and the diffuse reflection sensor detect the in-position situation. After detecting that it is in position, the push-out mechanism 23 moves backwards to return to the zero position, and the proximity switch I 28 detects the zero position. If the downward signal of the rotating block 243 of the stop mechanism 24 is not detected, an alarm is issued. If the push-out mechanism 23 is pushed forward to a set distance, or the distance detected by the distance sensor 26 is not within the set range, or the diffuse reflection sensor does not detect that it is in position, the alarm module will sound an alarm. The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A handling robot with a cantilever shaft device, comprising a robot body (1), a driving module is provided at the bottom of the robot body (1), and a cantilever shaft device (2) is provided on the robot body (1), characterized in that: The cantilever shaft device (2) comprises a mounting platform (21), a cantilever shaft frame (22) and a distance measuring sensor (26) are arranged on the mounting platform (21), a stop mechanism (24) and an ejection mechanism (23) are arranged on the cantilever shaft frame (22), the ejection mechanism (23) comprises a guide rail assembly and a ball screw assembly, an ejection bracket (234) is arranged on the ball screw assembly, and the ejection bracket (234) is slidably connected to the guide rail assembly; a camera (25) and a diffuse reflection switch (27) are arranged on the cantilever shaft body.

2. The handling robot with a cantilever shaft device according to claim 1, characterized in that: The ball screw assembly comprises a servo motor (238), the servo motor (238) is connected to a planetary reducer (237), the planetary reducer (237) is provided with a rear bearing seat (239), the rear bearing seat (239) is provided with a screw nut seat (235), the screw nut seat (235) is connected to the ball screw assembly, the ball screw assembly is provided with a front bearing seat (233), and the ball screw assembly is fixedly connected to the ejection bracket (234).

3. The handling robot with a cantilever shaft device according to claim 1, characterized in that: The guide rail assembly comprises a guide rail (231), a slider is provided on the guide rail (231), the slider is fixed to a push-out bracket (234), and the push-out bracket (234) is slidably connected to the guide rail (231) via the slider.

4. The handling robot with a cantilever shaft device according to claim 1, characterized in that: The cantilever shaft frame (22) is provided with a bull's eye bearing (29), and the cantilever shaft frame (22) is slidably connected to the ejection bracket (234) via the bull's eye bearing (29).

5. The handling robot with a cantilever shaft device according to claim 1, characterized in that: The stop mechanism (24) comprises a reduction motor (241), a mounting plate (247) is provided on the reduction motor (241), an output gear (242) is provided on the output shaft of the reduction motor (241), a rotating bearing seat (244) is fixed on the mounting plate (247), a rotating stopper (243) is rotatably provided on the rotating bearing seat (244), and the rotating stopper (243) is meshed with the output gear (242).

6. The handling robot with a cantilever shaft device according to claim 5, characterized in that: A plurality of proximity switches are arranged on the mounting plate (247).

Images