Cantilever structure and cantilever robot

Abstract

The embodiment of the utility model provides a cantilever structure and a cantilever robot. The cantilever structure comprises a cantilever body; the force applying piece is arranged on the cantilever body, and the force applying piece is configured to move relative to the cantilever body in the axial direction of the cantilever body and extend out of or retract back to the end of the cantilever body; the force application piece is configured to extend out of the end face of the side, away from the cantilever body, of the material rolling barrel and apply force to the end face of the side, away from the cantilever body, of the material rolling barrel so that the material rolling barrel can be pulled into the cantilever body. According to the cantilever structure and the cantilever robot, single feeding and discharging can be conveniently carried out on the two adjacent material coils which are tightly attached together, and the feeding and discharging safety and the feeding and discharging efficiency of the material coils are improved.

Description

Technical Field

[0001] The present application relates to the technical field of coil production equipment, and in particular to a cantilever structure and a cantilever robot. Background Art

[0002] In coil production, it is usually necessary to temporarily store the coils on a buffer rack, or to remove the coils on the buffer rack and transport them to other places for processing.

[0003] In order to improve the efficiency of temporarily storing the material rolls on the buffer rack (also called loading) or removing the material rolls from the buffer rack (also called unloading), in the related art, a single cantilever robot is usually used to load and unload the material rolls. The cantilever of the single cantilever robot penetrates into the shaft hole of the coil drum, and places the coil drum and the material roll on the buffer rack or removes them from the buffer rack together.

[0004] However, in order to improve the utilization rate of the cache space of the cache rack, adjacent material rolls are usually stored close together, which may cause interference and impact on adjacent material rolls when the single cantilever robot loads or unloads material rolls, and the safety of loading and unloading material rolls is low. Utility Model Content

[0005] The embodiments of the present application provide a cantilever structure and a cantilever robot, which can conveniently load and unload two adjacent rolls tightly together individually, thereby improving the safety and efficiency of loading and unloading the rolls.

[0006] According to a first aspect of an embodiment of the present application, there is provided a cantilever structure, comprising:

[0007] Cantilever body;

[0008] A force applying member is provided on the cantilever body, and the force applying member is configured to be movable relative to the cantilever body along the axial direction of the cantilever body, and to extend or retract the end of the cantilever body;

[0009] The force applying member is configured to extend to the end surface of the material reel away from the cantilever body, and apply force to the end surface of the material reel away from the cantilever body to pull the material reel onto the cantilever body.

[0010] In an optional implementation, the force-applying member is disposed in the cantilever body, the first end of the cantilever body has an entry and exit channel, and the force-applying member is configured to extend from the entry and exit channel or retract into the cantilever body.

[0011] In an optional implementation, the force applying member includes:

[0012] The main body is provided on the cantilever body.

[0013] The force-applying part is connected to the end of the main body and is configured to be movable radially relative to the cantilever body so that after the force-applying part extends out of the end surface of the winding drum away from the cantilever body, the force-applying part extends radially along the cantilever body and applies force to the end surface of the winding drum away from the cantilever body.

[0014] In an optional implementation, a groove is provided on the peripheral wall of the cantilever body, the groove extends along the axial direction of the cantilever body, and the groove is connected to the inlet and outlet channel;

[0015] The groove is configured to receive the force applying member.

[0016] In an optional implementation, the method further includes:

[0017] The first driving mechanism is arranged on the cantilever body and is configured to be connected with the force applying member to drive the force applying member to move along the depth direction of the groove.

[0018] In an optional implementation, the first driving mechanism includes:

[0019] A first driving member is provided on the cantilever body;

[0020] One end of the first transmission component is transmission-connected to the output shaft of the first driving member, and the other end of the first transmission component is configured to be connected to the force-applying member so as to drive the force-applying member to move along the depth direction of the groove under the drive of the first driving member.

[0021] In an optional implementation, the method further includes:

[0022] A first guide assembly is arranged on the cantilever body along the radial direction of the cantilever body, and the first guide assembly extends toward the groove; the first guide assembly is connected to the force applying member;

[0023] The first guide assembly is configured to guide the force applying member along the radial direction of the cantilever body.

[0024] In an optional implementation, the first guide component includes:

[0025] A first guide rail is arranged along the radial direction of the cantilever body, and at least a portion of the first guide rail extends into the groove;

[0026] The first sliding block is slidably disposed on the first guide rail, and the first sliding block is connected to the force applying member.

[0027] In an optional implementation, the first transmission assembly includes:

[0028] A first connecting rod, a first end of which is pivotally connected to the output shaft of the first driving member, and a second end of which is pivotally connected to the force applying member;

[0029] The pivot axis of the first end is eccentric relative to the axis of the first drive member output shaft, and the pivot axis of the second end is eccentric relative to the axis of the first drive member output shaft.

[0030] In an optional implementation, the method further includes:

[0031] The second driving mechanism is arranged on the cantilever body, and is configured to be connected with the force applying member to drive the force applying member to move along the axial direction of the cantilever body.

[0032] In an optional implementation, the second driving mechanism includes:

[0033] A second driving member is disposed on the cantilever body;

[0034] The second transmission assembly is arranged on the cantilever body along the axial direction of the cantilever body, and the second transmission assembly is connected to the output shaft of the second driving member. The second transmission assembly is configured to be connected to the force-applying member to drive the force-applying member to move along the axial direction of the cantilever body under the drive of the second driving member.

[0035] In an optional implementation, a receiving cavity is provided in the cantilever body, the receiving cavity extends along the axial direction of the cantilever body, and the receiving cavity is connected to a groove provided on the peripheral wall of the cantilever body; the second transmission assembly includes:

[0036] A screw rod is arranged in the accommodating cavity along the axial direction of the cantilever body, and the screw rod is drivingly connected to the output shaft of the second driving member;

[0037] The screw nut is sleeved on the screw and is configured to be connected with the force applying member.

[0038] In an optional implementation, the method further includes:

[0039] The mounting plate is partially inserted in the groove, and the mounting plate extends to the accommodating cavity; the mounting plate is connected to the screw nut, and the first guide rail is installed on the mounting plate.

[0040] In an optional implementation, the method further includes:

[0041] The second guide assembly is arranged on the cantilever body along the axial direction of the cantilever body, the second guide assembly is connected to the mounting plate, and the second guide assembly is configured to guide the force applying member along the axial direction of the cantilever body.

[0042] In an optional implementation, the second guide component includes:

[0043] A second guide rail is arranged on the cantilever body along the axial direction of the cantilever body;

[0044] The second sliding block is slidably arranged on the second guide rail, and the second sliding block is connected to the mounting plate.

[0045] In an optional implementation, the second guide rails include two, one of which is disposed at a groove edge on one side of the groove, and the other second guide rail is disposed at a groove edge on the other side of the groove.

[0046] In an optional implementation, a plurality of rolling elements are provided on the peripheral wall of the cantilever body, and the plurality of rolling elements are arranged side by side along the axial direction of the cantilever body, and the rolling elements can rotate relative to the cantilever body; when the winding drum is located on the cantilever body, the rolling elements abut between the cantilever body and the inner wall of the winding drum.

[0047] In an optional implementation, the rolling elements are arranged at the groove edges on both sides of the groove.

[0048] In an optional implementation, the method further includes:

[0049] The limit block protrudes from the peripheral wall of the cantilever body; the limit block is configured to abut against the end surface of the coil drum close to the cantilever body to limit the position of the coil drum on the cantilever body.

[0050] In an optional implementation, a limit block is movably arranged on the cantilever body along the radial direction of the cantilever body; the limit block is configured to be able to extend out of the cantilever body or retract into the cantilever body along the radial direction of the cantilever body; the limit block includes a plurality of limit blocks, and the plurality of limit blocks are arranged at intervals along the axial direction of the cantilever body; a placement area for the coil drum is constructed between two adjacent limit blocks.

[0051] According to a second aspect of an embodiment of the present application, there is provided a cantilever robot, comprising:

[0052] Chassis;

[0053] A lifting frame, mounted on the chassis;

[0054] as well as,

[0055] The cantilever structure provided by any optional implementation method of the first aspect of the embodiment of the present application is arranged on a lifting frame and can be lifted and lowered along the lifting frame.

[0056] In an optional implementation, the method further includes:

[0057] The mounting frame is mounted on the lifting frame, and the mounting frame is configured to mount the cantilever structure.

[0058] The cantilever structure and cantilever robot provided in the embodiments of the present application are characterized by arranging a force-applying member on the cantilever body, and the force-applying member moves relative to the cantilever body along the axial direction of the cantilever body; in this way, when taking materials from two adjacent material rolls on the buffer rack one by one, the cantilever body can be first inserted into the axial hole of the winding drum, and the length of the cantilever body inserted can be less than the length of the axial hole (for example, the cantilever body with a length greater than half the length of the axial hole can be inserted), and then, the entire cantilever structure is lifted to raise the height of the material roll, so that the end of the winding drum axial hole away from the cantilever body is exposed from an adjacent material roll end face; at this time, the force-applying member can extend out of the cantilever body along the axial direction of the cantilever body, and apply a force toward the cantilever body to the end face of the winding drum away from the cantilever body, so that the winding drum completely enters the cantilever body; thereby completing the unloading of a single material roll; it is convenient to take a single material roll from material rolls that are closely attached to each other, thereby improving the safety and efficiency of unloading and unloading from the buffer rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0060] Figure 1 is a structural schematic diagram of a cantilever structure provided in some embodiments of the present application;

[0061] Figure 2 is a front view of a cantilever structure provided in some embodiments of the present application;

[0062] Figure 3 is another structural schematic diagram of a cantilever structure provided in some embodiments of the present application;

[0063] Figure 4 is a top view of a cantilever structure provided in some embodiments of the present application;

[0064] Figure 5 is along Figure 4 Sectional view along line AA;

[0065] Figure 6 yes Figure 1 A partial enlarged view of point B in the middle;

[0066] Figure 7 yes Figure 5 A partial enlarged view of point C in the middle;

[0067] Figure 8 is another structural schematic diagram of a cantilever structure provided in some embodiments of the present application;

[0068] Fig. 9 is a schematic diagram of the structure of a cantilever robot provided in some embodiments of the present application;

[0069] Fig.10 This is a schematic diagram of an application scenario of a cantilever robot provided in some embodiments of the present application;

[0070] Fig.11 is a schematic diagram of another application scenario of the cantilever robot provided in some embodiments of the present application;

[0071] Fig.12 This is another schematic diagram of an application scenario of the cantilever robot provided in some embodiments of the present application;

[0072] Fig.13 This is another schematic diagram of an application scenario of the cantilever robot provided in some embodiments of the present application;

[0073] Fig.14 This is a schematic diagram of another application scenario of the Xianbi robot provided in some embodiments of the present application.

[0074] Description of reference numerals:

[0075] 10-cantilever structure; 20-chassis; 30-lifting frame; 40-mounting frame; 50-buffer frame; 60-reel drum;

[0076] 100-cantilever body; 200-force member; 300-first drive mechanism; 400-first guide assembly; 500-second drive mechanism; 600-mounting plate; 700-second guide assembly; 800-limiting block;

[0077] 101-entry and exit channel; 102-groove; 103-accommodating chamber; 104-rolling element; 201-main body; 202-force-applying part; 310-first driving member; 320-first transmission assembly; 321-first connecting rod; 401-first guide rail; 402-first slider; 510-second driving member; 520-second transmission assembly; 521-screw rod; 522-screw rod nut; 701-second guide rail; 702-second slider. DETAILED DESCRIPTION

[0078] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0079] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0080] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 a limitation on the present application. In the present application, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0081] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected entities are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0082] In this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0083] In coil production, it is usually necessary to temporarily store the coils on a buffer rack, or to take the coils off the buffer rack and transport them to other places.

[0084] In some examples, the material roll can be wound from various types of rolls. For example, in some examples, the material roll can be a fireproof material roll, a film material roll, or a pole roll for the lithium battery industry.

[0085] It can be understood that in the embodiments of the present application, the specific types of the material rolls are only used as some specific examples for illustration, and the specific types of the material rolls are not limited.

[0086] In some examples, pole coils in the lithium battery industry are used as a specific example.

[0087] With the rapid development of the lithium battery industry, the scale of production continues to expand, and traditional production lines are facing problems such as low efficiency, high labor intensity, and high safety risks. In order to improve production efficiency, reduce costs, ensure product quality and improve safety, the lithium battery industry urgently needs to introduce automated and intelligent production equipment.

[0088] The single cantilever robot plays an important role in the handling and assembly of lithium battery cells, modules, etc. It can effectively improve the handling efficiency of the production line and ensure the stability of the production process and product quality through a precise control system.

[0089] However, in the current production process of the lithium battery industry, in order to make full use of the cache space on the cache rack, two adjacent electrode coils are usually stored close to each other when the electrode coils are cached on the cache rack. As a result, when the single cantilever robot loads or unloads the coils, it may interfere with and affect the adjacent coils, and the safety and stability of the coil loading and unloading are explained.

[0090] To this end, some embodiments of the present application provide a cantilever structure. The cantilever structure provided by some embodiments of the present application is described in detail below in conjunction with the accompanying drawings of the description of some embodiments of the present application.

[0091] Figure 1 It is a structural schematic diagram of a cantilever structure provided in some embodiments of the present application.

[0092] Reference Figure 1 As shown, some examples of the embodiments of the present application provide a cantilever structure 10 , and the cantilever structure 10 may include a cantilever body 100 .

[0093] In some examples, the cantilever body 100 as a whole may be a rod-shaped or column-shaped structure.

[0094] In some examples, the cantilever body 100 may be a cylindrical structure.

[0095] In some examples, the cantilever body 100 may be an elliptical columnar structure.

[0096] In some examples, the cantilever body 100 may be a prismatic structure, and the corners of the cantilever body 100 of the prismatic structure may be rounded.

[0097] In some examples, the cantilever body 100 can be made of a material with greater strength, such as stainless steel, cast iron, or steel, so that the cantilever body 100 can carry a heavier roll.

[0098] In some examples, the cantilever structure 10 may include a force applying member 200 . The force applying member 200 may be disposed on the cantilever body 100 .

[0099] In some examples, the force applying member 200 may be movably disposed on the cantilever body 100. The moving direction of the force applying member 200 relative to the cantilever body 100 may be along the axial direction of the cantilever body 100 (eg Figure 1 direction shown by the x-axis).

[0100] For some examples, refer to Figure 1 As shown, the force-applying member 200 moves relative to the cantilever body 100 along the positive direction of the x-axis, and the force-applying member 200 can extend out of the end surface of the cantilever body 100; the force-applying member 200 moves relative to the cantilever body 100 along the negative direction of the x-axis, and the force-applying member 200 can be retracted into the end surface of the cantilever body 100.

[0101] In some examples, the force applying member 200 can move relative to the cantilever body 100 under the drive of the driving mechanism.

[0102] In some examples, the force applying member 200 can be movably disposed on the cantilever body 100 along the axial direction of the cantilever body 100 , and when the end surface of the cantilever body 100 needs to be extended, it can move relative to the cantilever body 100 under the operation of external force, thereby extending the end surface of the cantilever body 100 .

[0103] In some examples, the force applying member 200 may extend out from an end surface of the winding drum 60 away from the cantilever body 100 .

[0104] In some examples, the force applying member 200 can apply a force to the end surface of the material reel 60 away from the cantilever body 100 . The material reel 60 is pulled onto the cantilever body 100 .

[0105] In some examples, the reel 60 can be a support frame for the roll. The roll can be wound on the reel 60.

[0106] Reference Figure 1 As shown, in some examples, the reel 60 generally has an axial hole.

[0107] In some examples, the axial hole may be a central axial hole of the winding drum 60 .

[0108] In some examples of the embodiments of the present application, the cantilever robot is used to take a material roll from the buffer rack 50 as an example for explanation. When the cantilever robot needs to take the material roll 60 from the buffer rack 50, the cantilever body 100 can be inserted into the shaft hole, and the depth of the cantilever body 100 can be less than the axial length of the shaft hole (for example, Figure 1 In other words, the cantilever body 100 does not pass through or leak out of the other end opening of the axial hole of the winding drum 60.

[0109] In some examples, after the cantilever body 100 passes through the axial hole of the reel 60, the cantilever robot can raise the height of the cantilever, thereby applying a force to the reel 60, so that the end face of the reel 60 facing away from the cantilever body 100 is separated from the state of contact with the end face of the adjacent reel 60; at this time, since the cantilever body 100 has not completely passed through the axial hole of the reel 60, the cantilever body 100 will not interfere with the adjacent reel 60, so that the height of a single reel 60 can be raised, so that the end face of the reel 60 is exposed from the state of contact with the end face of the adjacent reel 60.

[0110] In some examples, when the cantilever body 100 lifts the height of the winding drum 60, in order to ensure the stability of the winding drum 60 on the cantilever body 100, the depth of the cantilever body 100 inserted into the axial hole can be greater than half of the length of the axial hole; thereby, the center of gravity of the winding drum 60 is located on the cantilever body 100, thereby improving the stability of the cantilever body 100 in lifting the height of the winding drum 60.

[0111] In some examples, the depth of the cantilever body 100 penetrating into the shaft hole can be determined based on a sensor on the cantilever body 100 .

[0112] In some examples, after the end surface of the winding drum 60 away from the cantilever body 100 is out of contact with the end surface of the adjacent winding drum 60 , the force applying member 200 can move along the axial direction of the cantilever body 100 and extend out of the end of the cantilever body 100 .

[0113] In some examples, the force-applying member 200 can extend to the end surface of the winding drum 60 away from the cantilever body 100, and apply force to the end surface of the winding drum 60 away from the cantilever body 100, thereby pulling the winding drum 60 onto the cantilever body 100, so that the material roll wound on the winding drum 60 is pulled into the cantilever body 100.

[0114] In some examples, a force applying portion 202 may be provided at the end of the force applying member 200 , and a force may be applied to the end surface of the winding drum 60 away from the cantilever body 100 through the force applying portion 202 .

[0115] In some examples, the force applying portion 202 may be a hook.

[0116] In some examples, the force applying member 200 may be disposed on a peripheral wall of the cantilever body 100 and may move along the axial direction of the cantilever body 100 .

[0117] For example, in some examples, a sliding groove may be provided on the peripheral wall of the cantilever body 100 along the axial direction, and the force applying member 200 may be provided in the sliding groove and slide along the sliding groove.

[0118] In some examples, the force-applying member 200 can rotate relative to the sliding groove. When the cantilever body 100 needs to be inserted into the shaft hole, the force-applying part 202 at the end of the force-applying member 200 can be rotated into the peripheral wall of the cantilever body 100 and can be stored in the end of the cantilever body 100; after the end of the force-applying member 200 extends out of the end face of the winding drum 60 away from the cantilever body 100, the force-applying member 200 can be rotated so that the force-applying part 202 protrudes from the peripheral wall of the cantilever body 100 along the radial direction of the cantilever body 100; in this way, the distance from the force-applying part 202 to the axis of the shaft hole is greater than the radius of the shaft hole, so that the hook claw can apply a force to the end face of the winding drum 60 away from the cantilever body 100.

[0119] In the cantilever structure 10 provided in some embodiments of the present application, a force-applying member 200 is arranged on the cantilever body 100, and the force-applying member 200 moves relative to the cantilever body 100 along the axial direction of the cantilever body 100; thus, when taking materials from two adjacent rolls on the buffer rack 50 one by one, the cantilever body 100 can be firstly inserted into the axial hole of the winding drum 60, and the inserted length of the cantilever body 100 can be less than the length of the axial hole (for example, the cantilever body 100 with a length greater than half the length of the axial hole can be inserted), and then the cantilever structure 10 is lifted as a whole to raise the height of the roll. The winding drum 60 is lifted up, so that the end of the axial hole of the winding drum 60 away from the cantilever body 100 is exposed from the adjacent end face of the material roll; at this time, the force-applying member 200 can extend out of the cantilever body 100 along the axial direction of the cantilever body 100, and apply a force toward the cantilever body 100 to the end face of the winding drum 60 away from the cantilever body 100, so that the winding drum 60 completely enters the cantilever body 100; thereby completing the unloading of a single material roll; facilitating the taking of a single material roll from the material rolls that are closely attached to each other, thereby improving the safety and efficiency of unloading and loading from the buffer rack 50.

[0120] In some examples, the force applying member 200 may be disposed in the cantilever body 100. A cavity extending in the axial direction may be disposed in the cantilever body 100, and the force applying member 200 may be disposed in the cavity.

[0121] For some examples, refer to Figure 1 As shown, the first end of the cantilever body 100 may have an inlet and outlet channel 101. The first end may be an end of the cantilever body 100 that penetrates into the shaft hole of the winding drum 60.

[0122] In some examples, the force applying member 200 can extend out of the cantilever body 100 from the access channel 101 . Alternatively, in some examples, the force applying member 200 can be retracted from the access channel 101 into the cantilever body 100 .

[0123] In some examples, the cavity disposed axially in the cantilever body 100 may be disposed eccentrically relative to the axis of the cantilever body 100. For example, in some examples, the cantilever body 100 may be in a horizontal or approximately horizontal state; the cavity may be located above the axis of the cantilever body 100.

[0124] In some examples, the force applying portion 202 at the end of the force applying member 200 may be located outside the end of the cantilever body 100 .

[0125] In some examples, the force applying portion 202 may be closely attached to the end surface of the cantilever body 100 .

[0126] In some examples of the embodiments of the present application, the force-applying member 200 is disposed in the cantilever body 100, and an inlet and outlet channel 101 is disposed at the first end of the cantilever body 100, and the force-applying member 200 extends out of the cantilever body 100 or retracts the cantilever body 100 from the inlet and outlet channel 101. In this way, the force-applying member 200 does not increase the radial dimension of the cantilever body 100, and it is convenient for the cantilever body 100 to pass through the axial hole of the coiling drum 60, thereby improving the handling efficiency of the cantilever robot for the coiling drum 60.

[0127] Figure 2 This is a front view of the cantilever structure provided in some embodiments of the present application.

[0128] For some examples, refer to Figure 1 and Figure 2 As shown, the force applying member 200 may include a main body 201. The main body 201 may be disposed on the cantilever body 100.

[0129] In some examples, the main body 201 can move along the axial direction of the cantilever body 100 .

[0130] In some examples, the force applying member 200 may include a force applying portion 202 . The force applying portion 202 may be connected to an end of the main body 201 .

[0131] In some examples, the force applying portion 202 and the main body 201 may be an integral piece.

[0132] In some examples, the force applying portion 202 and the main body 201 may be separate components.

[0133] In some examples, the force-applying portion 202 can be configured to move radially relative to the cantilever body 100. In this way, after the force-applying portion 202 extends out of the end surface of the reel 60 away from the cantilever body 100, the force-applying portion 202 can extend radially of the cantilever body 100, so that the distance between the end of the force-applying portion 202 and the axis of the shaft hole is greater than the radius of the shaft hole, so that when the main body 201 is retracted along the axial direction of the cantilever body 100, the force-applying portion 202 applies a force to the end surface of the reel 60 away from the cantilever body 100, thereby pulling the reel 60 toward the cantilever body 100.

[0134] In some examples, the force-applying portion 202 can rotate relative to the main body 201. For example, when the main body 201 is retracted into the cantilever body 100, the force-applying portion 202 can be rotated to be parallel or approximately parallel to the axial direction of the cantilever body 100; when the main body 201 is extended and the force-applying portion 202 is extended to the side of the reel 60 away from the cantilever body 100, the force-applying portion 202 can be rotated to be parallel or approximately parallel to the radial direction of the cantilever body 100, so that the force-applying portion 202 can apply a force to the end surface of the reel 60 that is farther away from the main body.

[0135] In some examples, the force applying portion 202 can be retractable relative to the main body 201 .

[0136] In some examples, the force applying portion 202 may be a telescopic structure disposed along the radial direction of the cantilever body 100 .

[0137] In some examples, the force applying part 202 may be a pneumatic cylinder, an electric cylinder, a piston cylinder, etc.

[0138] In some examples, during the process of the cantilever body 100 being inserted into the axial hole of the winding drum 60, the force-applying part 202 can be in a retracted state. At this time, the distance from the end of the force-applying part 202 to the axis of the axial hole can be less than the radius of the axial hole; after the cantilever body 100 is inserted into place, the force-applying part 200 extends along the axial direction of the cantilever body 100 until the force-applying part 202 extends out of the side of the winding drum 60 away from the cantilever body 100; at this time, the force-applying part 202 can extend outward in the radial direction of the cantilever body 100, and the length of the force-applying part 202 increases, so that the distance from the end of the force-applying part 202 to the axis of the axial hole is greater than the radius of the axial hole, so that the force-applying part 202 can apply force to the end face of the winding drum 60 away from the cantilever body 100.

[0139] In some examples of the embodiments of the present application, the force-applying portion 202 of the force-applying member 200 is arranged to be movable radially relative to the cantilever body, so that after the force-applying portion 202 extends out of the end surface of the winding drum 60 away from the cantilever body 100, the force-applying portion 202 can extend radially along the cantilever body 100 and apply force to the end surface of the winding drum 60 away from the cantilever body 100; in this way, the axial distance of the end of the force-applying portion 202 relative to the axial hole of the winding drum 60 can be conveniently changed, thereby facilitating the force-applying portion 202 to apply force to the end surface of the winding drum 60 away from the cantilever body 100, or the force-applying portion 202 is separated from the end surface of the winding drum 60 away from the cantilever body 100.

[0140] Figure 3 is another structural schematic diagram of a cantilever structure provided in some embodiments of the present application, Figure 4 is a top view of a cantilever structure provided in some embodiments of the present application, Figure 5 is along Figure 4 Section view along line AA.

[0141] For some examples, refer to Figure 1 , Figure 3-Figure 5 As shown, a groove 102 may be provided on the peripheral wall of the cantilever body 100 .

[0142] In some examples, the groove 102 may extend along the axial direction of the cantilever body 100 . The groove 102 may communicate with the inlet and outlet channel 101 .

[0143] In some examples, the groove 102 may be formed by a top depression of the cantilever body 100 .

[0144] In some examples, the groove 102 may be formed by a depression in a sidewall of the cantilever body 100 .

[0145] In some examples, the groove 102 may be formed by a depression in the bottom of the cantilever body 100 .

[0146] In some examples of the embodiments of the present application, there is no limitation on the recessed position of the groove 102 on the peripheral wall of the cantilever body 100. The drawings of the embodiments of the present application only show that the groove 102 is formed by the top recess of the cantilever body 100 as a specific example.

[0147] In some examples, the groove 102 may be configured to accommodate the force applying member 200. That is, the force applying member 200 may be disposed in the groove 102. In this way, during the process of the cantilever body 100 passing through the shaft hole of the winding drum 60, the force applying portion 202 of the force applying member 200 will not protrude outside the peripheral wall of the cantilever body 100, so that the cantilever body 100 can pass through the shaft hole of the winding drum 60.

[0148] In some examples, the force applying portion 202 is fixedly disposed at an end of the main body 201 .

[0149] In some examples, the force applying portion 202 may be fixed to the main body 201 to form an L-shaped structure.

[0150] In some examples, the length of the force applying portion 202 may remain fixed.

[0151] In some examples, the force applying member 200 can move relative to the cantilever body 100 along the depth direction of the groove 102 (ie, the radial direction of the cantilever body 100 ).

[0152] In some examples of the embodiments of the present application, refer to Figure 1 , Figure 3 and Figure 5 As shown, the cantilever structure 10 may include a first driving mechanism 300. The first driving mechanism 300 may be disposed on the cantilever body 100. In some examples, the first driving mechanism 300 may be connected to the force applying member 200. The first driving mechanism 300 may be configured to drive the force applying member 200 to move along the depth direction of the groove 102.

[0153] In some examples, the first driving mechanism 300 can move relative to the cantilever body 100 along the axial direction of the cantilever body 100 along the force applying member 200 .

[0154] In some examples, the first driving mechanism 300 can be a cylinder, an electric cylinder, a piston cylinder or a linear motor, etc. When the cantilever body 100 needs to be inserted into the shaft hole of the coiled material drum 60, the first driving mechanism 300 can drive the force applying member 200 to move into the groove 102, so that the force applying portion 202 of the force applying member 200 is sunk into the groove 102; in this way, the force applying portion 202 will not protrude from the peripheral wall of the cantilever body 100, so that the cantilever body 100 can be inserted into the shaft hole of the coiled material drum 60.

[0155] In some examples, after the cantilever body 100 is inserted into place, the force-applying member 200 can move along the extension direction of the groove 102 (i.e., the axial direction of the cantilever body 100 ), and the force-applying portion 202 of the force-applying member 200 extends to the side of the winding drum 60 away from the cantilever body 100 .

[0156] In some examples, after the force-applying part 202 extends out of the side of the winding drum 60 away from the cantilever body 100, the first driving mechanism 300 can drive the force-applying member 200 to move from the inside of the groove 102 to the outside of the cantilever body 100, thereby increasing the distance between the force-applying part 202 and the axis of the shaft hole of the winding drum 60, making it easier for the force-applying part 202 to contact the end face of the winding drum 60 away from the cantilever body 100.

[0157] In some examples, the first driving mechanism 300 may include a first driving member 310. The first driving member 310 may be disposed on the cantilever body 100.

[0158] In some examples, the first driving member 310 may be any one of a servo motor, a synchronous motor, or a stepping motor.

[0159] In some examples, the first driving member 310 may also be a common motor.

[0160] In some examples, the first driving mechanism 300 may include a first transmission assembly 320 . One end of the first transmission assembly 320 may be drivingly connected to the output shaft of the first driving member 310 ; thus, the first driving member 310 can transmit power to the first transmission assembly 320 .

[0161] In some examples, the other end of the first transmission assembly 320 may be configured to be connected to the force applying member 200 , so as to transmit the power output by the first driving member 310 to the force applying member 200 , so that the force applying member 200 moves along the depth direction of the groove 102 under the drive of the first driving member 310 .

[0162] In some examples, the first transmission assembly 320 may include a chain, a belt, or a synchronous belt, etc. For example, the output shaft of the first driving member 310 may drive the sprocket to rotate through a reducer, and the chain, belt, or synchronous belt is sleeved on the sprocket and the idler wheel and rotates with the sprocket; the force applying member 200 may be fixed on the chain, belt, or synchronous belt, so that the chain, belt, or synchronous belt drives the force applying member 200 to move when it rotates.

[0163] In some examples, the first transmission assembly 320 may include a gear and a rack. For example, the output shaft of the first driving member 310 may be driven by a reducer to rotate the gear, and the gear is meshed with the rack, thereby driving the rack to move along the depth direction of the groove 102. The force applying member 200 may be arranged on the rack, and the force applying member 200 is driven by the rack to move along the depth direction of the groove 102.

[0164] Figure 6 yes Figure 1 A partial enlarged view of point B in the middle. Figure 7 yes Figure 5 A magnified partial view of point C in the middle.

[0165] For some examples, refer to Figure 6 and Figure 7 As shown, in order to improve the stability of the force-applying member 200 moving along the depth direction of the groove 102 , the cantilever structure 10 provided in some embodiments of the present application may include a first guide assembly 400 .

[0166] In some examples, the first guide assembly 400 may be disposed on the cantilever body 100 along the radial direction of the cantilever body 100 .

[0167] In some examples, the first guide assembly 400 can extend toward the groove 102 .

[0168] In some examples, a portion of the first guide assembly 400 may extend into the groove 102 .

[0169] In some examples, the first guide assembly 400 may be connected to the force applying member 200 .

[0170] In some examples, the first guide assembly 400 can guide the movement of the force applying member 200 along the radial direction of the cantilever body 100 .

[0171] In some examples of the embodiments of the present application, a first guide assembly 400 is arranged along the radial direction of the cantilever body 100, and the first guide assembly 400 is connected to the force-applying member 200; in this way, when the first driving mechanism 300 drives the force-applying member 200, the force-applying member 200 can move along the radial direction of the cantilever body 100 under the guidance of the first guide assembly 400; in this way, the stability of the force-applying member 200 moving along the radial direction of the cantilever body 100 can be improved.

[0172] In some examples, the first guide assembly 400 may include a first guide rail 401 . At least a portion of the first guide rail 401 may extend into the groove 102 .

[0173] In some examples, the first guide assembly 400 may include a slider. The first slider 402 may be slidably disposed on the first guide rail 401 .

[0174] In some examples, the first slider 402 may be connected to the force applying member 200 . When the first slider 402 slides relative to the first guide rail 401 , the force applying member 200 may be driven to move along the radial direction of the cantilever body 100 .

[0175] In some examples, the first sliding block 402 may be fixedly connected to the force applying member 200 .

[0176] For some examples, refer to Figure 6 As shown, the first transmission assembly 320 may include a first connecting rod 321 .

[0177] In some examples, the first end of the first connecting rod 321 may be pivotally connected to the output shaft of the first driving member 310 .

[0178] In some examples, the second end of the first link 321 may be pivotally connected to the force applying member 200 .

[0179] In some examples, the pivot axis of the first end may be eccentric relative to the axis of the output shaft of the first driving member 310 .

[0180] For some examples, refer to Figure 6As shown, a crankshaft may be provided on the output shaft of the first driving member 310, and the first end may be pivotally connected to the crankshaft. In this way, the rotation axis of the first end and the crankshaft does not coincide with the axis of the output shaft of the first driving member 310, so that the pivot axis of the first end is eccentric relative to the axis of the output shaft of the first driving member 310.

[0181] In some examples, a cam may be disposed on the output shaft of the first driving member 310, and the first end may be connected to the convex portion of the cam. In this way, the rotation axis of the first end and the cam does not coincide with the axis of the output shaft of the first driving member 310.

[0182] In some examples, a rotating wheel may be provided on the output shaft of the first driving member 310. The axis of the rotating wheel coincides with the axis of the first driving member 310. The first end is pivotally connected to the rotating wheel, and the rotation axis of the first end and the rotating wheel is eccentric relative to the axis of the rotating wheel, so that the rotation axis of the first end and the rotating wheel does not coincide with the axis of the output shaft of the first driving member 310.

[0183] In some examples, the pivot axis between the second end and the force applying member 200 is eccentric relative to the axis of the output shaft of the first driving member 310 .

[0184] In some examples of the embodiments of the present application, refer to Figure 6 and Figure 7 As shown, the first end of the first connecting rod 321 is pivotally connected to the output shaft of the first driving member 310, and the second end is pivotally connected to the force applying member 200; and the pivot axis of the first end is eccentrically set relative to the axis of the output shaft of the first driving member 310, and the pivot axis of the second end is eccentrically set relative to the axis of the output shaft of the first driving member 310; in this way, referring to Figure 6 As shown, when the output shaft of the first driving member 310 rotates in the direction indicated by the arrow a in the figure, the first end rotates from the upper direction of the output shaft axis to the lower direction, so that the distance between the first end and the second end along the depth direction of the groove 102 is reduced, and the first connecting rod 321 pushes the force-applying member 200 along the depth direction of the groove 102, and the force-applying member 200 moves into the groove 102, and enters the groove 102 under the guidance of the first slider 402 and the first guide rail 401; as the output shaft of the first driving member 310 continues to rotate, when the first end rotates from the lower direction of the output shaft axis to the upper direction, the first connecting rod 321 drives the force-applying member 200 to move outside the groove 102, and moves to the outside of the groove 102 under the guidance of the first slider 402 and the first guide rail 401.

[0185] In some examples of the embodiments of the present application, the first end of the first connecting rod 321 is pivotally connected to the output shaft of the first driving member 310, and the second end is pivotally connected to the force-applying member 200; and the pivot axis of the first end is eccentrically set relative to the axis of the output shaft of the first driving member 310, and the pivot axis of the second end is eccentrically set relative to the axis of the output shaft of the first driving member 310; in this way, it is convenient for the first driving member 310 to drive the force-applying member 200 along the radial direction of the cantilever body 100, and it is convenient to install and arrange the first driving member 310 on the cantilever body 100, which can save the space occupied by the first driving member 310.

[0186] Figure 8 This is another structural schematic diagram of the cantilever structure provided in some embodiments of the present application.

[0187] Reference Figure 1 , Figure 2 , Figure 5 and Figure 8 As shown, in some examples of the embodiments of the present application, the cantilever structure 10 may include a second driving mechanism 500. The second driving mechanism 500 may be disposed on the cantilever body 100.

[0188] In some examples, the second driving mechanism 500 may be configured to be connected to the force applying member 200 so as to drive the force applying member 200 to move along the axial direction of the cantilever body 100 .

[0189] In some examples, the second driving mechanism 500 may be a telescopic cylinder, a piston cylinder, an electric cylinder or a linear motor, etc., which is evenly arranged along the axial direction of the cantilever body 100. The output shaft of the telescopic cylinder, the piston cylinder, the electric cylinder or the linear motor may be connected to the force applying member 200, thereby pushing the force applying member 200 to extend toward the end of the cantilever body 100, or pulling the force applying member 200 back to the cantilever body 100.

[0190] In some examples of the embodiments of the present application, a second driving mechanism 500 is provided on the cantilever body 100, and the second driving mechanism 500 drives the force applying member 200 to move axially along the cantilever body 100, thereby improving the degree of automation of the movement of the force applying member 200 relative to the cantilever body 100.

[0191] In some examples, the second driving mechanism 500 may include a second driving member 510. The second driving member 510 may be disposed on the cantilever body 100.

[0192] In some examples, the second driving member 510 may include any one of a servo motor, a stepper motor, and a synchronous motor. In some examples, the second driving member 510 may be a common motor.

[0193] In some examples, the second driving mechanism 500 may include a second transmission assembly 520. The second transmission assembly 520 may be disposed on the cantilever body 100 in the axial direction of the cantilever body 100. The second transmission assembly 520 may be in driving connection with the output shaft of the second driving member 510.

[0194] In some examples, the second transmission assembly 520 may be configured to be connected to the force applying member 200 , so that the force applying member 200 can be driven to move along the axial direction of the cantilever body 100 by the second driving member 510 .

[0195] In some examples, the second transmission assembly 520 may include a chain, a belt, or a synchronous belt. For example, the output shaft of the second driving member 510 may drive the sprocket to rotate through a reducer, and the chain, belt, or synchronous belt is sleeved on the sprocket and the idler wheel and rotates with the sprocket; the force applying member 200 may be fixed on the chain, belt, or synchronous belt, so that the chain, belt, or synchronous belt drives the force applying member 200 to move when it rotates. It can be understood that the chain, belt, or synchronous belt can be arranged along the axial direction of the cantilever body 100.

[0196] In some examples, the second transmission assembly 520 may include a gear and a rack. For example, the output shaft of the second driving member 510 may be driven by a reducer to rotate the gear, and the gear is meshed with the rack, thereby driving the rack to move along the axial direction of the cantilever body 100. The force applying member 200 may be arranged on the rack, and the force applying member 200 is driven by the rack to move along the axial direction of the cantilever body 100.

[0197] For some examples, refer to Figure 5 As shown, a receiving cavity 103 may be provided in the cantilever body 100. The receiving cavity 103 may extend along the axial direction of the cantilever body.

[0198] In some examples, the accommodating cavity 103 may be connected to the groove 102 provided on the peripheral wall of the cantilever body 100. For example, the groove 102 may be recessed into the accommodating cavity 103 and pass through the accommodating cavity 103.

[0199] In some examples, the second transmission assembly 520 may include a screw rod 521. The screw rod 521 may be disposed in the accommodating cavity 103 along the axial direction of the cantilever body 100.

[0200] In some examples, the screw rod 521 may be drivingly connected to the output shaft of the second driving member 510 .

[0201] In some examples, the output shaft of the second driving member 510 can be connected to the screw rod 521 through a reducer, a sprocket, a synchronous belt, an idler wheel, etc.

[0202] In some examples, the output shaft of the second driving member 510 may be connected to a sprocket via a speed reducer, and the second driving member 510 drives the sprocket to rotate.

[0203] In some examples, the end of the screw rod 521 may be fixed to an idler wheel.

[0204] In some examples, a synchronous belt, a chain or a belt may be sleeved on the sprocket and the idler wheel, so that the second driving member 510 drives the screw rod 521 to rotate through the synchronous belt, the chain or the belt.

[0205] In some examples, the second transmission assembly 520 may include a screw nut 522. The screw nut 522 may be sleeved on the screw 521.

[0206] In some examples, the screw nut 522 can be threadedly matched with the screw 521.

[0207] In some examples, the screw nut 522 can be configured to be connected to the force applying member 200. Thus, when the second driving member 510 drives the screw 521 to rotate, the screw nut 522 can move along the screw 521 in the accommodating cavity 103, thereby driving the force applying member 200 connected to the screw nut to move along the axial direction of the cantilever body 100.

[0208] In some examples, the screw nut may be connected to one end of the first guide rail 401 extending into the groove 102. In this way, the force applying member 200 connected to the first guide rail 401 may be driven to move by the first guide rail 401.

[0209] In some examples, the first driving mechanism 300 moves along the axial direction of the cantilever body 100 together with the force applying member 200. Figure 6 and Figure 7 As shown, the cantilever structure 10 may include a mounting plate 600 . A portion of the mounting plate 600 may be inserted into the groove 102 .

[0210] For some examples, refer to Figure 7 As shown, the mounting plate 600 may extend into the accommodating cavity 103 .

[0211] In some examples, the mounting plate 600 can be connected to the lead screw nut.

[0212] In some examples, the first guide rail 401 can be mounted on the mounting plate 600 .

[0213] For some examples, refer to Figure 7 As shown, the first driving mechanism 300 can be mounted on the mounting plate 600. For example, the output shaft of the first driving member 310 can be mounted on the mounting plate 600 via a bearing.

[0214] Thus, when the second driving member 510 drives the screw nut 522 to move along the axial direction of the cantilever body 100, the screw nut 522 drives the mounting plate 600 and the second driving mechanism 500 mounted on the mounting plate 600 to move along the axial direction of the cantilever body 100. This facilitates the second driving mechanism 500 to drive the force applying member 200.

[0215] In some examples, in order to improve the stability of the force applying member 200 moving along the axial direction of the cantilever, refer to Figure 6 As shown, the cantilever structure 10 may include a second guide assembly 700. The second guide assembly 700 may be disposed on the cantilever body 100 along the axial direction of the cantilever body 100.

[0216] In some examples, the second guide assembly 700 may be connected to the mounting plate 600 . The mounting plate 600 may move along the axial direction of the cantilever body 100 under the guidance of the second guide assembly 700 , so that the force applying member 200 may move along the axial direction of the cantilever body 100 under the guidance of the second guide assembly 700 .

[0217] In some examples, the second guide assembly 700 may include a second guide rail 701. The second guide rail 701 may be disposed along the axial direction of the cantilever body 100.

[0218] In some examples, the second guide rail 701 can be fixedly disposed on the peripheral wall of the cantilever body 100 .

[0219] In some examples, the second guide rail 701 may be disposed at an edge of the groove 102 .

[0220] In some examples, the second guide assembly 700 may include a second slider 702 . The second slider 702 may be slidably disposed on the second guide rail 701 .

[0221] In some examples, the second slider 702 can be connected to the mounting plate 600 .

[0222] In some examples, the mounting plate 600 may be fixedly connected to the second slider 702 .

[0223] In some examples, when the mounting plate 600 moves along the axial direction of the cantilever body 100 , the second slider 702 may slide along the second guide rail 701 , thereby guiding the movement of the mounting plate 600 .

[0224] In some examples of the embodiments of the present application, a second guide rail 701 and a second slider 702 are arranged along the axial direction of the cantilever body 100, and the second slider 702 is slidably arranged on the second guide rail 701; and the mounting plate 600 is fixedly connected to the second slider 702; in this way, when the mounting plate 600 moves along the axial direction of the cantilever body 100, the movement of the mounting plate 600 can be guided by the cooperation of the second slider 702 and the second guide rail 701, which can improve the stability of the mounting plate 600 and the force-applying member 200 installed on the mounting plate 600 along the axial movement of the cantilever body 100.

[0225] For some examples, refer to Figure 4 As shown, the second guide rail 701 may include two rails.

[0226] In some examples, one of the second guide rails 701 may be disposed at one side edge of the groove 102 .

[0227] In some examples, another second guide rail 701 may be disposed at the other side edge of the groove 102. The two second guide rails 701 may be disposed opposite to each other.

[0228] In some examples, the two second guide rails 701 may be arranged in parallel or approximately in parallel.

[0229] It can be understood that in some examples of the embodiments of the present application, the cantilever body 100 can be a cylinder. After the groove 102 is formed by a depression on the peripheral wall of the cantilever body 100, the groove edge of the groove 102 can be flattened or polished to form an installation position for the second guide rail 701.

[0230] In some embodiments of the present application, two opposite second guide rails 701 are provided; thus, the second slider 702 slides on the two second guide rails 701, which can improve the sliding stability of the second slider 702 and avoid the shaking that may occur when the second slider 702 slides on a single guide rail.

[0231] For some examples, refer to Figure 1 and Figure 3 As shown, a rolling element 104 may be provided on the peripheral wall of the cantilever body 100 .

[0232] In some examples, a plurality of rolling elements 104 may be disposed on the peripheral wall of the cantilever body 100 , and the plurality of rolling elements 104 may be arranged side by side along the axial direction of the cantilever body 100 .

[0233] In some examples, the rolling element 104 can rotate relative to the cantilever body 100 .

[0234] In some examples, the rolling element 104 may include a roller that can rotate relative to the axial direction of the cantilever body 100 .

[0235] In some examples, the rolling element 104 may include a ball bearing, and the ball bearing may perform universal rotation relative to the cantilever body 100 .

[0236] In some examples, the rolling element 104 may be disposed on the top of the cantilever body 100 .

[0237] In some examples, when the reel 60 is located on the cantilever body, the rolling element 104 may abut between the cantilever body 100 and the inner wall of the reel 60 .

[0238] That is to say, in some examples, after the cantilever body 100 is passed through the axial hole of the winding drum 60, the cantilever body 100 lifts the winding drum 60, and at this time the rolling element 104 abuts between the cantilever body 100 and the inner wall of the winding drum 60; after the end face of the winding drum 60 away from the cantilever body 100 is separated from the end face of an adjacent winding drum 60, the force-applying member 200 can extend along the axial direction of the cantilever body 100 and apply a force to the end face of the winding drum 60 away from the cantilever body 100; at this time, the winding drum 60 moves relative to the cantilever body 100 on the rolling element 104; thereby, the sliding friction between the inner wall of the winding drum 60 and the peripheral wall of the cantilever body 100 is converted into the rolling friction of the rolling element 104, thereby reducing the friction between the inner wall of the winding drum 60 and the peripheral wall of the cantilever body 100, and facilitating the force-applying member 200 to pull the winding drum 60 back to the cantilever body 100.

[0239] In some examples, the rolling element 104 can be disposed at the groove edges on both sides of the groove 102. It can be understood that after the top of the cantilever body 100 is sunken to form the groove 102, the groove edges on both sides of the groove 102 are the highest points of the cantilever body 100, that is, the contact points between the cantilever body 100 and the inner wall of the winding drum 60. The rolling element 104 is disposed at the groove edges on both sides of the groove 102, so that the rolling element 104 can contact the inner wall of the winding drum 60.

[0240] For some examples, refer to Figure 1 and Figure 3 As shown, the cantilever structure 10 may include a limiting block 800 .

[0241] In some examples, the stopper 800 may protrude from the peripheral wall of the cantilever body 100. The stopper 800 may be fixed to the peripheral wall of the cantilever body 100.

[0242] In some examples, after the force applying member 200 pulls the reel 60 onto the cantilever body 100, the stop block 800 can abut against the end surface of the reel 60 close to the cantilever body, thereby limiting the position of the reel 60 on the cantilever body 100. In this way, it is convenient to put the reel 60 down from the cantilever body 100.

[0243] In some examples, two limit blocks 800 may be provided. The two limit blocks 800 may be symmetrically arranged on two opposite sides of the cantilever body 100 .

[0244] By providing two limit blocks 800 , the position of the winding drum 60 can be limited from both sides, thereby improving the stability of the limit of the winding drum 60 .

[0245] In some examples, the stopper 800 can be movably disposed on the cantilever body 100 along the radial direction of the cantilever body 100. For example, in some examples, the stopper 800 can be disposed in the accommodation cavity 103 described in the aforementioned embodiment of the present application. The cantilever body 100 can be provided with a plurality of through holes, and the stopper 800 can extend out of the cantilever body 100 through the through holes.

[0246] In some examples, the limiting block 800 may include a plurality of limiting blocks 800. The plurality of limiting blocks 800 may be arranged at intervals along the axial direction of the cantilever body 100. In this way, a placement area for the coil 60 may be formed between two adjacent limiting blocks 800.

[0247] That is to say, in the process of the force-applying member 200 pulling the reel 60 onto the cantilever body 100, the limit block 800 close to the end of the cantilever body 100 can be retracted into the cantilever body 100. After the force-applying member 200 pulls the reel 60 to the limit block 800 away from the end of the cantilever body 100, an adjacent limit block 800 extends out of the cantilever body 100 again, thereby limiting the current reel 60; the force-applying member 200 then pulls in the next reel 60; in this way, multiple reels 60 can be placed on the cantilever body 100, so that the cantilever robot can pick up, place and transport multiple rolls at a time, thereby improving the efficiency of the cantilever robot in picking up, placing and transporting rolls.

[0248] Fig. 9 It is a schematic diagram of the structure of the cantilever robot provided in some embodiments of the present application.

[0249] Reference Fig. 9 As shown, in some examples of the embodiments of the present application, a cantilever robot is provided, including a chassis 20.

[0250] In some examples, the chassis 20 may be provided with running wheels.

[0251] In some examples, a driving mechanism may be provided on the chassis 20. The driving mechanism may be connected to the running wheels, and the driving mechanism may be configured to drive the running wheels to rotate, so that the running wheels drive the entire cantilever robot to move.

[0252] In some examples, the cantilever robot may include a lifting frame 30. The lifting frame 30 may be disposed on the chassis 20.

[0253] In some examples, the lifting frame 30 may be disposed on the chassis 20 in a vertical direction.

[0254] In some examples, the cantilever robot may include the cantilever structure 10 provided in any optional example of the aforementioned embodiments of the present application.

[0255] In some examples, the cantilever structure 10 may be disposed on a lifting frame 30 .

[0256] In some examples, the cantilever structure 10 can be raised and lowered along the lifting frame 30 , so as to adjust the height of the cantilever structure 10 .

[0257] In some examples, the cantilever robot may include a mounting frame 40 (see Figure 8 shown).

[0258] In some examples, the mounting frame 40 may be mounted on the lifting frame 30 .

[0259] In some examples, the mounting bracket 40 can be connected to the cantilever structure 10 .

[0260] In some examples, the cantilever structure 10 can be fixedly mounted on a mounting frame 40, and the mounting frame 40 is mounted on a lifting frame 30. The lifting frame 30 drives the cantilever structure 10 to rise and fall through the mounting frame 40.

[0261] Fig.10 is a schematic diagram of an application scenario of a cantilever robot provided in some embodiments of the present application, Fig.11 is a schematic diagram of another application scenario of the cantilever robot provided in some embodiments of the present application, Fig.12 is another application scenario schematic diagram of the cantilever robot provided in some embodiments of the present application, Fig.13 is another application scenario schematic diagram of the cantilever robot provided in some embodiments of the present application, Fig.14 This is a schematic diagram of another application scenario of the Xianbi robot provided in some embodiments of the present application.

[0262] Reference Figure 10-Figure 14 As shown, in some examples of the embodiments of the present application, the cantilever robot taking the material roll from the cache rack 50 is used as an example for explanation; it can be understood that the process of placing the material roll on the cache rack 50 can be the reverse process of taking the material roll from the cache rack 50, and the embodiments of the present application will not be repeated here.

[0263] In some examples, the cantilever robot is driven by the walking wheels on the chassis 20 to move to a designated position near the cache rack 50. In some examples, a location mark (e.g., a QR code mark) may be provided on the floor of the storage system, and a location mark recognition device (e.g., a QR code camera) may be provided on the chassis of the cantilever robot; the cantilever robot determines to move to the designated position by recognizing the location mark.

[0264] In some examples, the lifting frame 30 raises or lowers the height of the cantilever structure 10 , so as to adjust the height of the cantilever structure 10 to a position opposite to the axial hole of the coil drum 60 .

[0265] In some examples, a sensor may be provided at the end of the cantilever structure 10 , and the sensor may be used to determine whether the end of the cantilever structure 10 is aligned with the axial hole of the coil drum 60 .

[0266] In some examples, the height of the cantilever shaft can also be fine-tuned through observation by the operator to ensure that the cantilever structure 10 is aligned with the shaft hole of the coil drum 60 .

[0267] In some examples, the roll 60 may be an empty roll 60 .

[0268] In some examples, the roll 60 may be wound with a roll of material.

[0269] In some examples, after the height of the cantilever structure 10 is adjusted to a specified height, the cantilever robot can move toward a direction close to the cache rack 50 (for example, referring to Fig.10 , you can follow Fig.10 The cantilever structure 10 is moved in the direction shown by the x-axis in the drawing, so that the cantilever structure 10 is inserted into the axial hole of the winding drum 60.

[0270] In some examples, the penetration depth of the cantilever structure 10 can be controlled, that is, the cantilever robot can be controlled along the Fig.10 The distance moved on the x-axis.

[0271] In some examples, the cantilever structure 10 may be relative to the chassis of the cantilever robot. Fig.10 The direction shown by the x-axis is close to the cache rack 50. At this time, the moving distance of the cantilever structure 10 can be controlled.

[0272] In some examples, the moving distance can be controlled by a sensor at the end of the cantilever structure 10 .

[0273] In some examples, the moving distance may be controlled by operator observation.

[0274] In some examples, the moving distance can be controlled to be greater than one half of the length of the shaft hole of the reel 60 , so that the center of the reel 60 is located on the cantilever structure 10 .

[0275] In some examples, the moving distance may be smaller than the length of the shaft hole of the reel 60 , so that the end of the cantilever structure 10 is located in the shaft hole of the reel 60 ; and will not enter into the shaft hole of an adjacent reel 60 .

[0276] In some examples, after the cantilever structure 10 is inserted into the axial hole of the coil drum 60, the positional relationship between the cantilever robot, the buffer rack 50, and the coil drum 60 can be: Fig.11 The positional relationship shown in .

[0277] For some examples, refer to Fig.11 As shown in the figure, after the cantilever body 100 of the cantilever structure 10 is inserted into the axial hole of the coil drum 60, the lifting frame 30 of the cantilever robot can be moved along the Fig.11 The direction indicated by the y-axis lifts the cantilever structure 10 .

[0278] In some examples, as the cantilever structure 10 is lifted upward, the cantilever body 100 lifts the reel 60 upward, so that the end surface of the reel 60 in contact with the adjacent reel 60 is separated from the adjacent reel 60, for example Fig.12 Status shown.

[0279] For some examples, refer to Fig.12 As shown in FIG. 1 , when the end surface of the roll 60 is out of contact with the adjacent roll 60 and exposed (there is a gap between the end surface of the roll 60 and the adjacent roll 60), the first driving mechanism 300 of the cantilever structure 10 drives the force applying member 200 to move along the Fig.12 The cantilever body 100 moves in the direction indicated by the x-axis until the force-applying portion 202 of the force-applying member 200 extends out of the end surface of the winding drum 60 away from the cantilever body 100 .

[0280] In some examples, after the force applying part 202 extends out of the end surface of the coil drum 60 away from the cantilever body 100, the second driving mechanism 500 drives the force applying member 202 to move along the cantilever body 100. Fig.12 The force-applying portion 202 moves in the direction indicated by the y-axis, so that the distance between the end of the force-applying portion 202 and the axis of the shaft hole is greater than the radius of the shaft hole.

[0281] In some examples, the first driving mechanism 300 can be Fig.12 The negative direction of the middle x-axis drives the force applying member 200, and the force applying part 202 acts on the end surface of the roll 60 away from the cantilever body 100, thereby applying a force toward the cantilever body 100 to the roll 60, and pulling the roll 60 onto the cantilever body 100. Fig.13 The status shown in .

[0282] Afterwards, the cantilever robot can move the coil drum 60 to other locations driven by the running wheels of the chassis 20 .

[0283] In some examples, in order to lower the center of gravity height of the cantilever robot during walking, the lifting frame 30 can also lower the height of the cantilever structure 10 before the cantilever robot transports the coil 60 .

[0284] It can be understood that the cantilever robot provided in some examples of the embodiments of the present application has the same or similar technical effects as the cantilever structure 10 provided in the aforementioned embodiments of the present application. For details, please refer to the detailed description of the aforementioned embodiments of the present application, and the embodiments of the present application will not go into details therein.

[0285] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0286] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A cantilever structure, characterized in that: include: Cantilever body (100); A force applying member (200) is provided on the cantilever body (100), and the force applying member (200) is configured to be movable relative to the cantilever body (100) along the axial direction of the cantilever body (100), and to extend out of or retract the end of the cantilever body (100); The force-applying member (200) is configured to extend to the end surface of the winding drum (60) away from the cantilever body (100), and to apply force to the end surface of the winding drum (60) away from the cantilever body (100) to pull the winding drum (60) onto the cantilever body (100).

2. The cantilever structure according to claim 1, characterized in that: The force-applying member (200) is disposed in the cantilever body (100); the first end of the cantilever body (100) has an entry and exit channel (101); and the force-applying member (200) is configured to extend from the entry and exit channel (101) or retract into the cantilever body (100).

3. The cantilever structure according to claim 2, characterized in that: The force applying member (200) comprises: The main body (201) is arranged on the cantilever body (100), The force-applying portion (202) is connected to the end of the main body (201), and the force-applying portion (202) is configured to be movable radially relative to the cantilever body (100) so that after the force-applying portion (202) extends out of the end surface of the winding drum (60) away from the cantilever body (100), the force-applying portion (202) extends radially along the cantilever body (100) and applies force to the end surface of the winding drum (60) away from the cantilever body (100).

4. The cantilever structure according to claim 2, characterized in that: A groove (102) is provided on the peripheral wall of the cantilever body (100), the groove (102) extends along the axial direction of the cantilever body (100), and the groove (102) is connected to the inlet and outlet channel (101); The groove (102) is configured to receive the force applying member (200).

5. The cantilever structure according to claim 4, characterized in that: Also includes: A first driving mechanism (300) is provided on the cantilever body (100), and the first driving mechanism (300) is configured to be connected to the force applying member (200) so as to drive the force applying member (200) to move along the depth direction of the groove (102).

6. The cantilever structure according to claim 5, characterized in that: The first driving mechanism (300) comprises: A first driving member (310) is provided on the cantilever body (100); One end of the first transmission component (320) is connected to the output shaft of the first driving member (310), and the other end of the first transmission component (320) is configured to be connected to the force-applying member (200) so as to drive the force-applying member (200) to move along the depth direction of the groove (102) under the drive of the first driving member (310).

7. The cantilever structure according to claim 6, characterized in that: Also includes: A first guide assembly (400) is arranged on the cantilever body (100) along the radial direction of the cantilever body (100), and the first guide assembly (400) extends toward the groove (102); the first guide assembly (400) is connected to the force applying member (200); The first guide assembly (400) is configured to guide the force applying member (200) along the radial direction of the cantilever body (100).

8. The cantilever structure according to claim 7, characterized in that: The first guide assembly (400) comprises: A first guide rail (401) is arranged along the radial direction of the cantilever body (100), and at least a portion of the first guide rail (401) extends into the groove (102); A first sliding block (402) is slidably disposed on the first guide rail (401), and the first sliding block (402) is connected to the force applying member (200).

9. The cantilever structure according to claim 7, characterized in that: The first transmission assembly (320) comprises: A first connecting rod (321), a first end of which is pivotally connected to the output shaft of the first driving member (310), and a second end of which is pivotally connected to the force applying member (200); The pivot axis of the first end is eccentric relative to the axis of the output shaft of the first drive member (310), and the pivot axis of the second end is eccentric relative to the axis of the output shaft of the first drive member (310).

10. The cantilever structure according to any one of claims 1 to 9, characterized in that: Also includes: The second driving mechanism (500) is provided on the cantilever body (100), and the second driving mechanism (500) is configured to be connected to the force applying member (200) so as to drive the force applying member (200) to move along the axial direction of the cantilever body (100).

11. The cantilever structure according to claim 10, characterized in that: The second driving mechanism (500) comprises: A second driving member (510) is disposed on the cantilever body (100); The second transmission assembly (520) is arranged on the cantilever body (100) along the axial direction of the cantilever body (100), and the second transmission assembly (520) is connected to the output shaft of the second driving member (510). The second transmission assembly (520) is configured to be connected to the force applying member (200) so as to drive the force applying member (200) to move along the axial direction of the cantilever body (100) under the drive of the second driving member (510).

12. The cantilever structure according to claim 11, characterized in that: The cantilever body (100) is provided with a receiving cavity (103), the receiving cavity (103) extending along the axial direction of the cantilever body (100), and the receiving cavity (103) is connected to a groove (102) provided on the peripheral wall of the cantilever body (100); the second transmission assembly (520) comprises: A screw rod (521) is arranged in the accommodating cavity (103) along the axial direction of the cantilever body (100), and the screw rod (521) is drivingly connected to the output shaft of the second driving member (510); The screw nut (522) is sleeved on the screw (521), and the screw nut (522) is configured to be connected to the force applying member (200).

13. The cantilever structure according to claim 12, characterized in that: Also includes: The mounting plate (600) is partially inserted into the groove (102), and the mounting plate (600) extends to the accommodating cavity (103); the mounting plate (600) is connected to the screw nut (522), and the first guide rail (401) is installed on the mounting plate (600).

14. The cantilever structure according to claim 13, characterized in that: Also includes: A second guide assembly (700) is arranged on the cantilever body (100) along the axial direction of the cantilever body (100), the second guide assembly (700) is connected to the mounting plate (600), and the second guide assembly (700) is configured to guide the force-applying member (200) along the axial direction of the cantilever body (100).

15. The cantilever structure according to claim 14, characterized in that: The second guide assembly (700) comprises: A second guide rail (701) is arranged on the cantilever body (100) along the axial direction of the cantilever body (100); The second sliding block (702) is slidably disposed on the second guide rail (701), and the second sliding block (702) is connected to the mounting plate (600).

16. The cantilever structure according to claim 15, characterized in that: The second guide rails (701) include two, one of which is arranged at one side edge of the groove (102), and the other is arranged at the other side edge of the groove (102).

17. The cantilever structure according to any one of claims 1-9 and 11-16, characterized in that: The peripheral wall of the cantilever body (100) is provided with a plurality of rolling elements (104), and the plurality of rolling elements (104) are arranged side by side along the axial direction of the cantilever body (100), and the rolling elements (104) can rotate relative to the cantilever body (100); when the winding drum (60) is located on the cantilever body (100), the rolling elements (104) abut between the cantilever body (100) and the inner wall of the winding drum (60).

18. The cantilever structure according to claim 17, characterized in that: The rolling elements (104) are arranged at the groove edges on both sides of the groove (102).

19. The cantilever structure according to any one of claims 1-9 and 11-16, characterized in that: Also includes: The limit block (800) protrudes from the peripheral wall of the cantilever body (100); the limit block (800) is configured to abut against the end surface of the winding drum (60) on the side close to the cantilever body (100) to limit the position of the winding drum (60) on the cantilever body (100).

20. The cantilever structure according to claim 19, characterized in that: The limit block (800) is movably arranged on the cantilever body (100) along the radial direction of the cantilever body (100); the limit block (800) is configured to be able to extend out of the cantilever body (100) or retract into the cantilever body (100) along the radial direction of the cantilever body (100); the limit block (800) includes a plurality of limit blocks (800), and the plurality of limit blocks (800) are arranged at intervals along the axial direction of the cantilever body (100); a placement area for the coil drum (60) is constructed between two adjacent limit blocks (800).

21. A cantilever robot, characterized in that: include: Chassis (20); A lifting frame (30) is installed on the chassis (20); as well as, The cantilever structure (10) described in any one of claims 1 to 20 is arranged on the lifting frame (30) and can be lifted and lowered along the lifting frame (30).

22. The cantilever robot according to claim 21, characterized in that: Also includes: A mounting frame (40) is mounted on the lifting frame (30), and the mounting frame (40) is configured to mount the cantilever structure (10).

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