Material rolling mechanism and mechanical arm
By introducing a barrier member into the coiling mechanism, the problem of the outer layer of the coil is easily fallen off during the movement of the coil, the integrity and aesthetics of the coil are achieved, and the service life is extended.
Patent Information
- Application Number
- CN202421506969.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-27
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-06-27
AI Technical Summary
During the movement of the coil, the outer layer is easily caused by gravity and other factors, which affects the use and aesthetics.
A coiling mechanism is designed, including a coiling shaft and a barrier member for winding the material, the barrier member is located on the side of the material withdrawal end away from the drive end, and the outer layer of the coil is moved relative to the inner layer toward the side of the material withdrawal end away from the drive end.
It effectively avoids the fall of the outer layer of the coil, ensures the integrity and aesthetics of the coil, and extends the service life.
Smart Images
Figure CN222757567U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of mechanical equipment, and more specifically, to a material coiling mechanism and a mechanical arm. Background Art
[0002] Coil refers to the finished material that is wound into a cylindrical shape during the manufacturing or processing process. Common types of coils are metal coils, conductive coils, plastic coils, and paper coils.
[0003] When manufacturing coils, the material is usually wound around the circumference of a rotatable coil shaft, and the material will be made into a coil as the coil shaft rotates. The finished coil is usually sleeved on the circumference of the coil shaft and moved to a specified position. However, during the movement of the coil, the outer layer of the coil is easily detached due to its own gravity and other factors, which not only affects the subsequent use and processing, but also affects the aesthetics of the coil. Utility Model Content
[0004] The purpose of the embodiments of the present application is to provide a coiling mechanism and a robotic arm, aiming to solve the technical problem in the related art that the outer layer of the coil is prone to falling off.
[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a winding mechanism is provided for driving the movement of the coil, the winding mechanism comprising: a winding shaft for winding the material to form the material into a coil, the winding shaft having a driving end and a material taking end, the driving end being arranged opposite to the material taking end; a blocking member, the blocking member being located on the side of the material taking end away from the driving end, and being used to block the outer layer of the coil from moving relative to the inner layer of the coil toward the side of the material taking end away from the driving end.
[0006] Optionally, the winding mechanism also includes a mounting member, the winding shaft is mounted on the mounting member and can rotate on the mounting member; a blocking member is mounted on the mounting member, the blocking member has a blocking position and an avoidance position, and the blocking member includes a blocking body; when the blocking member is in the blocking position, the orthographic projection of the blocking body is projected onto the end surface of the outer layer of the coil away from the driving end; when the blocking member is in the avoidance position, the blocking body moves away so that the orthographic projection of the blocking body is projected outside the end surface of the coil away from the driving end.
[0007] Optionally, the material winding mechanism further comprises an adjusting member, which is drivingly connected to the blocking member and is used to adjust the blocking member to switch between the blocking position and the avoidance position.
[0008] Optionally, the blocking member also includes a connecting body, which is connected to the blocking body and is used to drive the blocking body to rotate relative to the coil; the adjusting member includes an adjusting body and a driving body, the adjusting body is mounted on the mounting member, an adjusting cavity is provided on the adjusting body, the connecting body is passed through the adjusting cavity and can slide in the adjusting cavity; the driving body is mounted on the adjusting body, and the output end of the driving body is connected to the connecting body, which is used to drive the connecting body to slide in the adjusting cavity; the adjusting body is provided with an adjusting groove connected to the adjusting cavity, a limiting body is installed on the connecting body, the limiting body is inserted into the adjusting groove and can slide in the adjusting groove; the adjusting groove includes a first groove section, a connecting groove section and a second groove section which are connected in sequence, the first groove section is located on the side of the second groove section away from the coil shaft; when the blocking member is in the blocking position, the limiting body is located in the second groove section, and when the blocking member is in the avoidance position, the limiting body is located in the first groove section.
[0009] Optionally, the limiting body is in linear contact with the groove wall of the adjusting groove.
[0010] Optionally, the limiting body includes a limiting body and a limiting bearing, the limiting body is fixedly mounted on the connecting body, the limiting bearing is fixedly sleeved on the circumference of the limiting body, and the outer ring of the limiting bearing is in linear contact with the groove wall of the adjusting groove.
[0011] Optionally, the mounting member includes a mounting body and a connecting body, the winding shaft is mounted on the mounting body and can rotate on the mounting body; the connecting body is mounted on one side of the mounting body, and the adjusting body is mounted on the connecting body.
[0012] Optionally, the driving body is an adjusting cylinder, and the driving body is detachably mounted on the adjusting body; the coiling shaft is an air-expanding shaft, and the air-expanding shaft includes a shaft body and a plurality of air-expanding blocks, and the plurality of air-expanding blocks are mounted on the shaft body at intervals along the axial direction of the shaft body.
[0013] Optionally, the winding mechanism also includes an appearance detection camera, which is mounted on the mounting member and is used to obtain appearance data of the coil that rotates together with the coil shaft; the winding mechanism also includes a first driving unit, which is mounted on the mounting member, and the output end of the first driving unit is drivingly connected to the driving end, so as to drive the coil shaft to rotate on the mounting member; the winding mechanism also includes a fixed arm and a second driving unit, and the mounting member is mounted on the fixed arm and can rotate on the fixed arm around a preset axis; the second driving unit is mounted on the mounting member, and the output end of the second driving unit is drivingly connected to the fixed arm, so as to drive the mounting member to rotate on the fixed arm around a preset axis.
[0014] According to another aspect of the present application, a robotic arm is provided, which includes the above-mentioned coiling mechanism.
[0015] The beneficial effect of the winding mechanism provided by the present application is that when the winding mechanism of the present application makes a coil, firstly, a part of the structure of the material is wound on the winding shaft, and then the winding shaft is made to wind the material until the material is formed into a coil; after the coil is made, the winding mechanism of the present application can drive the coil to move, and in the process of driving the coil to move, the blocking member will always support the coil and apply a blocking force to the outer layer of the coil to prevent the outer layer of the coil from moving toward the side of the material taking end away from the driving end relative to the inner layer of the coil due to factors such as gravity, thereby avoiding the outer layer of the coil from being clamped by clamping the outer layer of the coil, thereby ensuring the integrity of the coil; the blocking member in the present application plays a blocking role, avoiding the outer layer of the coil from falling off, ensuring the integrity and aesthetics of the coil, and extending the service life of the coil. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0017] Figure 1 A schematic diagram of the structure of a coiling mechanism provided in an embodiment of the present application after the coil is wound with the coil at a first viewing angle;
[0018] Figure 2 A schematic diagram of the structure of the coiling mechanism provided in an embodiment of the present application after the coil is wound with the coil at a second viewing angle;
[0019] Figure 3 A schematic diagram of the structure of a coiling mechanism provided in an embodiment of the present application;
[0020] Figure 4 for Figure 2 The enlarged schematic diagram of point A in the middle;
[0021] Figure 5 A schematic diagram of the structure of the blocking member, the adjusting member and the connecting block after being assembled according to the embodiment of the present application;
[0022] Figure 6 for Figure 5 A magnified schematic diagram of point B in the middle.
[0023] The reference numerals in the above drawings are as follows:
[0024] 100, coil shaft; 110, shaft body; 111, drive end; 112, material taking end; 120, air expansion block;
[0025] 200, blocking member; 210, blocking body; 220, connecting body; 230, limiting body; 231, limiting body; 232, limiting bearing;
[0026] 300, mounting member; 310, mounting body; 320, connecting body; 321, connecting body; 322, connecting block;
[0027] 400, adjusting member; 410, adjusting body; 411, adjusting cavity; 412, adjusting slot; 4121, first slot section; 4122, connecting slot section; 4123, second slot section; 420, driving body;
[0028] 500 , appearance inspection camera; 600 , fixed arm; 700 , first driving unit; 800 , second driving unit; 900 , coil; 910 , end face. DETAILED DESCRIPTION
[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0033] As described in the background technology, at present, coils refer to finished materials that are wound into a cylindrical shape during the manufacturing or processing process. Common types of coils are metal coils, conductive coils, plastic coils, and paper coils. When manufacturing coils, the material is usually wound around the circumference of a rotatable coil shaft, and the material will be made into a coil as the coil shaft rotates. The manufactured coil is usually sleeved on the circumference of the coil shaft and moved to a specified position. However, during the movement of the coil, the outer layer of the coil is easily affected by its own gravity and other factors and is prone to falling off, which not only affects the subsequent use and processing, but also affects the aesthetics of the coil.
[0034] Reference Figures 1 to 3 In order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides a winding mechanism for driving the coil 900 to move, the winding mechanism includes a winding shaft 100 and a blocking member 200, wherein the winding shaft 100 is used to wind the material so that the material is formed into the coil 900, the winding shaft 100 has a driving end 111 and a material taking end 112, and the driving end 111 is arranged opposite to the material taking end 112; the blocking member 200 is located on the side of the material taking end 112 away from the driving end 111, and is used to prevent the outer layer of the coil 900 from moving relative to the inner layer of the coil 900 toward the side of the material taking end 112 away from the driving end 111.
[0035] In the embodiment of the present application, the coiling mechanism is used to drive the coil 900 to rise or fall; the material of the coil 900 is generally a conductive material, and in other embodiments, the material of the coil 900 may also be a metal material, a plastic material or a paper material; the driving end 111 and the material taking end 112 are respectively arranged in one-to-one correspondence with the two ends on the coil shaft 100; the blocking member 200 is generally a blocking bar, and in other embodiments, the blocking member 200 may also be a blocking block, a blocking plate or a blocking rod.
[0036] When the coiling mechanism of the present application makes the coil 900, firstly, a part of the structure of the material is wound on the coiling shaft 100, and then the coiling shaft 100 is made to wind the material until the material is formed into the coil 900; after the coil 900 is made, the coiling mechanism of the present application can drive the coil 900 to move, and in the process of driving the coil 900 to move, the blocking member 200 will always support the coil 900 and apply a blocking force to the outer layer of the coil 900 to block the outer layer of the coil 900 Due to factors such as gravity, the inner layer of the coil 900 moves toward the side of the material collection end 112 away from the driving end 111, thereby avoiding indentations on the outer layer of the coil 900 caused by clamping the outer layer of the coil 900, thereby ensuring the integrity of the coil 900; the blocking member 200 in the present application plays a blocking role, avoiding the outer layer of the coil 900 from falling off, ensuring the integrity and aesthetics of the coil 900, and extending the service life of the coil 900.
[0037] Reference Figures 1 to 3 In one embodiment, the winding mechanism also includes a mounting member 300, the winding shaft 100 is mounted on the mounting member 300, and can rotate on the mounting member 300; the blocking member 200 is mounted on the mounting member 300, the blocking member 200 has a blocking position and an avoidance position, and the blocking member 200 includes a blocking body 210; when the blocking member 200 is in the blocking position, the orthographic projection of the blocking body 210 is projected onto an end surface 910 on the outer layer of the coil 900 away from the driving end 111; when the blocking member 200 is in the avoidance position, the blocking body 210 moves away so that the orthographic projection of the blocking body 210 is projected outside the end surface 910 on the coil 900 away from the driving end 111.
[0038] In this embodiment, the coil shaft 100 rotates around its own axis on the mounting member 300; the blocking body 210 is generally a blocking bar or a blocking rod. When the blocking member 200 is in the blocking position, the orthographic projection of a part of the structure of the blocking body 210 is projected onto the end surface 910 of the outer layer of the coil 900 away from the driving end 111, so that the blocking body 210 can block the outer layer of the coil 900 from moving relative to the inner layer of the coil 900 toward the side of the material taking end 112 away from the driving end 111; when the blocking member 200 is in the avoidance position, the blocking body 210 and the coil 900 are staggered, so that the coil 900 can be taken off the coil shaft 100 through the material taking end 112. The blocking member 200 in the present application can not only prevent the outer layer of the coil 900 from falling off, but also enable the coil 900 to be taken off the coil shaft 100 through the material taking end 112, thereby improving the convenience of use.
[0039] Reference Figures 1 to 3 In one embodiment, the coiling mechanism further includes an adjusting member 400, which is drivingly connected to the blocking member 200 and is used to adjust the blocking member 200 to switch between the blocking position and the avoidance position.
[0040] In this embodiment, the blocking member 200 can generally rotate in a direction parallel to the axial direction of the winding shaft 100. In other embodiments, the blocking member 200 can also rotate in a direction having a preset angle with the axial direction of the winding shaft 100, and the preset angle is an acute angle; the adjusting member 400 can be a driving motor or a driving motor, and the output shaft of the driving motor or the driving motor is fixedly connected to the blocking member 200 to drive the blocking member 200 to switch between a blocking position and an avoidance position; using the adjusting member 400 in the present application to adjust the position of the blocking member 200 not only greatly improves the convenience of the adjustment operation, but also enables the adjusting member 400 to quickly and accurately stay at the desired stop position.
[0041] Reference Figures 1 to 6In one embodiment, the blocking member 200 further includes a coupling body 220, which is connected to the blocking body 210 and is used to drive the blocking body 210 to rotate relative to the coil 900; the adjusting member 400 includes an adjusting body 410 and a driving body 420, the adjusting body 410 is mounted on the mounting member 300, an adjusting cavity 411 is provided on the adjusting body 410, the coupling body 220 is penetrated in the adjusting cavity 411, and can slide in the adjusting cavity 411; the driving body 420 is mounted on the adjusting body 410, and the output end of the driving body 420 is connected to the coupling body 220, and is used to drive the coupling body 220 to slide in the adjusting cavity 411; An adjusting groove 412 connected to the adjusting cavity 411 is provided on the adjusting body 410, and a limiting body 230 is installed on the connecting body 220. The limiting body 230 is inserted into the adjusting groove 412 and can slide in the adjusting groove 412; the adjusting groove 412 includes a first groove section 4121, a connecting groove section 4122 and a second groove section 4123 which are connected in sequence, and the first groove section 4121 is located on the side of the second groove section 4123 away from the winding shaft 100; when the blocking member 200 is in the blocking position, the limiting body 230 is located in the second groove section 4123, and when the blocking member 200 is in the avoidance position, the limiting body 230 is located in the first groove section 4121.
[0042] In this embodiment, the connecting body 220 is generally a connecting rod, the length direction of the connecting body 220 is generally parallel to the axial direction of the winding shaft 100, the connecting body 220 is fixedly connected to the blocking body 210, and the length direction of the connecting body 220 is usually perpendicular to the length direction of the blocking body 210; the adjusting body 410 is generally fixedly installed on the mounting member 300, and in other embodiments, the adjusting body 410 can also slide on the mounting member 300 along the axial direction of the winding shaft 100; the adjusting cavity 411 is a through cavity, and the extension direction of the adjusting cavity 411 is parallel to the length direction of the connecting body 220; the driving The body 420 is generally a cylinder, and the driving body 420 is fixedly mounted on the adjusting body 410. The piston rod of the driving body 420 is fixedly connected to the connecting body 220. At the same time, the length direction of the piston rod of the driving body 420 is parallel to the extension direction of the adjusting chamber 411, so as to smoothly drive the connecting body 220 to slide in the adjusting chamber 411. In other embodiments, the driving body 420 can also be an electric piston cylinder, a linear motor or a screw assembly; the first groove section 4121 is located on the side of the connecting groove section 4122 away from the driving body 420, and the second groove section 4123 is located on the side of the connecting groove section 4122 close to the driving body 420.
[0043] When the adjustment blocking member 200 is switched from the blocking position to the avoidance position, the output end of the driving body 420 drives the connecting body 220 to slide in the adjusting cavity 411, and along with the sliding of the connecting body 220, the limiting body 230 located in the second groove section 4123 will first slide into the connecting groove section 4122, then slide out from the connecting groove section 4122 and finally slide into the first groove section 4121; when the adjustment blocking member 200 is switched from the avoidance position to the blocking position, the output end of the driving body 420 drives the connecting body 220 to slide in the adjusting cavity 411, and along with the sliding of the connecting body 220, the limiting body 230 located in the first groove section 4121 will first slide into the connecting groove section 4122, then slide out from the connecting groove section 4122 and finally slide into the second groove section 4123; the arranged adjusting groove 412 not only plays the role of guiding the adjusting body 410, but also plays the role of limiting the adjusting body 410. In addition, in order to make the blocking member 200 stay stably in the blocking position and the avoidance position, the extension direction of the first slot section 4121 is usually parallel to the length direction of the connecting body 220, and the extension direction of the second slot section 4123 is parallel to the length direction of the connecting body 220.
[0044] Reference Figures 4 to 6 In one embodiment, the limiting body 230 is in linear contact with the groove wall of the adjustment groove 412. In this embodiment, the limiting body 230 can be a limiting roller, which is mounted on the coupling body 220 and can rotate on the coupling body 220, and can roll in the adjustment groove 412 along the extension direction of the adjustment groove 412. The use of the limiting body 230 in the present application not only reduces the friction force applied to the limiting body 230 by the groove wall of the adjustment groove 412, reduces the wear of the limiting body 230 and the adjustment body 410, and prolongs the service life of the limiting body 230 and the adjustment body 410, but also reduces the noise.
[0045] Reference Figure 4 and Figure 6 In one embodiment, the limiting body 230 includes a limiting body 231 and a limiting bearing 232. The limiting body 231 is fixedly mounted on the connecting body 220. The limiting bearing 232 is fixedly sleeved on the circumferential surface of the limiting body 231. The outer ring of the limiting bearing 232 is in linear contact with the groove wall of the adjusting groove 412.
[0046] In this embodiment, the limiting body 231 is a limiting column or a limiting block, and the limiting bearing 232 is a conventional bearing. The specific structure thereof belongs to the common knowledge of those skilled in the art and will not be described in detail here; the limiting bearing 232 is usually fixedly sleeved on the circumference of the limiting body 231 by means of interference fit. In other embodiments, the limiting bearing 232 can also be fixedly sleeved on the circumference of the limiting body 231 by means of welding or other connection processes; the use of the limiting bearing 232 in this application not only reduces the friction force applied to the limiting body 230 by the groove wall of the adjustment groove 412, but also reduces the noise, and in addition, improves the bearing capacity of the limiting body 230. In addition, in order to ensure the stability of the limiting body 230 in the adjustment groove 412, the axial direction of the limiting body 231 is perpendicular to the length direction of the coupling body 220.
[0047] Reference Figures 1 to 3 In one embodiment, the mounting member 300 includes a mounting body 310 and a connecting body 320 , the winding shaft 100 is mounted on the mounting body 310 and can rotate on the mounting body 310 ; the connecting body 320 is mounted on one side of the mounting body 310 , and the adjusting body 410 is mounted on the connecting body 320 .
[0048] In this embodiment, the mounting body 310 is a mounting block or a mounting frame; the connecting body 320 is a connecting bar or a connecting rod, and the connecting body 320 is fixedly mounted on the mounting body 310 by welding or other connecting processes; the adjusting body 410 is fixedly mounted on the connecting body 320 by welding or other connecting processes. The provided mounting body 310 provides a mounting platform for the coil shaft 100; the provided connecting body 320 not only provides a mounting platform for the adjusting body 410, but also enables the adjusting body 410 to be connected to the mounting body 310. In addition, in order to facilitate the assembly of the mounting member 300 and the adjusting member 400, the connecting body 320 includes a connecting body 321 and a connecting block 322, wherein the connecting body 321 is fixedly connected to the mounting body 310, the connecting block 322 is mounted on the connecting body 321 by connecting screws or connecting bolts, and the adjusting body 410 is mounted on the connecting block 322; in other embodiments, the connecting body 321 may be provided with a plurality of connecting holes along the axial direction of the coil shaft 100, so that the adjusting body 410 can be mounted at any position on the connecting body 321.
[0049] Reference Figure 1 and Figure 3 In one embodiment, the driving body 420 is an adjusting cylinder, and the driving body 420 is detachably mounted on the adjusting body 410. In this embodiment, the cylinder body of the driving body 420 is detachably mounted on the adjusting body 410 by connecting bolts or connecting screws.
[0050] Reference Figure 3In one embodiment, the coil shaft 100 is an air expansion shaft, which includes a shaft body 110 and a plurality of air expansion blocks 120 , wherein the plurality of air expansion blocks 120 are installed on the shaft body 110 at intervals along the axial direction of the shaft body 110 .
[0051] In this embodiment, the specific structure of the air expansion shaft is common knowledge to those skilled in the art and will not be elaborated in detail here; the driving end 111 and the material taking end 112 are respectively arranged in one-to-one correspondence with the two ends on the shaft body 110; a plurality of air expansion blocks 120 are not only installed on the shaft body 110 at axial intervals along the shaft body 110, but also arranged at radial intervals along the shaft body 110; the use of the air expansion shaft in this application to wind the material can not only achieve rapid winding, but also make the internal stress distribution of the coil 900 uniform.
[0052] Reference Figures 1 to 3 In one embodiment, the coiling mechanism further includes an appearance inspection camera 500 , which is mounted on the mounting member 300 and is used to obtain appearance data of the coil 900 that rotates together with the coiling shaft 100 .
[0053] In this embodiment, the appearance inspection camera 500 is a conventional camera, and its specific structure is common knowledge to those skilled in the art and will not be elaborated in detail here; in other embodiments, the appearance inspection camera 500 can also be a visual sensor; along with the rotation of the coil shaft 100, the appearance inspection camera 500 can take pictures of different positions of the coil 900, so as to fully understand the appearance status of the coil 900, so as to facilitate subsequent analysis and comparison.
[0054] Reference Figures 1 to 3 In one embodiment, the winding mechanism further includes a first driving unit 700 , which is mounted on the mounting member 300 , and an output end of the first driving unit 700 is drivingly connected to the driving end 111 for driving the winding shaft 100 to rotate on the mounting member 300 .
[0055] In this embodiment, the first driving unit 700 is a driving motor or a driving motor, and the output shaft of the driving motor or the driving motor is fixedly connected to the driving end 111 of the winding shaft 100 to drive the winding shaft 100 to rotate on the mounting member 300, and the output shaft of the driving motor or the driving motor forms the output end of the first driving unit 700.
[0056] Reference Figures 1 to 3In one embodiment, the winding mechanism also includes a fixed arm 600 and a second driving part 800, the mounting member 300 is mounted on the fixed arm 600, and can rotate on the fixed arm 600 around a preset axis; the second driving part 800 is mounted on the mounting member 300, and the output end of the second driving part 800 is drivingly connected to the fixed arm 600, and is used to drive the mounting member 300 to rotate on the fixed arm 600 around the preset axis.
[0057] In this embodiment, the fixed arm 600 is usually fixedly installed on an external component, and the axis of the preset axis is perpendicular to the length direction of the fixed arm 600 and parallel to the horizontal direction; the mounting body 310 is mounted on the fixed arm 600 and can rotate on the fixed arm 600 around the preset axis; the second driving part 800 is a driving motor or a driving motor, and the output shaft of the driving motor or the driving motor is fixedly connected to the fixed arm 600, and the output shaft of the driving motor or the driving motor forms the output end of the second driving part 800; along with the rotation of the output end of the second driving part 800, since the fixed arm 600 is fixed, the second driving part 800, the mounting part 300, the winding shaft 100 and the coil 900 will swing up and down around the preset axis on the fixed arm 600, thereby realizing the adjustment of the positions of the winding shaft 100 and the coil 900.
[0058] Reference Figures 1 to 6 According to another aspect of the present application, an embodiment of the present application further provides a robotic arm, which includes the above-mentioned coiling mechanism.
[0059] In the embodiment of the present application, the coiling mechanism is used to drive the coil 900 to rise or fall; the material of the coil 900 is generally a conductive material. In other embodiments, the material of the coil 900 can also be a metal material, a plastic material or a paper material; the driving end 111 and the material taking end 112 are respectively arranged in one-to-one correspondence with the two ends on the coil shaft 100.
[0060] In summary, the implementation of the coiling mechanism and the robotic arm provided in this embodiment has at least the following beneficial technical effects: when the coiling mechanism of the present application makes the coil 900, firstly, a part of the structure of the material is wound on the coiling shaft 100, and then the coiling shaft 100 is made to wind the material until the material is formed into the coil 900; after the coil 900 is made, the coiling mechanism of the present application can drive the coil 900 to move, and in the process of driving the coil 900 to move, the blocking member 200 will always support the coil 900 and apply pressure to the outer layer of the coil 900. A blocking force is applied to prevent the outer layer of the coil 900 from moving toward the side of the material collection end 112 away from the driving end 111 relative to the inner layer of the coil 900 due to factors such as gravity, thereby avoiding indentations on the outer layer of the coil 900 caused by clamping the outer layer of the coil 900, thereby ensuring the integrity of the coil 900; the blocking member 200 in the present application plays a blocking role, preventing the outer layer of the coil 900 from falling off, ensuring the integrity and aesthetics of the coil 900, and extending the service life of the coil 900.
[0061] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. A material coiling mechanism, characterized in that: Used to drive the coiled material (900) to move, the coiling mechanism comprises: a coiling shaft (100) used to coil the material so that the material is formed into a coiled material (900), the coiling shaft (100) having a driving end (111) and a material taking end (112), the driving end (111) and the material taking end (112) being arranged opposite to each other; A blocking member (200) is located on a side of the material taking end (112) away from the driving end (111) and is used to block the outer layer of the coil (900) from moving toward the side of the material taking end (112) away from the driving end (111) relative to the inner layer of the coil (900).
2. The material coiling mechanism according to claim 1, characterized in that: The material coiling mechanism further comprises a mounting member (300), the material coiling shaft (100) being mounted on the mounting member (300) and being capable of rotating on the mounting member (300); The blocking member (200) is mounted on the mounting member (300), and the blocking member (200) has a blocking position and an evasive position, and the blocking member (200) comprises a blocking body (210); when the blocking member (200) is in the blocking position, an orthographic projection of the blocking body (210) is projected onto an end surface (910) on the outer layer of the coiled material (900) away from the driving end (111); when the blocking member (200) is in the evasive position, the blocking body (210) moves away so that an orthographic projection of the blocking body (210) is projected outside the end surface (910) on the coiled material (900) away from the driving end (111).
3. The material coiling mechanism according to claim 2, characterized in that: The material coiling mechanism further comprises an adjusting member (400), wherein the adjusting member (400) is drivingly connected to the blocking member (200) and is used for adjusting the blocking member (200) to switch between the blocking position and the avoidance position.
4. The material coiling mechanism according to claim 3, characterized in that: The blocking member (200) further comprises a coupling body (220), wherein the coupling body (220) is connected to the blocking body (210) and is used to drive the blocking body (210) to rotate relative to the coiled material (900); The regulating member (400) comprises a regulating body (410) and a driving body (420); the regulating body (410) is mounted on the mounting member (300); an regulating cavity (411) is provided on the regulating body (410); the coupling body (220) is inserted into the regulating cavity (411) and is capable of sliding in the regulating cavity (411); the driving body (420) is mounted on the regulating body (410); an output end of the driving body (420) is connected to the coupling body (220) and is used to drive the coupling body (220) to slide in the regulating cavity (411); The regulating body (410) is provided with an regulating groove (412) communicating with the regulating cavity (411); a limiting body (230) is installed on the coupling body (220); the limiting body (230) is inserted into the regulating groove (412) and is capable of sliding in the regulating groove (412); The adjusting groove (412) comprises a first groove section (4121), a connecting groove section (4122) and a second groove section (4123) which are connected in sequence, wherein the first groove section (4121) is located on a side of the second groove section (4123) away from the winding shaft (100); when the blocking member (200) is in the blocking position, the limiting body (230) is located in the second groove section (4123), and when the blocking member (200) is in the avoidance position, the limiting body (230) is located in the first groove section (4121).
5. The material coiling mechanism according to claim 4, characterized in that: The limiting body (230) is in linear contact with the groove wall of the adjustment groove (412).
6. The material coiling mechanism according to claim 5, characterized in that: The limiting body (230) comprises a limiting body (231) and a limiting bearing (232); the limiting body (231) is fixedly mounted on the connecting body (220); the limiting bearing (232) is fixedly sleeved on the circumferential surface of the limiting body (231); and the outer ring of the limiting bearing (232) is in linear contact with the groove wall of the adjusting groove (412).
7. The material coiling mechanism according to claim 5, characterized in that: The mounting member (300) comprises a mounting body (310) and a connecting body (320); the winding shaft (100) is mounted on the mounting body (310) and is rotatable on the mounting body (310); the connecting body (320) is mounted on one side of the mounting body (310), and the adjusting body (410) is mounted on the connecting body (320).
8. The material coiling mechanism according to claim 5, characterized in that: The driving body (420) is an adjusting cylinder, and the driving body (420) is detachably mounted on the adjusting body (410); the coiling shaft (100) is an air-expanding shaft, and the air-expanding shaft comprises a shaft body (110) and a plurality of air-expanding blocks (120), and the plurality of air-expanding blocks (120) are mounted on the shaft body (110) at intervals along the axial direction of the shaft body (110).
9. The material coiling mechanism according to any one of claims 2 to 8, characterized in that: The coiling mechanism further comprises an appearance detection camera (500), wherein the appearance detection camera (500) is mounted on the mounting member (300) and is used to obtain appearance data of the coiled material (900) that rotates together with the coiling shaft (100); The material coiling mechanism further comprises a first driving part (700), wherein the first driving part (700) is mounted on the mounting member (300), and an output end of the first driving part (700) is drivingly connected to the driving end (111) for driving the material coiling shaft (100) to rotate on the mounting member (300); The material winding mechanism further comprises a fixed arm (600) and a second driving unit (800); the mounting member (300) is mounted on the fixed arm (600) and is capable of rotating on the fixed arm (600) around a preset axis; the second driving unit (800) is mounted on the mounting member (300); an output end of the second driving unit (800) is drivingly connected to the fixed arm (600) and is used to drive the mounting member (300) to rotate on the fixed arm (600) around the preset axis.
10. A robotic arm, characterized in that: The robotic arm comprises the coiling mechanism according to any one of claims 1 to 9.