Coil unloading truss manipulator

Abstract

The utility model belongs to the technical field of manipulators, and discloses a coil unloading truss manipulator which comprises a rack, a walking assembly, a lifting assembly, a clamping assembly and a turnover mechanism, the walking assembly is arranged on the rack, and the walking assembly comprises a moving trolley which is suspended above a to-be-transferred area and can translate in the horizontal direction; the lifting assembly is arranged on the moving trolley and comprises a lifting base capable of horizontally moving in the vertical direction. The clamping assembly is used for clamping a material coil; the turnover mechanism is arranged on the lifting base and used for driving the clamping assembly to be switched between the horizontal posture and the vertical posture. According to the coil unloading truss manipulator, a material coil is reliably grabbed through the clamping and holding assembly, the material coil is transferred in the X-axis direction and the Y-axis direction through the walking assembly, the material coil is transferred in the Z-axis direction through the lifting assembly, the material coil is switched between the vertical posture and the horizontal posture through the turnover mechanism, various transferring requirements are met, and the transferring efficiency is improved. And flexible, accurate and stable actions are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a coil unloading truss manipulator. Background Art

[0002] After the glass fiber reinforced plastic pultruded sheet is formed, it is in a strip shape. Subsequent blanking requires a series of actions such as winding, bundling, coding and sorting, and stacking. Among them, during the winding process, the axial direction of the coil is horizontal to facilitate the neat winding of the strip; while during the bundling process, the axial direction of the coil needs to be vertical to facilitate the winding and binding of the coil. Therefore, during these two processes, the posture of the coil needs to be changed, including actions such as grasping, transferring, flipping, and rotating.

[0003] For the above working conditions, considering the requirements for action accuracy and flexibility, the existing transfer mechanisms are difficult to meet the use needs, and are prone to phenomena such as bumping, position deviation, and unstable conveying. Some multi-degree-of-freedom robotic arms are expensive and have redundant functions, increasing the manufacturing cost. Summary of the Utility Model

[0004] Based on the above problems, the purpose of the utility model is to provide a coil unloading truss manipulator, which can realize actions such as grasping, translating, and flipping of the coil, ensure accurate and stable actions, and meet the transfer needs.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A coil unloading truss manipulator, which comprises:

[0007] A frame, which covers the area to be transferred of the coil;

[0008] A traveling component, which is arranged on the frame. The traveling component includes a moving trolley that hangs above the area to be transferred and can translate along the horizontal direction;

[0009] A lifting component, which is arranged on the moving trolley. The lifting component includes a lifting seat that can translate along the vertical direction;

[0010] A clamping component, which is used for clamping the coil;

[0011] A flipping mechanism, which is arranged on the lifting seat and is used for driving the clamping component to switch between a horizontal posture and a vertical posture.

[0012] As an optional solution, the clamping component includes a substrate. A plurality of rotary cylinders evenly distributed in a ring are arranged on the front surface of the substrate. A baffle is arranged at the output end of the rotary cylinder. The baffle is parallel to the substrate and the distance therebetween is greater than the width of the coil. Each baffle is driven by the corresponding rotary cylinder to switch between a state of closing towards the center and a state of spreading outwards;

[0013] When each rotary cylinder is located in the inner ring of the coil and each baffle is in the outwardly open state, the coil is confined between the substrate and the baffle.

[0014] As an alternative, a number of first electric cylinders evenly distributed in a ring are further provided on the front surface of the substrate. The output direction of the first electric cylinder is parallel to the substrate, and a top plate is provided at the output end of the first electric cylinder. The top plate is used to press against the inner ring surface of the coil. A number of second electric cylinders evenly distributed in a ring are provided on the back surface of the substrate. The output direction of the second electric cylinder is parallel to the substrate, and a pressing plate opposite to the top plate is provided at the output end of the second electric cylinder. The pressing plate is used to press against the outer ring surface of the coil. The top plate and the pressing plate cooperate to clamp the coil.

[0015] As an alternative, the baffle, the top plate and the pressing plate are all made of polyurethane material or are coated with a polyurethane layer on the surface.

[0016] As an alternative, the flipping mechanism includes a connecting rod and a third electric cylinder. The two connecting rods are correspondingly installed on both sides of the lifting seat and are hinged to the clamping assembly. The two ends of the third electric cylinder are respectively connected to the lifting seat and the clamping assembly. The third electric cylinder is used to drive the clamping assembly to rotate relative to the lifting seat under the action of the connecting rod.

[0017] As an alternative, the lifting assembly further includes a sleeve. The sleeve is installed on the moving trolley along the Z-axis direction. The lifting seat is inserted into the sleeve. A first reduction motor is provided at the top end of the sleeve. A Z-direction screw rod is provided on the output shaft of the first reduction motor. A nut cooperating with the Z-direction screw rod is provided on the sleeve.

[0018] As an alternative, a slewing bearing is assembled between the moving trolley and the sleeve, so that the lifting assembly can rotate relative to the moving trolley.

[0019] As an alternative, the traveling assembly further includes an X-direction guide rail provided on the frame. A traveling frame capable of translating along the X-axis direction is provided on the X-direction guide rail. A Y-direction guide rail is provided on the traveling frame. The moving trolley is provided on the Y-direction guide rail and can translate along the Y-axis direction.

[0020] As an alternative, a first rack and a first guide bar parallel to the X-direction guide rail are provided on the frame. A second reduction motor and a first guide wheel are provided on the traveling frame. A first gear is provided on the output shaft of the second reduction motor. The first gear meshes with the first rack. The first guide wheel is in rolling contact with the first guide bar.

[0021] As an alternative, a second rack and a second guide bar parallel to the Y-direction guide rail are provided on the traveling frame. A third reduction motor and a second guide wheel are provided on the moving trolley. A second gear is provided on the output shaft of the third reduction motor. The second gear meshes with the second rack. The second guide wheel is in rolling contact with the second guide bar.

[0022] Advantages of the present utility model: The coiler unloading truss manipulator reliably grasps the coil through the clamping component, transfers the coil in the X-axis and Y-axis directions through the traveling component, transfers the coil in the Z-axis direction through the lifting component, and switches the vertical and horizontal postures of the coil through the flipping mechanism, meeting various transfer requirements and ensuring flexible, precise, and stable movements. Description of the Drawings

[0023] Figure 1 is the top view of the structure of the coiler unloading truss manipulator provided by an embodiment of the present utility model;

[0024] Figure 2 is the front view of the structure of the coiler unloading truss manipulator provided by an embodiment of the present utility model;

[0025] Figure 3 is the side view of the structure of the coiler unloading truss manipulator provided by an embodiment of the present utility model Figure 1 ;

[0026] Figure 4 is the side view of the structure of the coiler unloading truss manipulator provided by an embodiment of the present utility model Figure 2 ;

[0027] Figure 5 is the front view of the clamping component in the coiler unloading truss manipulator provided by an embodiment of the present utility model;

[0028] Figure 6 is Figure 2 the enlarged view at A in

[0029] In the drawings:

[0030] 1. Frame;

[0031] 2. Traveling component; 21. Mobile trolley; 22. X-direction guide rail; 23. Traveling frame; 24. Y-direction guide rail; 25. First rack; 26. First guide bar; 27. Second reduction motor; 28. First guide wheel; 29. First gear;

[0032] 3. Lifting component; 31. Lifting seat; 32. Sleeve; 33. First reduction motor; 34. Z-direction lead screw; 35. Nut;

[0033] 4. Clamping component; 41. Substrate; 42. Rotary cylinder; 43. Baffle; 44. First electric cylinder; 45. Top plate; 46. Second electric cylinder; 47. Pressure plate;

[0034] 5. Flipping mechanism; 51. Link; 52. Third electric cylinder;

[0035] 6. Slewing bearing;

[0036] 7. Coil. Detailed Embodiments

[0037] The following further elaborates on the present utility model in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are merely for explaining the present utility model and not for limiting it. Additionally, it should be noted that for the sake of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.

[0038] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0039] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0040] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left", and "right" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 thus cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for differentiation in description and do not have special meanings.

[0041] Please refer to Figures 1 to 6 As shown, this preferred embodiment provides a coil unloading truss manipulator, which includes a frame 1, a traveling assembly 2, a lifting assembly 3, a clamping assembly 4, and a flipping mechanism 5, where:

[0042] The frame 1 covers the area to be transferred of the coil 7;

[0043] The traveling assembly 2 is arranged on the frame 1. The traveling assembly 2 includes a moving trolley 21 that hangs above the area to be transferred and can translate along the horizontal direction;

[0044] The lifting assembly 3 is arranged on the mobile trolley 21, and the lifting assembly 3 includes a lifting seat 31 that can translate in the vertical direction;

[0045] The clamping assembly 4 is used for clamping the coil 7;

[0046] The flipping mechanism 5 is arranged on the lifting seat 31 and is used for driving the clamping assembly 4 to switch between a horizontal posture and a vertical posture.

[0047] Thus, the coil 7 is reliably grasped by the clamping assembly 4, the coil 7 is transferred in the X-axis direction and the Y-axis direction by the traveling assembly 2, the coil 7 is transferred in the Z-axis direction by the lifting assembly 3, and the vertical and horizontal postures of the coil 7 are switched by the flipping mechanism 5, meeting various transfer requirements and ensuring flexible, precise, and stable movements.

[0048] Specifically, as shown in Figures 2 to 5 , the clamping assembly 4 includes a base plate 41. A plurality of rotary cylinders 42 evenly distributed in a ring are arranged on the front surface of the base plate 41. A baffle 43 is arranged at the output end of the rotary cylinder 42. The baffle 43 is parallel to the base plate 41 and the distance therebetween is greater than the width of the coil 7. Each baffle 43 is driven by the corresponding rotary cylinder 42 to switch between a state of converging towards the center and a state of spreading outwards;

[0049] When each rotary cylinder 42 is located inside the inner circle of the coil 7 and each baffle 43 is in the state of spreading outwards, the coil 7 is limited between the base plate 41 and the baffle 43;

[0050] When each baffle 43 is in the state of converging towards the center, it is convenient for the clamping assembly 4 to load the upright coil 7 or release the flat coil 7. Thus, the actions of vertically grasping and horizontally releasing the coil 7 are realized, facilitating the adjustment of the posture of the coil 7 during winding and bundling.

[0051] Optionally, a plurality of first electric cylinders 44 evenly distributed in a ring are further arranged on the front surface of the base plate 41. The output direction of the first electric cylinder 44 is parallel to the base plate 41, and a top plate 45 is arranged at the output end of the first electric cylinder 44. The top plate 45 is used for pressing against the inner ring surface of the coil 7. A plurality of second electric cylinders 46 evenly distributed in a ring are arranged on the back surface of the base plate 41. The output direction of the second electric cylinder 46 is parallel to the base plate 41, and a pressing plate 47 opposite to the top plate 45 is arranged at the output end of the second electric cylinder 46. The pressing plate 47 is used for pressing against the outer ring surface of the coil 7. The top plate 45 and the pressing plate 47 cooperate to clamp the coil 7, effectively preventing the coil 7 from coming apart during transfer.

[0052] Furthermore, the baffle 43, the top plate 45, and the pressing plate 47 are all made of polyurethane material or are coated with a polyurethane layer on the surface to avoid damaging the surface of the coil 7 during contact and pressure application with the coil 7.

[0053] Preferably, four rotary cylinders 42, first electric cylinders 44, and second electric cylinders 46 are provided here. The substrate 41 is in a cross shape. A gap can be left between the cross-shaped substrate 41 and the coil 7, so that the coil 7 can be wound and tied within the gap without loosening the clamping assembly 4.

[0054] Specifically, see Figure 3 and Figure 4 The flipping mechanism 5 includes a connecting rod 51 and a third electric cylinder 52. The two connecting rods 51 are correspondingly installed on both sides of the lifting seat 31 and are hinged to the clamping assembly 4. Both ends of the third electric cylinder 52 are respectively connected to the lifting seat 31 and the clamping assembly 4. The third electric cylinder 52 is used to drive the clamping assembly 4 to rotate relative to the lifting seat 31 under the action of the connecting rod 51, thereby realizing that the clamping assembly 4 drives the coil 7 to perform a 90° flip.

[0055] Specifically, see Figure 3 The lifting assembly 3 further includes a sleeve 32. The sleeve 32 is installed on the moving trolley 21 along the Z-axis direction. The lifting seat 31 is inserted into the sleeve 32. A first reduction motor 33 is provided at the top of the sleeve 32. A Z-direction screw rod 34 is provided on the output shaft of the first reduction motor 33. A nut 35 that cooperates with the Z-direction screw rod 34 is provided on the sleeve 32.

[0056] Thus, the first reduction motor 33 drives the Z-direction screw rod 34 to drive the nut 35 and the lifting seat 31 to move up and down, with high transmission accuracy and precise movement; the Z-direction screw rod 34 is processed from 45# steel and undergoes quenching and tempering heat treatment to effectively ensure transmission wear resistance; the nut 35 is made of 94 bronze, having good tensile, load-bearing, and wear resistance; the transmission between the nut 35 and the Z-direction screw rod 34 has a mechanical self-locking function, and accidents such as sudden falling will not occur during the aerial operation of grasping the coil 7, etc.; the structure of the sleeve 32 inserted into the lifting seat 31 can stabilize the structure and reduce the height. The sleeve 32 and the lifting seat 31 are made of wear-resistant ductile iron and can have good relative sliding performance.

[0057] Optionally, a slewing bearing 6 is assembled between the moving trolley 21 and the sleeve 32, enabling the lifting assembly 3 to rotate relative to the moving trolley 21, thereby driving the coil 7 to rotate. The slewing bearing 6 can control the relative rotation of the inner and outer rings through an absolute value type servo reduction gear to achieve multiple-angle grasping actions and winding and tying actions.

[0058] Specifically, the traveling assembly 2 further includes an X-direction guide rail 22 provided on the frame 1. A traveling frame 23 that can translate along the X-axis direction is provided on the X-direction guide rail 22. A Y-direction guide rail 24 is provided on the traveling frame 23. The moving trolley 21 is arranged on the Y-direction guide rail 24 and can translate along the Y-axis direction, realizing the displacement adjustment of the clamping assembly 4 in the X-axis direction and the Y-axis direction to adapt to the position of the coil 7.

[0059] Optionally, for details, see Figure 6 On the rack 1, a first rack 25 and a first guide bar 26 parallel to the X-direction guide rail 22 are provided. On the walking frame 23, a second reduction motor 27 and a first guide wheel 28 are provided. On the output shaft of the second reduction motor 27, a first gear 29 is provided. The first gear 29 meshes with the first rack 25, and the first guide wheel 28 is in rolling contact with the first guide bar 26.

[0060] Similarly, on the walking frame 23, a second rack and a second guide bar parallel to the Y-direction guide rail 24 are provided. On the moving trolley 21, a third reduction motor and a second guide wheel are provided. On the output shaft of the third reduction motor, a second gear is provided. The second gear meshes with the second rack, and the second guide wheel is in rolling contact with the second guide bar.

[0061] Among them, the contact form of the guide wheel and the guide bar further improves the translation stability; the gear and the rack are made of 45# steel and processed through quenching and tempering heat treatment, effectively ensuring the transmission stability.

[0062] Taking the process of laying the vertical coil 7 in the winding station flat to the bundling station as an example, the specific actions of the coil unloading truss manipulator are as follows:

[0063] 1) The moving trolley 21 moves along the rack 1 in the X-axis direction and the Y-axis direction, so that the clamping assembly 4 is located above the winding station;

[0064] 2) The clamping assembly 4 is in a vertical posture and is driven by the lifting assembly 3 to descend to align with the vertical coil 7;

[0065] 3) The baffle 43 of the clamping assembly 4 is in a state of closing towards the center and is driven by the walking assembly 2 to insert into the inner ring of the coil 7;

[0066] 4) The baffle 43 of the clamping assembly 4 is in a state of spreading outwards to limit the side of the coil 7, the top plate 45 presses against the inner ring surface of the coil 7, and the pressing plate 47 presses against the outer ring surface of the coil 7, so as to clamp the coil 7 on the clamping assembly 4;

[0067] 5) The flipping mechanism 5 drives the clamping assembly 4 to be in a horizontal posture, driving the coil 7 to flip 90°;

[0068] 6) The walking assembly 2 drives the clamping assembly 4 and the coil 7 to move above the bundling station, and the lifting assembly 3 drives the clamping assembly 4 to place the coil 7 at the bundling station;

[0069] 7) The baffle 43 of the clamping assembly 4 is in a state of closing towards the center, releasing the coil 7, and the lifting assembly 3 drives the clamping assembly 4 to rise, completing an action cycle.

[0070] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present utility model. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. Unloading truss robot, characterized by: include: A frame (1), the frame (1) covering an area where the material roll (7) is to be transferred; A walking assembly (2) is arranged on the frame (1), and the walking assembly (2) comprises a moving trolley (21) suspended above the area to be transferred and capable of translating in a horizontal direction; A lifting assembly (3) is arranged on the moving vehicle (21), and the lifting assembly (3) comprises a lifting seat (31) which can translate in a vertical direction; A clamping assembly (4) for clamping the material roll (7); The turning mechanism (5) is arranged on the lifting seat (31) and is used to drive the clamping assembly (4) to switch between a horizontal posture and a vertical posture.

2. The unloading truss robot according to claim 1 is characterized in that: The clamping assembly (4) comprises a base plate (41), a front side of the base plate (41) is provided with a plurality of evenly distributed rotary cylinders (42) in a ring shape, an output end of the rotary cylinder (42) is provided with a baffle (43), the baffle (43) is parallel to the base plate (41) and the spacing is greater than the width of the material roll (7), and each baffle (43) is driven by the corresponding rotary cylinder (42) to switch between a state of contracting toward the center and a state of opening outwards; When each of the rotary cylinders (42) is located in the inner circle of the material roll (7) and each of the baffles (43) is in an outwardly opened state, the material roll (7) is confined between the base plate (41) and the baffles (43).

3. The unloading truss robot according to claim 2 is characterized in that: The front side of the base plate (41) is also provided with a plurality of first electric cylinders (44) evenly distributed in an annular shape, the output direction of the first electric cylinders (44) is parallel to the base plate (41), and the output end of the first electric cylinder (44) is provided with a top plate (45), and the top plate (45) is used to press the inner ring surface of the material roll (7). The back side of the base plate (41) is provided with a plurality of second electric cylinders (46) evenly distributed in an annular shape, the output direction of the second electric cylinders (46) is parallel to the base plate (41), and the output end of the second electric cylinder (46) is provided with a pressure plate (47) opposite to the top plate (45), and the pressure plate (47) is used to press the outer ring surface of the material roll (7), and the top plate (45) and the pressure plate (47) cooperate to clamp the material roll (7).

4. The unloading truss robot according to claim 3 is characterized in that: The baffle plate (43), the top plate (45) and the pressing plate (47) are all made of polyurethane or are coated with a polyurethane layer.

5. The unloading truss robot according to claim 1, characterized in that: The flipping mechanism (5) comprises a connecting rod (51) and a third electric cylinder (52); the two connecting rods (51) are correspondingly mounted on both sides of the lifting seat (31) and are hinged to the clamping assembly (4); the two ends of the third electric cylinder (52) are respectively connected to the lifting seat (31) and the clamping assembly (4); the third electric cylinder (52) is used to drive the clamping assembly (4) to rotate relative to the lifting seat (31) under the action of the connecting rod (51).

6. The unloading truss robot according to claim 1, characterized in that: The lifting assembly (3) further comprises a sleeve (32), wherein the sleeve (32) is mounted on the moving trolley (21) along the Z-axis direction, the lifting seat (31) is inserted into the sleeve (32), a first reduction motor (33) is arranged at the top end of the sleeve (32), a Z-direction screw rod (34) is arranged on the output shaft of the first reduction motor (33), and a nut (35) matched with the Z-direction screw rod (34) is arranged on the sleeve (32).

7. The unloading truss robot according to claim 6, characterized in that: A slewing bearing (6) is installed between the moving trolley (21) and the sleeve (32), so that the lifting assembly (3) can slew relative to the moving trolley (21).

8. The unloading truss robot according to claim 1, characterized in that: The walking assembly (2) further comprises an X-direction guide rail (22) arranged on the frame (1); a walking frame (23) capable of translating along the X-axis direction is arranged on the X-direction guide rail (22); a Y-direction guide rail (24) is arranged on the walking frame (23); and the moving trolley (21) is arranged on the Y-direction guide rail (24) and capable of translating along the Y-axis direction.

9. The unloading truss robot according to claim 8, characterized in that: The frame (1) is provided with a first rack (25) and a first guide bar (26) parallel to the X-guide rail (22); the walking frame (23) is provided with a second reduction motor (27) and a first guide wheel (28); a first gear (29) is provided on the output shaft of the second reduction motor (27); the first gear (29) is meshed with the first rack (25); and the first guide wheel (28) is in rolling contact with the first guide bar (26).

10. The unloading truss robot according to claim 8, characterized in that: The walking frame (23) is provided with a second rack and a second guide bar parallel to the Y-guide rail (24); the moving trolley (21) is provided with a third reduction motor and a second guide wheel; a second gear is provided on the output shaft of the third reduction motor; the second gear is meshed with the second rack; and the second guide wheel is in rolling contact with the second guide bar.

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