Coiled material stacking manipulator

Abstract

The utility model provides a coiled material stacking manipulator, which relates to the field of machinery and comprises a horizontal moving mechanism, a horizontal steering mechanism, a vertical moving mechanism, a clamping jaw component and a first driving mechanism, the horizontal moving mechanism comprises a first linear guide rail and a second driving mechanism; the first linear guide rail is horizontally arranged; the clamping jaw assembly is arranged above the first linear guide rail; the second driving mechanism can drive the clamping jaw assembly to move along the first linear guide rail; the horizontal steering mechanism can drive the clamping jaw assembly to rotate; the vertical moving mechanism can drive the clamping jaw assembly to move in the vertical direction. The first driving mechanism can drive the clamping jaw assembly to clamp the coiled material. The problems that in the prior art, the base is fixed to a certain working point position, a clamping jaw cannot carry coiled materials exceeding the contact range of a fixing mechanism, the fixing position of the base needs to be replaced frequently, and then the stacking efficiency of the coiled materials is affected can be solved, the working range of the mechanical arm is enlarged, and the working efficiency of the mechanical arm is improved. The purpose of improving the stacking efficiency of the coiled materials is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of machinery, in particular to a coil palletizing manipulator. Background Technique

[0002] Manipulators are often used to grab, transport objects or operate tools according to fixed programs, and manipulators are commonly used to replace manual work during the process of material palletizing. For example, the patent with the Chinese patent application number 202210502714.7 discloses a manipulator for transporting aluminum coils in a production workshop, including a base. A rotatable support arm is provided at the upper end of the base. A first connecting arm with an adjustable pitching angle is provided at the upper end of the support arm. A first component box is provided at one end of the first connecting arm away from the support arm. A rotatable second connecting arm is provided in the first component box. A second component box is provided at one end of the second connecting arm away from the first component box. A rotatable third connecting arm is provided on the second component box. An installation frame with an adjustable pitching angle is provided at one end of the third connecting arm away from the second component box. A fixing mechanism is provided at the end of the installation frame. The fixing mechanism includes an inner support mechanism and an outer clamping mechanism; the above patent controls the movement of the outer clamping mechanism through each connecting arm, and clamps the coil through the claws on the outer clamping mechanism, so as to realize the handling and palletizing of the coil.

[0003] However, when using the manipulator provided by the above patent, the base needs to be fixed at a certain working point. This manipulator cannot transport coils beyond the contact range of the fixing mechanism. If the distribution position of the coils is wide, the fixing position of the base needs to be frequently changed, thus affecting the coil palletizing efficiency. Summary of the Utility Model

[0004] In view of the above problems, a coil palletizing manipulator provided by the utility model can solve the problem that the existing technology needs to fix the base at a certain working point, so that the claws cannot transport coils beyond the contact range of the fixing mechanism, thus requiring frequent change of the fixing position of the base, and further affecting the coil palletizing efficiency, realizing the expansion of the working range of the manipulator, and further achieving the purpose of improving the coil palletizing efficiency.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A coil palletizing manipulator provided by the utility model includes a horizontal moving mechanism, a horizontal steering mechanism, a vertical moving mechanism, a claw assembly and a first driving mechanism;

[0007] The horizontal moving mechanism includes a first linear guide rail and a second driving mechanism;

[0008] The first linear guide rail is placed horizontally; the claw assembly is arranged above the first linear guide rail; the second driving mechanism can drive the claw assembly to move linearly along the first linear guide rail;

[0009] The horizontal turning mechanism can drive the gripper assembly to rotate on a horizontal plane;

[0010] The vertical moving mechanism can drive the gripper assembly to move in the vertical direction;

[0011] The first driving mechanism can drive the gripper assembly to clamp the coil material.

[0012] For the coil palletizing manipulator provided by the present utility model, preferably, it further includes a carrier; the carrier is arranged above the first linear guide rail; the horizontal moving mechanism further includes a plurality of first sliders; the first sliders can slide on the first linear guide rail; the bottom of the carrier is fixed to the top of the first sliders;

[0013] The second driving mechanism includes a first motor, a first speed reducer, a first driving gear and a first rack;

[0014] The interior of the carrier is hollow; the first motor and the first speed reducer are arranged inside the carrier; the first motor is fixed to the carrier; the first speed reducer is fixed to the carrier; the output shaft of the first motor is connected to the input shaft of the first speed reducer through a flange; the output shaft of the first speed reducer faces downward;

[0015] The bottom of the carrier is provided with a first opening; the output shaft of the first speed reducer passes through the first opening; the output shaft of the first speed reducer is fixed to the first driving gear; the axis of the output shaft of the first speed reducer coincides with the axis of the first driving gear; the first driving gear is located below the carrier;

[0016] The first rack is horizontally arranged; the first rack is fixed to the first linear guide rail; the extension line of the first rack is parallel to the track line of the first linear guide rail; the teeth of the first rack and the teeth of the first driving gear are arranged facing each other; the first rack is in meshing transmission connection with the first driving gear;

[0017] The horizontal turning mechanism is rotatably fixed to the top of the carrier; the horizontal turning mechanism can drive the vertical moving mechanism to rotate; the gripper assembly rotates following the vertical moving mechanism.

[0018] For the coil palletizing manipulator provided by the present utility model, preferably, the horizontal turning mechanism includes a second motor, a second driving gear and an internal gear ring;

[0019] The bottom of the internal gear ring is rotatably fixed to the top of the carrier; the vertical moving mechanism is fixed to the top of the internal gear ring;

[0020] The second motor is disposed inside the carrier; the second motor is fixed to the carrier; the output shaft of the second motor faces upward; a second opening is formed at the top of the carrier; the second opening is located inside the internal gear ring; the output shaft of the second motor passes through the second opening; the second driving gear is fixed to the output shaft of the second motor; the axis of the output shaft of the second motor coincides with the axis of the second driving gear; the second driving gear is located above the carrier; the teeth of the second driving gear are arranged facing the teeth of the internal gear ring; the teeth of the second driving gear are meshed and drivingly connected with the teeth of the internal gear ring.

[0021] For the coil palletizing manipulator provided by the present utility model, preferably, the vertical moving mechanism includes a cylinder, a second linear guide rail, and a plurality of second sliders;

[0022] The second linear guide rail is vertically arranged; the second linear guide rail is fixed to the top of the internal gear ring; the cylinder is disposed above the second linear guide rail; the cylinder is fixed to the second linear guide rail; the telescopic shaft of the cylinder faces downward;

[0023] The second slider is slidable on the second linear guide rail; the second slider is fixed to the jaw assembly; the telescopic shaft of the cylinder is fixed to the jaw assembly.

[0024] For the coil palletizing manipulator provided by the present utility model, preferably, the vertical moving mechanism further includes a third linear guide rail, a plurality of third sliders, a third motor, a double-output shaft speed reducer, two second racks, and two third driving gears;

[0025] The third linear guide rail is vertically arranged; the third linear guide rail is arranged in parallel with the second linear guide rail; the third linear guide rail is fixed to the top of the internal gear ring; the cylinder is disposed above the third linear guide rail; the third slider is slidable on the third linear guide rail; the third slider is fixed to the jaw assembly; there is a gap between the third linear guide rail and the second linear guide rail;

[0026] The two second racks are vertically arranged; the two second racks are respectively fixed to the second linear guide rail and the third linear guide rail; the teeth of the second rack are arranged in the opposite direction to the track of the second linear guide rail; the teeth of the second rack are arranged in the opposite direction to the track of the third linear guide rail;

[0027] The output shaft of the third motor is connected to the input shaft of the double-output shaft speed reducer through a flange; the third driving gears are fixed to both output shafts of the double-output shaft speed reducer; the axis of the output shaft of the double-output shaft speed reducer coincides with the axis of the third driving gear;

[0028] The third motor and the double-output shaft speed reducer pass through the gap and are fixed to the jaw assembly; the teeth of the third driving gear are arranged facing the teeth of the second rack; the third driving gear is meshed and drivingly connected with the second rack.

[0029] For the coil palletizing manipulator provided by the present utility model, preferably, the jaw assembly includes jaws, a sliding bracket, two sliding shafts, two first sliding members, two second sliding members and a limiting block;

[0030] The sliding bracket is fixed to the second slider; the sliding bracket is fixed to the third slider; the sliding shafts are horizontally fixed on the sliding bracket; the axes of the two sliding shafts are located in the same vertical plane; the limiting block is fixed to the middle part of the sliding shaft;

[0031] A first opening is formed on the first sliding member; a second opening is formed on the second sliding member; the left end of the sliding shaft passes through the first opening and is sleeved inside the first sliding member; the right end of the sliding shaft passes through the second opening and is sleeved inside the second sliding member; the left-end jaw of the jaw is fixed to the first sliding member; the right-end jaw of the jaw is fixed to the second sliding member.

[0032] For the coil palletizing manipulator provided by the present utility model, preferably, the first driving mechanism includes a positive and reverse thread screw rod, a fourth motor and a second speed reducer;

[0033] The positive and reverse thread screw rod is rotatably fixed on the sliding bracket; the positive and reverse thread screw rod is horizontally arranged; the axis of the positive and reverse thread screw rod is located in the same vertical plane as the axis of the sliding shaft;

[0034] The output shaft of the fourth motor is connected to the input shaft of the second speed reducer through a flange; the output shaft of the second speed reducer is connected to one end of the threaded shaft of the positive and reverse thread screw rod through a coupling;

[0035] The left-end nut of the positive and reverse thread screw rod is fixed to the left-end jaw of the jaw; the right-end nut of the positive and reverse thread screw rod is fixed to the right-end jaw of the jaw;

[0036] A third opening for passing through the positive and reverse thread screw rod is further formed on the limiting block.

[0037] For the coil palletizing manipulator provided by the present utility model, preferably, it further includes a drag chain; a third opening for the cable and the air pipe to extend out is formed on the left side of the carrier; the drag chain is horizontally arranged; the fixed end of the drag chain is fixed to one side of the first linear guide rail; the movable end of the drag chain is communicated with the third opening.

[0038] The coil palletizing manipulator provided by the present utility model, preferably, a plurality of winding shafts are vertically arranged inside the carrier; all the winding shafts are evenly distributed around the edge of the carrier; two grinding surfaces are arranged on the side wall of the winding shaft; the grinding surfaces are symmetrically arranged according to the axis of the winding shaft.

[0039] The above technical solution has the following advantages or beneficial effects:

[0040] For the coil palletizing manipulator provided by the present utility model, in order to control the manipulator to complete functions such as range movement, turning, vertical distance adjustment, and handling coils, the manipulator is provided with a horizontal movement mechanism, a horizontal turning mechanism, a vertical movement mechanism, a jaw assembly, and a first driving mechanism;

[0041] In order to enable the jaw assembly to displace on the site, the horizontal movement mechanism includes a first linear guide rail and a second driving mechanism. The first linear guide rail is horizontally placed, and the jaw assembly is arranged above the first linear guide rail. The second driving mechanism can drive the jaw assembly to move linearly along the first linear guide rail, realizing that the jaw assembly can move linearly along the track of the first linear guide rail on the horizontal plane, so as to expand the distance and range for the jaw assembly to handle coils; when the prior art is used, the base needs to be fixed at a working point near the coil, so that the jaw cannot handle coils beyond the contact range of the fixing mechanism. If the coils are scattered and at a large distance from the base, the fixing position of the base needs to be frequently changed, thus affecting the coil palletizing efficiency; the second driving mechanism drives the jaw assembly to move linearly along the first linear guide rail, making it easier to change the position of the jaw assembly, so as to adapt to the situation where the coils are scattered or at a long distance. Compared with the prior art, the frequency of the manipulator changing positions can be greatly reduced, thus improving the coil palletizing efficiency;

[0042] The horizontal turning mechanism can drive the jaw assembly to rotate on the horizontal plane, thereby realizing the adjustment of the angle of the jaw assembly, so that the jaw assembly has the ability to grip coils in all directions of 360 degrees; further, if the jaw assembly is blocked by an object in the horizontal direction when moving on the horizontal movement mechanism, the direction of the jaw assembly can be adjusted through the horizontal turning mechanism to enable the jaw assembly to avoid the object;

[0043] The vertical movement mechanism can drive the jaw assembly to move in the vertical direction. By adjusting the vertical height of the jaw assembly, it can adapt to coils of different heights, and further enable the jaw assembly to clamp the center of the coil, improving the stability of the jaw assembly clamping the coil; further, by adjusting the height of the jaw assembly through the vertical movement mechanism, the coil can be better palletized onto a plane with a certain height; furthermore, if the jaw assembly is blocked by an object in the vertical direction when moving on the horizontal movement mechanism, the height of the jaw assembly can be adjusted through the vertical movement mechanism to enable the jaw assembly to avoid the object;

[0044] The first driving mechanism can drive the jaw assembly to clamp the coil, achieving the clamping and loosening of the coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] By reading the following detailed description of the non - restrictive embodiments with reference to the accompanying drawings, the present utility model, its features, appearance and advantages will become more obvious. The same reference numerals in all the drawings indicate the same parts. The drawings are not drawn to scale deliberately, and the emphasis is on showing the gist of the present utility model.

[0046] Figure 1 FIG. 10 is a schematic perspective view of a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0047] Figure 2 FIG. 14 is a schematic cross - sectional view of a carrier in a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0048] Figure 3 FIG. 18 is a schematic longitudinal cross - sectional view of a carrier in a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0049] Figure 4 FIG. 22 is a schematic cross - sectional view of a horizontal turning mechanism in a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0050] Figure 5 FIG. 26 is a schematic front view of a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0051] Figure 6 FIG. 30 is a schematic rear view of a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0052] Figure 7 FIG. 34 is a schematic top view of a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0053] Figure 8 FIG. 38 is a schematic cross - sectional view of a second opening in a coil palletizing manipulator provided in Embodiment 1 of the present utility model.

[0054] Figure 9 FIG. 42 is a schematic cross - sectional view of a first opening in a coil palletizing manipulator provided in Embodiment 1 of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments, but it is not intended to limit the present utility model.

[0056] Embodiment 1:

[0057] As Figure 1As shown in the figure, a coil palletizing manipulator provided by Embodiment 1 of the present utility model includes a horizontal moving mechanism 1, a horizontal steering mechanism 2, a vertical moving mechanism 3, a jaw assembly 4, and a first driving mechanism 5;

[0058] The horizontal moving mechanism 1 includes a first linear guide rail 11 and a second driving mechanism 12;

[0059] The first linear guide rail 11 is horizontally placed; the jaw assembly 4 is arranged above the first linear guide rail 11; the second driving mechanism 12 can drive the jaw assembly 4 to perform a linear motion along the first linear guide rail 11;

[0060] The horizontal steering mechanism 2 can drive the jaw assembly 4 to rotate on a horizontal plane;

[0061] The vertical moving mechanism 3 can drive the jaw assembly 4 to move in the vertical direction;

[0062] The first driving mechanism 5 can drive the jaw assembly 4 to clamp the coil.

[0063] When using the coil palletizing manipulator provided by Embodiment 1 of the present utility model, adjust the position of the horizontal moving mechanism 1, place the horizontal moving mechanism 1 near the coil to be transported and palletized, and set the position where the coil needs to be palletized; drive the jaw assembly 4 to move on the first linear guide rail 11 through the second driving mechanism 12 so that the jaw assembly 4 reaches near the coil to be transported; control the orientation direction of the jaw assembly 4 through the horizontal steering mechanism 2; adjust the height of the jaw assembly 4 in the vertical direction according to the coil length through the vertical moving mechanism 3; control the jaw assembly 4 to pick up the coil by the first driving mechanism 5; further, drive the jaw assembly 4 to reach the position of coil palletizing by the vertical moving mechanism 3; control the jaw assembly 4 to adjust the placement position of the coil by the horizontal steering mechanism 2; adjust the placement height of the coil by the vertical moving mechanism 3; finally, drive the jaw assembly 4 to release the coil by the first driving mechanism 5 to complete one transportation and palletizing of the coil.

[0064] For the coil palletizing manipulator provided by Embodiment 1 of the present utility model, in order to control the manipulator to complete functions such as range movement, steering, vertical distance adjustment, and transporting coils, the manipulator is provided with a horizontal moving mechanism 1, a horizontal steering mechanism 2, a vertical moving mechanism 3, a jaw assembly 4, and a first driving mechanism 5;

[0065] In order to enable the gripper assembly 4 to be displaced on the site, the horizontal movement mechanism 1 includes a first linear guide rail 11 and a second driving mechanism 12. The first linear guide rail 11 is horizontally placed, and the gripper assembly 4 is arranged above the first linear guide rail 11. The second driving mechanism 12 can drive the gripper assembly 4 to perform a linear motion along the first linear guide rail 11, realizing that the gripper assembly 4 can perform a linear motion along the track of the first linear guide rail 11 on the horizontal plane, so as to expand the distance and range for the gripper assembly 4 to carry the coil. When the prior art is used, the base needs to be fixed at a working point close to the coil, so that the gripper cannot carry the coil beyond the contact range of the fixing mechanism. If the coils are scattered and the distance from the base is large, the fixing position of the base needs to be frequently changed, thus affecting the coil stacking efficiency. The second driving mechanism 12 drives the gripper assembly 4 to perform a linear motion along the first linear guide rail 11, making it easier to change the position of the gripper assembly 4, so as to adapt to the situation where the coils are scattered or at a long distance. Compared with the prior art, the frequency of the manipulator changing positions can be greatly reduced, thus improving the coil stacking efficiency.

[0066] The horizontal rotation mechanism 2 can drive the gripper assembly 4 to rotate on the horizontal plane, so as to realize the adjustment of the angle of the gripper assembly 4, enabling the gripper assembly 4 to have the ability to grip the coil in all directions of 360 degrees. Further, if the gripper assembly 4 is blocked by an object in the horizontal direction when moving on the horizontal movement mechanism 1, the direction of the gripper assembly 4 can be adjusted through the horizontal rotation mechanism 2 to enable the gripper assembly 4 to avoid the object.

[0067] The vertical movement mechanism 3 can drive the gripper assembly 4 to move in the vertical direction. By adjusting the vertical height of the gripper assembly 4, it can adapt to coils of different heights, and further enable the gripper assembly 4 to clamp the center of the coil, improving the stability of the gripper assembly 4 when clamping the coil. Further, by adjusting the height of the gripper assembly 4 through the vertical movement mechanism 3, the coil can be better stacked onto a plane with a certain height. Furthermore, if the gripper assembly 4 is blocked by an object in the vertical direction when moving on the horizontal movement mechanism 1, the height of the gripper assembly 4 can be adjusted through the vertical movement mechanism 3 to enable the gripper assembly 4 to avoid the object.

[0068] The first driving mechanism 5 can drive the gripper assembly 4 to clamp the coil, realizing the clamping and loosening of the coil.

[0069] Such as Figures 2-3 and Figure 9As shown, the coil palletizing manipulator provided in Embodiment 1 of the present utility model. Preferably, in order to enable the gripper assembly 4 to move on the first linear guide 11, a carrier 6 is further provided. The carrier 6 is disposed above the first linear guide 11. The horizontal movement mechanism 1 further includes a plurality of first sliders 13. The first sliders 13 can slide on the first linear guide 11. The bottom of the carrier 6 is fixed to the top of the first sliders 13. The carrier 6 realizes movement on the first linear guide 11 through the first sliders 13;

[0070] Further, the horizontal turning mechanism 2 is rotatably fixed to the top of the carrier 6. When the carrier 6 moves on the first linear guide 11, the horizontal turning mechanism 2 moves along with the carrier 6;

[0071] Furthermore, the horizontal turning mechanism 2 can drive the vertical movement mechanism 3 to rotate, and the gripper assembly 4 rotates along with the vertical movement mechanism 3, so that the gripper assembly 4 can move along with the carrier 6;

[0072] In order to enable the second driving mechanism 12 to drive the carrier 6 to move, the second driving mechanism 12 includes a first motor 121, a first speed reducer 122, a first driving gear 123 and a first rack 124;

[0073] The carrier 6 is made hollow inside, so that the first motor 121 and the first speed reducer 122 can be disposed inside the carrier 6, and the output shaft of the first motor 121 is connected to the input shaft of the first speed reducer 122 through a flange, so that the output shaft of the first motor 121 can drive the first speed reducer 122 to work when it operates;

[0074] In order to enable the carrier 6 to generate kinetic energy through the first motor 121 and drive the carrier 6 to move on the first linear guide 11, a first opening 61 is formed at the bottom of the carrier 6. The output shaft of the first speed reducer 122 faces downward. The output shaft of the first speed reducer 122 passes through the first opening 61 and is fixed to the first driving gear 123. At this time, by rotating the output shaft of the first motor 121, the output shaft of the first speed reducer 122 can be driven to rotate, so that the first driving gear 123 fixed to the output shaft of the first speed reducer 122 rotates;

[0075] Meanwhile, in order to enable the carrier 6 to move linearly along the first linear guide rail 11, the first rack 124 is horizontally arranged and fixed on the first linear guide rail 11. The extension line of the first rack 124 is parallel to the track line of the first linear guide rail 11. The teeth of the first rack 124 and the teeth of the first driving gear 123 face each other, and the first rack 124 is meshed and drivingly connected with the first driving gear 123. At this time, the first driving gear 123 can move along the direction of the first rack 124, and the movement route of the first driving gear 123 is the same as the track of the first linear guide rail 11, avoiding the situation that the carrier 6 cannot move along the first linear guide rail 11 due to the influence of the placement position of the first rack 124;

[0076] Further, in order to ensure that the first driving gear 123 can contact the first rack 124, the first driving gear 123 is located below the carrier 6; furthermore, the first motor 121 is fixed to the carrier 6, and the first speed reducer 122 is fixed to the carrier 6. At this time, the first driving gear 123 and the first rack 124 generate displacements, so as to drive the carrier 6 to generate a displacement on the first linear guide rail 11;

[0077] Meanwhile, the axis of the output shaft of the first speed reducer 122 coincides with the axis of the first driving gear 123. At this time, the rotational speed of the output shaft of the first speed reducer 122 is the same as the rotational speed of the first driving gear 123, maximizing the efficiency of the second driving mechanism 12 to drive the carrier 6 to move.

[0078] As Figures 3-4 and Figure 8 shown, for the coil palletizing manipulator provided in Embodiment 1 of the present utility model, preferably, in order to realize the steering ability of the vertical moving mechanism 3, the horizontal steering mechanism 2 includes a second motor 21, a second driving gear 22 and an internal gear ring 23;

[0079] The bottom of the internal gear ring 23 is rotatably fixed to the top of the carrier 6, and the vertical moving mechanism 3 is fixed to the top of the internal gear ring 23. If the internal gear ring 23 rotates relative to the carrier 6, the vertical moving mechanism 3 can rotate following the internal gear ring 23;

[0080] In order to enable the internal gear ring 23 to rotate relative to the carrier 6, the second motor 21 is arranged inside the carrier 6. The output shaft of the second motor 21 faces upward. A second opening 62 is formed at the top of the carrier 6. The second opening 62 is located inside the internal gear ring 23, and the second opening 62 is concentric with the internal gear ring 23. The output shaft of the second motor 21 passes through the second opening 62. The second driving gear 22 is fixed to the output shaft of the second motor 21. The teeth of the second driving gear 22 are arranged facing the teeth of the internal gear ring 23. The teeth of the second driving gear 22 are in meshing transmission connection with the teeth of the internal gear ring 23. At this time, by rotating the output shaft of the second motor 21, the second driving gear 22 fixed to the output shaft of the second motor 21 can be driven to rotate. Moreover, the second motor 21 is fixed to the carrier 6. The rotation of the second driving gear 22 drives the internal gear ring 23 to rotate relative to the carrier 6, thereby realizing the steering ability of the vertical moving mechanism 3;

[0081] Furthermore, in order to ensure that the second driving gear 22 can contact the internal gear ring 23, the second driving gear 22 is located above the carrier 6; furthermore, the axis of the output shaft of the second motor 21 coincides with the axis of the second driving gear 22. At this time, the rotation speed of the output shaft of the second motor 21 is the same as the rotation speed of the second driving gear 22, maximizing the steering efficiency of the horizontal steering mechanism 2.

[0082] As Figures 5-7 shown, for the coil palletizing manipulator provided in Embodiment 1 of the present invention, preferably, in order to control the up and down movement of the jaw assembly 4, the vertical moving mechanism 3 includes a cylinder 31, a second linear guide rail 32, and a plurality of second sliders 33;

[0083] The second linear guide rail 32 is arranged vertically and is fixed to the top of the internal gear ring 23. The second linear guide rail 32 can rotate following the internal gear ring 23, realizing the function of turning the vertical moving mechanism 3; further, the cylinder 31 is arranged above the second linear guide rail 32. The cylinder 31 is fixed to the second linear guide rail 32. The telescopic shaft of the cylinder 31 faces downward. The telescopic shaft of the cylinder 31 is fixed to the jaw assembly 4. By the telescopic movement of the telescopic shaft of the cylinder 31, the jaw assembly 4 is lifted or lowered; furthermore, the second slider 33 can slide on the second linear guide rail 32. The second slider 33 is fixed to the jaw assembly 4, enabling the jaw assembly 4 to move along the track of the second linear guide rail 32 and improving the movement smoothness of the jaw assembly 4.

[0084] As Figures 5-7As shown, the coil stacking robot provided by Example 1 of the utility model, preferably, in order to make the vertical moving mechanism 3 drive the clamping jaw assembly 4 to move more accurately in the vertical direction, the vertical moving mechanism 3 also includes a third linear guide 34, a plurality of third sliders 35, a third motor 36, a dual output shaft reducer 37, two second racks 38 and two third driving gears 39;

[0085] In order to make the clamping jaw assembly 4 move more stably on the second linear guide rail 32, a third linear guide rail 34 is also provided near the second linear guide rail 32, so that the third linear guide rail 34 and the second linear guide rail 32 jointly assume the displacement guiding and supporting functions of the clamping jaw assembly 4;

[0086] The third linear guide 34 is vertically arranged, and the third linear guide 34 is arranged in parallel with the second linear guide 32. The third linear guide 34 is fixed to the top of the inner gear ring 23. The cylinder 31 is arranged above the third linear guide 34. The third slider 35 can slide on the third linear guide 34. The third slider 35 is fixed to the clamping jaw assembly 4. At the same time, the clamping jaw assembly 4 is fixed to the second slider 33. At this time, if the telescopic axis of the cylinder 31 contracts upward, the clamping jaw assembly 4 fixed on the telescopic axis of the cylinder 31 moves upward. The clamping jaw assembly 4 is displaced on the second linear guide 32 under the guidance of the second slider 33, and is displaced on the third linear guide 34 under the guidance of the third slider 35. The displacement distances of the second slider 33 and the third slider 35 are the same.

[0087] In order to generate a common force with the cylinder 31, two second racks 38 are vertically arranged, and the two second racks 38 are respectively fixed to the second linear guide 32 and the third linear guide 34. The teeth of the second rack 38 are arranged opposite to the track of the second linear guide 32, that is, the second rack 38 is arranged on the back of the second linear guide 32. Similarly, the teeth of the other second rack 38 are arranged opposite to the track of the third linear guide 34.

[0088] The output shaft of the third motor 36 is connected to the input shaft of the dual-output shaft reducer 37 through a flange. The output shaft of the third motor 36 rotates to drive the output shafts on both sides of the dual-output shaft reducer 37 to rotate simultaneously. A third driving gear 39 is fixed to both output shafts of the dual-output shaft reducer 37. The output shaft of the dual-output shaft reducer 37 rotates to drive the third driving gear 39. The teeth of the third driving gear 39 are arranged opposite to the teeth of the second rack 38, and the third driving gear 39 is meshed and connected with the second rack 38. The third driving gear 39 generates a displacement effect on the second rack 38, thereby raising or lowering the height of the third motor 36 and the dual-output shaft reducer 37.

[0089] Further, there is a gap between the third linear guide rail 34 and the second linear guide rail 32. The third motor 36 and the double-output shaft speed reducer 37 pass through the gap and are fixed to the jaw assembly 4. At this time, if the third motor 36 and the double-output shaft speed reducer 37 are lifted upward, the jaw assembly 4 can move upward following the third motor 36. If the third motor 36 and the double-output shaft speed reducer 37 move downward, the jaw assembly 4 can move downward following the third motor 36. The cooperation between the third driving gear 39 and the second rack 38 provides another way for the jaw assembly 4 to move vertically. Its cooperation with the cylinder 31 can improve the accuracy of the movement position of the jaw assembly 4 in the vertical direction. And if the cylinder 31 is damaged, the way of meshing transmission between the third driving gear 39 and the second rack 38 can improve the fault tolerance rate when the vertical movement mechanism 3 works.

[0090] Furthermore, the axis of the output shaft of the double-output shaft speed reducer 37 coincides with the axis of the third driving gear 39, so that the rotation speed of the output shaft of the double-output shaft speed reducer 37 is the same as the rotation speed of the third driving gear 39, maximizing the movement efficiency of the vertical movement mechanism 3.

[0091] As Figure 5 shown, for the coil palletizing manipulator provided in Embodiment 1 of the present invention, preferably, in order to realize the function of the manipulator to clamp the coil, the jaw assembly 4 includes jaws 41, a sliding bracket 42, two sliding shafts 43, two first sliding members 44, two second sliding members 45 and a limiting block 46.

[0092] To further determine the connection relationship between the jaw assembly 4 and the vertical movement mechanism 3, the sliding bracket 42 is fixed to the second slider 33 and the sliding bracket 42 is fixed to the third slider 35, that is, the sliding bracket 42 can move following the second slider 33 and the third slider 35. The sliding bracket 42 can move along the tracks of the second linear guide rail 32 and the third linear guide rail 34, thereby realizing the movement of the sliding bracket 42 in the vertical direction.

[0093] Further, in order to enable the jaws 41 to clamp and release, the sliding shafts 43 are horizontally fixed to the sliding bracket 42. The axes of the two sliding shafts 43 are located in the same vertical plane. When the jaws 41 are slidably fixed to the sliding shafts 43, the two juxtaposed sliding shafts 43 can ensure that the jaws 41 clamp the coil in a horizontal state, preventing the jaws 41 from rotating under the force on a single sliding shaft 43, so that the jaws 41 can stably clamp the coil on the ground.

[0094] Further, in order to enable the jaw 41 to slide on the sliding shaft 43, a first opening is provided on the first slider 44, and a second opening is provided on the second slider 45. The left end of the sliding shaft 43 passes through the first opening and is sleeved inside the first slider 44. The right end of the sliding shaft 43 passes through the second opening and is sleeved inside the second slider 45. Moreover, the left jaw of the jaw 41 is fixed to the first slider 44, and the right jaw of the jaw 41 is fixed to the second slider 45. By controlling the first driving assembly 5 to make the first slider 44 and the second slider 45 move towards each other along the sliding shaft 43, the jaw 41 can clamp the coil material. By controlling the first driving assembly 5 to make the first slider 44 and the second slider 45 move in the opposite direction along the sliding shaft 43, the jaw 41 can release the coil material.

[0095] Furthermore, when the first slider 44 and the second slider 45 move towards each other and reach the middle position of the sliding shaft 43, in order to prevent the left and right jaws of the jaw 41 from colliding, a limiting block 46 is fixed to the middle part of the sliding shaft 43. The first slider 44 and the second slider 45 are blocked by the limiting block 46 and cannot continue to move towards each other, thereby preventing the left and right jaws of the jaw 41 from colliding, and further improving the service life of the manipulator.

[0096] As Figures 5-7 shown, in the coil palletizing manipulator provided in Embodiment 1 of the present utility model, preferably, in order to drive the first slider 44 and the second slider 45 to move towards each other, the first driving mechanism 5 includes a positive and negative thread screw 51, a fourth motor 52 and a second speed reducer 53.

[0097] The positive and negative thread screw 51 is rotatably fixed to the sliding bracket 42. The positive and negative thread screw 51 is horizontally arranged, and the axis of the positive and negative thread screw 51 and the axis of the sliding shaft 43 are located in the same vertical plane. When the positive and negative thread screw 51 rotates, the displacement trajectory of the nut of the positive and negative thread screw 51 is the same as the sliding trajectory of the first slider 44 on the sliding shaft 43, so that the jaw 41 can be displaced along the sliding shaft 43 through the positive and negative thread screw 51.

[0098] In order to drive the positive and negative thread screw 51 to rotate, the output shaft of the fourth motor 52 is connected to the input shaft of the second speed reducer 53 through a flange. By rotating the output shaft of the fourth motor 52, the output shaft of the second speed reducer 53 is driven to rotate. The output shaft of the second speed reducer 53 is connected to one end of the threaded shaft of the positive and negative thread screw 51 through a coupling. When the output shaft of the second speed reducer 53 rotates, the threaded shaft of the positive and negative thread screw 51 can be driven to rotate. At this time, by controlling the rotation direction of the second speed reducer 53, the opposite movement or the reverse movement of the nuts at both ends of the positive and negative thread screw 51 can be controlled.

[0099] Further, the left-end nut of the left-hand and right-hand lead screw 51 is fixed to the left-end jaw of the jaw 41, and the right-end nut of the left-hand and right-hand lead screw 51 is fixed to the right-end jaw of the jaw 41, so as to control the clamping action or the releasing action of the jaw 41;

[0100] Furthermore, a third opening for passing through the left-hand and right-hand lead screw 51 is further provided on the limit block 46 to prevent the left and right jaws of the jaw 41 from colliding.

[0101] As Figure 7 shown, preferably, the coil palletizing manipulator provided in Embodiment 1 of the present utility model further includes a drag chain 7. When the jaw assembly 4 moves, the drag chain 7 can protect the cable used by the motor and the air pipe used by the air cylinder 31; when the jaw assembly 4 completes functions such as moving, turning, and lifting under the drive of the horizontal moving mechanism 1, the horizontal steering mechanism 2, the vertical moving mechanism 3, and the first driving mechanism 5, the cable of the motor and the air pipe of the air cylinder 31 will be involved due to the movement of the jaw assembly 4, thus affecting the normal handling and palletizing of the coil by the manipulator; in order to enable the cable and the air pipe to enter the mobile end of the drag chain 7 from the same position, a third opening 63 for the cable and the air pipe to extend out is provided on the left side of the carrier 6. The cables of the third motor 36, the fourth motor 52 located outside the carrier 6, and the air pipe of the air cylinder 31 all enter the carrier 6 from the second opening 62 at the top of the carrier 6, and jointly leave the carrier 6 from the third opening 63 with the cables of the first motor 121 and the second motor 21 located inside the carrier 6. The mobile end of the drag chain 7 is communicated with the third opening 63, and the cable and the air pipe can extend into the mobile end of the drag chain 7. The fixed end of the drag chain 7 is fixed to one side of the first linear guide 11, and the cable and the air pipe leave from the fixed end of the drag chain 7; the drag chain 7 is horizontally arranged. When the jaw assembly 4 completes functions such as moving, turning, and lifting under the drive of the horizontal moving mechanism 1, the horizontal steering mechanism 2, the vertical moving mechanism 3, and the first driving mechanism 5, since the carrier 6 and the mobile end of the drag chain 7 remain in a relatively static state, the cable of the motor and the air pipe of the air cylinder 31 always maintain a fixed line from the third opening 63 to the mobile end of the drag chain 7, thereby preventing the cable and the air pipe from being involved during movement, turning, and lifting, and maintaining the original line connection route.

[0102] As Figure 3As shown in the figure, for the coiled material palletizing manipulator provided in Embodiment 1 of the present utility model, preferably, when the cable and the air pipe pass through the inside of the carrier 6, in order to reduce the interference caused by the cable and the air pipe to the second driving mechanism 12 and the second motor 21 inside the carrier 6 during operation, a plurality of wire winding shafts 64 are vertically arranged inside the carrier 6. All the wire winding shafts 64 are evenly distributed around the edge of the carrier 6. A cable or an air pipe inside the carrier 6 is wound around a wire winding rod 64, and the cable or the air pipe is arranged around the wire winding rod 64 from the side of the wire winding rod 64 close to the side wall of the carrier 6. At this time, the cable or the air pipe cannot contact the second driving mechanism 12 and the second motor 21 inside the wire winding rod 64, and the cable or the air pipe is sent to the third opening 63 to leave and enter the mobile end of the cable chain 7;

[0103] Furthermore, two grinding surfaces 641 are arranged on the side wall of the wire winding shaft 64. The grinding surfaces 641 are symmetrically arranged according to the axis of the wire winding shaft 64. When the cable or the air pipe is wound on the grinding surfaces 641, it can prevent the cable or the air pipe from sliding on the wire winding shaft 64 due to uneven force, thereby fixing the routing of the cable or the air pipe.

[0104] The coiled material palletizing manipulator provided by the present utility model can solve the problem that in the prior art, the base needs to be fixed at a certain working point, so that the gripper cannot handle the coiled materials beyond the contact range of the fixing mechanism, and thus the fixing position of the base needs to be frequently changed, which in turn affects the coiled material palletizing efficiency. It realizes the expansion of the working range of the manipulator, and thus achieves the purpose of improving the coiled material palletizing efficiency.

[0105] Those skilled in the art should understand that those skilled in the art can implement the above variation examples in combination with the prior art and the above embodiments, which will not be elaborated here. Such variation examples do not affect the essence of the present utility model and will not be elaborated here.

[0106] The preferred embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments. The devices and structures not described in detail should be understood to be implemented in a common manner in the art; any person skilled in the art can make many possible changes and modifications without departing from the technical solution of the present utility model, or modify it into an equivalent embodiment with equivalent changes, which does not affect the essence of the present utility model. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present utility model without departing from the technical solution of the present utility model still fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A coil palletizing manipulator, characterized in that, It includes a horizontal movement mechanism, a horizontal steering mechanism, a vertical movement mechanism, a jaw assembly, and a first driving mechanism; The horizontal movement mechanism includes a first linear guide rail and a second driving mechanism; The first linear guide rail is horizontally placed; the jaw assembly is arranged above the first linear guide rail; the second driving mechanism can drive the jaw assembly to move linearly along the first linear guide rail; The horizontal steering mechanism can drive the jaw assembly to rotate on a horizontal plane; The vertical movement mechanism can drive the jaw assembly to move in the vertical direction; The first driving mechanism can drive the jaw assembly to clamp the coil; 2. The coil palletizing manipulator according to claim 1, characterized in that, It further includes a carrier; the carrier is arranged above the first linear guide rail; the horizontal movement mechanism further includes a number of first sliders; the first sliders can slide on the first linear guide rail; the bottom of the carrier is fixed to the top of the first sliders; The second driving mechanism includes a first motor, a first speed reducer, a first driving gear, and a first rack; The interior of the carrier is hollow; the first motor and the first speed reducer are arranged inside the carrier; the first motor is fixed to the carrier; the first speed reducer is fixed to the carrier; the output shaft of the first motor is connected to the input shaft of the first speed reducer through a flange; the output shaft of the first speed reducer faces downward; A first opening is provided at the bottom of the carrier; the output shaft of the first speed reducer passes through the first opening; the output shaft of the first speed reducer is fixed to the first driving gear; the axis of the output shaft of the first speed reducer coincides with the axis of the first driving gear; The first driving gear is located below the carrier; The first rack is horizontally arranged; the first rack is fixed to the first linear guide rail; the extension line of the first rack is parallel to the track line of the first linear guide rail; the teeth of the first rack are arranged facing the teeth of the first driving gear; the first rack is in meshing transmission connection with the first driving gear; The horizontal steering mechanism is rotatably fixed to the top of the carrier; the horizontal steering mechanism can drive the vertical movement mechanism to rotate; the jaw assembly rotates following the vertical movement mechanism; 3. The coil palletizing manipulator according to claim 2, wherein The horizontal steering mechanism includes a second motor, a second driving gear, and an internal gear ring; The bottom of the internal gear ring is rotatably fixed to the top of the carrier; the vertical movement mechanism is fixed to the top of the internal gear ring; The second motor is arranged inside the carrier; the second motor is fixed to the carrier; the output shaft of the second motor faces upward; a second opening is provided at the top of the carrier; the second opening is located inside the internal gear ring; the output shaft of the second motor passes through the second opening; the second driving gear is fixed to the output shaft of the second motor; the axis of the output shaft of the second motor coincides with the axis of the second driving gear; The second driving gear is located above the carrier; the teeth of the second driving gear are arranged facing the teeth of the internal gear ring; the teeth of the second driving gear are in meshing transmission connection with the teeth of the internal gear ring; 4. The coil palletizing manipulator according to claim 3, wherein The vertical movement mechanism includes a cylinder, a second linear guide rail, and several second sliders; The second linear guide rail is vertically arranged; the second linear guide rail is fixed to the top of the internal gear ring; the cylinder is arranged above the second linear guide rail; the cylinder is fixed to the second linear guide rail; the telescopic shaft of the cylinder faces downward; The second slider is slidable on the second linear guide rail; the second slider is fixed to the jaw assembly; the telescopic shaft of the cylinder is fixed to the jaw assembly.

5. The coiled material palletizing manipulator according to claim 4, characterized in that, The vertical movement mechanism further includes a third linear guide rail, several third sliders, a third motor, a double-output shaft reducer, two second racks, and two third driving gears; The third linear guide rail is vertically arranged; the third linear guide rail is arranged in parallel with the second linear guide rail; the third linear guide rail is fixed to the top of the internal gear ring; the cylinder is arranged above the third linear guide rail; the third slider is slidable on the third linear guide rail; the third slider is fixed to the jaw assembly; there is a gap between the third linear guide rail and the second linear guide rail; The two second racks are vertically arranged; the two second racks are respectively fixed to the second linear guide rail and the third linear guide rail; the teeth of the second rack are arranged in the opposite direction to the track of the second linear guide rail; the teeth of the second rack are arranged in the opposite direction to the track of the third linear guide rail; The output shaft of the third motor is connected to the input shaft of the double-output shaft reducer through a flange; the third driving gears are fixed on both output shafts of the double-output shaft reducer; the axis of the output shaft of the double-output shaft reducer coincides with the axis of the third driving gear; The third motor and the double-output shaft reducer pass through the gap and are fixed to the jaw assembly; the teeth of the third driving gear are arranged facing the teeth of the second rack; the third driving gear is in meshing transmission connection with the second rack.

6. The coil palletizing manipulator according to claim 5, wherein, The jaw assembly includes jaws, a sliding bracket, two sliding shafts, two first sliding members, two second sliding members, and a limit block; The sliding bracket is fixed to the second slider; the sliding bracket is fixed to the third slider; the sliding shafts are horizontally fixed on the sliding bracket; the axes of the two sliding shafts are located in the same vertical plane; the limit block is fixed to the middle part of the sliding shaft; The first opening is provided on the first sliding member; the second opening is provided on the second sliding member; the left end of the sliding shaft passes through the first opening and is sleeved in the first sliding member; the right end of the sliding shaft passes through the second opening and is sleeved in the second sliding member; the left-end jaw of the jaws is fixed to the first sliding member; the right-end jaw of the jaws is fixed to the second sliding member.

7. The coiled material stacking manipulator according to claim 6, characterized in that, The first driving mechanism includes a left-right threaded screw rod, a fourth motor, and a second reducer; The left-right threaded screw rod is rotatably fixed on the sliding bracket; the left-right threaded screw rod is horizontally arranged; the axis of the left-right threaded screw rod is located in the same vertical plane as the axis of the sliding shaft; The output shaft of the fourth motor is connected to the input shaft of the second reducer through a flange; the output shaft of the second reducer is connected to one end of the threaded shaft of the left - hand and right - hand screw through a coupling; The left - hand nut of the left - hand and right - hand screw is fixed to the left - hand jaw of the gripper; the right - hand nut of the left - hand and right - hand screw is fixed to the right - hand jaw of the gripper; A third opening for passing through the left - hand and right - hand screw is further provided on the limit block.

8. The coil palletizing manipulator according to claim 2, wherein, It further includes a drag chain; a third opening for the cable and air pipe to extend out is provided on the left side of the carrier; the drag chain is horizontally arranged; the fixed end of the drag chain is fixed to one side of the first linear guide; the movable end of the drag chain is communicated with the third opening.

9. The coil palletizing manipulator according to claim 8, wherein, A number of wire - winding shafts are vertically arranged inside the carrier; all the wire - winding shafts are evenly distributed around the edge of the carrier; two grinding surfaces are provided on the side wall of the wire - winding shaft; the grinding surfaces are symmetrically arranged according to the axis of the wire - winding shaft.

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