Coiled material carrying device

Abstract

The utility model relates to the technical field of material transportation, and discloses a coiled material carrying device which comprises a support and a mechanical arm. The manipulator is movably arranged on the support and comprises a clamping assembly, a first linear motion module, a second linear motion module and a third linear motion module, the clamping assembly comprises a main body, an expansion shaft, an expansion cylinder and a blocking arm, the expansion shaft and the expansion cylinder are both arranged on the main body, the power output end of the expansion cylinder is connected with the expansion shaft and used for driving the expansion shaft to expand, and the blocking arm is arranged on the main body. The blocking arm is movably arranged on the main body and located on the side, away from one end of the main body, of the expansion shaft, the blocking arm is used for preventing the coiled material from sliding out of the expansion shaft, and the first linear motion module, the second linear motion module and the third linear motion module allow the clamping assembly to slide in the first direction, the second direction and the third direction correspondingly. According to the coiled material carrying device, coiled materials can be prevented from falling off from the expansion shaft while being subjected to expansion transportation, and the transportation stability is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of material transportation, in particular to a coiled material transporting device. Background Art

[0002] Currently, in paper mills, non-woven fabric factories and other factories, a core tube is generally installed in the center of the roll. Paper materials are rolled onto the core tube to form a roll. If a general robot is used to clamp the roll from the outside, the paper material rolled on the core tube may be squeezed and damaged.

[0003] In the prior art, an expansion shaft is generally used. The expansion shaft is inserted into the core tube and expanded to transport the roll material. However, when the expansion shaft is not put into the specified position before the roll material is expanded or the expansion shaft fails, the roll material is very likely to fall off the expansion shaft, and the paper material is easy to scatter. The paper material needs to be rewound onto the core tube, which is troublesome to operate. Utility Model Content

[0004] The purpose of the utility model is to provide a coiled material handling device, which can increase the expansion and transportation of coiled materials while preventing the coiled materials from falling off the expansion shaft, thereby ensuring the stability of transportation.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a coiled material handling device, comprising a bracket and a manipulator;

[0006] The manipulator is movably arranged on the bracket, and the manipulator includes a clamping assembly, and the clamping assembly includes a main body, an expansion shaft, an expansion cylinder and a stop arm. The expansion shaft and the expansion cylinder are both arranged on the main body, and the power output end of the expansion cylinder is connected to the expansion shaft for driving the expansion shaft to expand. The stop arm is movably arranged on the main body and is located on a side of the expansion shaft away from the end of the main body. The stop arm is used to prevent the coil from sliding out of the expansion shaft;

[0007] The manipulator further includes a first linear motion module, a second linear motion module, and a third linear motion module, wherein the first linear motion module is slidably arranged on the bracket along a first direction, the second linear motion module is arranged on the first linear motion module, and the second linear motion module can slide in a second direction relative to the first linear motion module, the third linear motion module is arranged on the second linear motion module, and the third linear motion module can slide in a third direction relative to the second linear motion module, and the clamping assembly is arranged on the third linear motion module;

[0008] The first direction, the second direction, and the third direction are perpendicular to each other.

[0009] Furthermore, a connecting arm is provided on the main body, and a driving member is provided at one end of the connecting arm away from the main body. The power output end of the driving member is fixedly connected to the blocking arm for driving the blocking arm to rotate, and the extension direction of the rotating shaft of the blocking arm is parallel to the extension direction of the expansion shaft.

[0010] Furthermore, a plurality of expansion blocks are evenly arranged on the circumference of the expansion shaft, and the plurality of expansion blocks can slide along the radial direction of the expansion shaft. An end of the expansion block facing away from the expansion shaft is provided with an anti-slip layer.

[0011] Furthermore, the first linear motion module includes a first slider and a first driving assembly, the bracket is provided with a first slide rail, the first slide rail extends along the first direction, the first slider is slidably set on the first slide rail, the first driving assembly is installed on the first slider, and the first driving assembly is used to drive the first slider to slide; the second linear motion module includes a second slider and a second driving assembly, the first slider is provided with a second slide rail, the second slide rail extends along the second direction, the second slider is slidably set on the second slide rail, the second driving assembly is installed on the second slider, and the second driving assembly is used to drive the second slider to slide; the third linear motion module includes a third slider and a third driving assembly, the second slider is provided with a third slide rail, the third slide rail extends along the third direction, the third slider is slidably set on the third slide rail, the third driving assembly is installed on the third slider, and the third driving assembly is used to drive the third slider to slide, and the main body is set on the third slider.

[0012] Furthermore, the first drive assembly includes a first drive motor and a first gear, a first rack extending along the first direction is provided on the bracket, the first drive motor is arranged on the first slider, the power output end of the first drive motor is connected to the first gear, and the first gear is meshed with the first rack; the second drive assembly includes a second drive motor and a second gear, a second rack extending along the second direction is provided on the first slider, the second drive motor is arranged on the second slider, the power output end of the second drive motor is connected to the second gear, and the second gear is meshed with the second rack; the third drive assembly includes a third drive motor and a third gear, a third rack extending along the third direction is provided on the second slider, the third drive motor is arranged on the third slider, the power output end of the third drive motor is connected to the third gear, and the third gear is meshed with the third rack.

[0013] Furthermore, the second slider is provided with a fourth drive motor, the power output end of the fourth drive motor is connected to one end of the third slide rail, and is used to drive the third slide rail to rotate, the third slider is provided with a fifth drive motor, the power output end of the fifth drive motor is connected to one end of the rotating arm, and is used to drive the rotating arm to rotate, the other end of the rotating arm is provided with a sixth drive motor, the power output end of the sixth drive motor is connected to the main body, and the extension direction of the rotating shaft of the third slide rail, the extension direction of the rotating shaft of the rotating arm and the extension direction of the rotating shaft of the main body are perpendicular to each other.

[0014] Furthermore, the main body is detachably arranged on the rotating arm.

[0015] Furthermore, the coil handling device also includes a control component, which is electrically connected to the expansion cylinder, the driving member, the first driving motor, the second driving motor, the third driving motor, the fourth driving motor, the fifth driving motor, and the sixth driving motor.

[0016] Compared with the prior art, the coil handling device of the present invention has the following beneficial effects: the power output end of the expansion cylinder is connected to the expansion shaft, and the barrier arm is movably arranged on the main body. The barrier arm is located on the side of the expansion shaft away from the main body, and the barrier arm is used to prevent the coil from sliding out of the expansion shaft. When the coil is grabbed by the robot, the expansion shaft expands the coil, and the barrier arm can move to the end of the expansion shaft. At this time, the barrier arm can prevent the coil from escaping from the expansion shaft. When the robot needs to unload the coil, the barrier arm moves to a position that not only prevents the coil from escaping from the expansion shaft, but also releases the tension to ensure the stability of transportation; the first linear motion module, the second linear motion module, and the third linear motion module respectively allow the clamping assembly to slide along the first direction, the second direction, and the third direction, thereby increasing the motion range of the clamping assembly and achieving a long transportation distance and a large range. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an overall structural diagram of a coil material handling device according to an embodiment of the present utility model;

[0018] Figure 2 yes Figure 1 Enlarged view of point A;

[0019] Figure 3 yes Figure 1 Enlarged view of point B;

[0020] In the figure, 1, bracket; 11, first slide rail;

[0021] 2. Manipulator; 21. Clamping assembly; 211. Main body; 212. Expansion shaft; 2121. Expansion block; 21211. Anti-slip layer; 213. Expansion cylinder; 214. Stop arm; 215. Connecting arm; 216. Driving member; 22. First linear motion module; 221. First slider; 2211. Second slide rail; 222. First driving assembly; 2221. First driving motor; 23. Second linear motion module; 231. Second slider; 2311. Third slide rail; 2312. Third rack; 2313. Fourth driving motor; 232. Second driving assembly; 2321. Second driving motor; 24. Third linear motion module; 241. Third slider; 2411. Fifth driving motor; 2412. Rotating arm; 2413. Sixth driving motor; 242. Third driving assembly; 2421. Third driving motor;

[0022] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0023] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] In the description of this utility model, the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer", "lateral", "longitudinal", etc. used to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to facilitate the description of this utility model and simplify the description. They are not intended to limit the indicated devices, elements or components to having a specific direction, or to be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this utility model. For those of ordinary skill in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0025] In the description of this utility model, the terms "provided with," "arranged," "connected," and "placed" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0026] Furthermore, the terms "first," "second," etc., are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0027] The technical solution of the present utility model is further described below with reference to the embodiments and drawings.

[0028] like Figure 1 、 2 As shown in Figures 3 and 3, a coiled material handling device according to an embodiment of the present invention comprises a bracket 1 and a manipulator 2;

[0029] The manipulator 2 is movably arranged on the bracket 1. The manipulator 2 includes a clamping assembly 21, which includes a main body 211, an expansion shaft 212, an expansion cylinder 213 and a stop arm 214. The expansion shaft 212 and the expansion cylinder 213 are both arranged on the main body 211. The power output end of the expansion cylinder 213 is connected to the expansion shaft 212 for driving the expansion shaft 212 to expand. The stop arm 214 is movably arranged on the main body 211 and is located on the side of the expansion shaft 212 away from the end of the main body 211. The stop arm 214 is used to prevent the coil from sliding off the expansion shaft 212.

[0030] Preferably, the manipulator 2 further includes a first linear motion module 22, a second linear motion module 23, and a third linear motion module 24. The first linear motion module 22 is slidably arranged on the bracket 1 along the first direction X. The second linear motion module 23 is arranged on the first linear motion module 22. The second linear motion module 23 can slide in the second direction Y relative to the first linear motion module 22. The third linear motion module 24 is arranged on the second linear motion module 23. The third linear motion module 24 can slide in the third direction Z relative to the second linear motion module 23. The clamping assembly 21 is arranged on the third linear motion module 24.

[0031] The first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0032] Based on the above technical solution, the power output end of the expansion cylinder 213 is connected to the expansion shaft 212, and the blocking arm 214 is movably arranged on the main body 211. The blocking arm 214 is located on the side of the expansion shaft 212 away from the main body 211. The blocking arm 214 is used to stop the coil from sliding off the expansion shaft 212. When the coil is grabbed by the manipulator 2, the expansion shaft 212 tightens the coil, and the blocking arm 214 can move to the end of the expansion shaft 212. At this time, the blocking arm 214 can prevent the coil from escaping from the expansion shaft 212. When the manipulator 2 When the coil needs to be unloaded, the blocking arm 214 moves to a position that not only blocks the coil from escaping from the expansion shaft 212, but the expansion shaft 212 is then released to ensure the stability of transportation; by setting the first linear motion module 22, the second linear motion module 23, and the third linear motion module 24, the clamping assembly 21 is allowed to move arbitrarily within a certain range of three-dimensional space; and each linear motion module slides independently, providing extremely high flexibility of movement; each linear motion module is independently set and can be independently disassembled and replaced, reducing maintenance costs.

[0033] Specifically, the expansion cylinder 213 is a pneumatic cylinder.

[0034] Preferably, a connecting arm 215 is provided on the main body 211, and a driving member 216 is provided at the end of the connecting arm 215 facing away from the main body 211. The power output end of the driving member 216 is fixedly connected to the blocking arm 214 for driving the blocking arm 214 to rotate. The extension direction of the rotating shaft of the blocking arm 214 is parallel to the extension direction of the expansion shaft 212.

[0035] In a specific embodiment, the distance between the connecting arm 215 and the outer wall of the coil is 1-2 cm. If the paper material of the coil detaches from the core tube during transportation, the connecting arm 215 can prevent the paper material from falling off the core tube to a certain extent, making it convenient to rewind and repair the paper material after transportation is completed; when the distance between the connecting arm 215 and the outer wall of the coil is less than 1 cm, the connecting arm 215 is too close to the coil, and the docking accuracy of the expansion shaft 212 and the core tube needs to be increased. The accuracy requirement is high and it is easy for the connecting arm 215 to poke into the paper material, causing damage to the coil; when the distance between the connecting arm 215 and the outer wall of the coil is greater than 2 cm, the connecting arm 215 is too far away from the coil, and it is difficult for the connecting arm 215 to restrict the detachment of the paper object, and a longer retaining arm 214 needs to be provided, which has high manufacturing and maintenance costs.

[0036] Preferably, multiple expansion blocks 2121 are evenly arranged around the circumference of the expansion shaft 212. These expansion blocks 2121 are capable of sliding radially along the expansion shaft 212. An anti-slip layer 2121 is provided on one end of the expansion block 2121 facing away from the expansion shaft 212. The even arrangement of multiple expansion blocks 2121 around the circumference of the expansion shaft 212 ensures uniform application of the expansion force of the expansion shaft 212, preventing damage to the core tube during expansion. Anti-slip pads are provided on the expansion blocks 2121 to ensure close contact between the expansion blocks 2121 and the inner circumferential wall of the core tube, increasing stability after expansion.

[0037] More preferably, the first linear motion module 22 includes a first slider 221 and a first drive assembly 222, the bracket 1 is provided with a first slide rail 11, the first slide rail 11 extends along the first direction X, the first slider 221 is slidably set on the first slide rail 11, the first drive assembly 222 is installed on the first slider 221, and the first drive assembly 222 is used to drive the first slider 221 to slide; the second linear motion module 23 includes a second slider 231 and a second drive assembly 232, the first slider 221 is provided with a second slide rail 2211, the second slide rail 2211 extends along the second direction Y, and the second slider 231 is slidably set On the second slide rail 2211, the second drive component 232 is installed on the second slider 231, and the second drive component 232 is used to drive the second slider 231 to slide; the third linear motion module 24 includes a third slider 241 and a third drive component 242. The second slider 231 is provided with a third slide rail 2311, and the third slide rail 2311 extends along the third direction Z. The third slider 241 is slidably set on the third slide rail 2311, and the third drive component 242 is installed on the third slider 241. The third drive component 242 is used to drive the third slider 241 to slide, and the main body 211 is set on the third slider 241.

[0038] More preferably, the first drive assembly 222 includes a first drive motor 2221 and a first gear, a first rack extending along the first direction X is provided on the bracket 1, the first drive motor 2221 is arranged on the first slider 221, the power output end of the first drive motor 2221 is connected to the first gear, and the first gear is engaged with the first rack; the second drive assembly 232 includes a second drive motor 2321 and a second gear, the first slider 221 is provided with a second rack extending along the second direction Y, the second drive motor 2321 is arranged on the second slider 231, the power output end of the second drive motor 2321 is connected to the second gear, and the second gear is engaged with the second rack; the third drive assembly 242 includes a third drive motor 2421 and a third gear, the second slider 231 is provided with a third rack 2312 extending along the third direction Z, the third drive motor 2421 is arranged on the third slider 241, the power output end of the third drive motor 2421 is connected to the third gear, and the third gear is engaged with the third rack 2312. The first drive assembly 222 , the second drive assembly 232 , and the third drive assembly 242 all adopt a rack and pinion mode for transmission, which has a simple structure, high transmission efficiency, and is convenient for long-distance transmission and transportation.

[0039] More preferably, the second slider 231 is provided with a fourth drive motor 2313, the power output end of the fourth drive motor 2313 being connected to one end of the third slide rail 2311 for driving the third slide rail 2311 to rotate. The third slider 241 is provided with a fifth drive motor 2411, the power output end of the fifth drive motor 2411 being connected to one end of the rotating arm 2412 for driving the rotating arm 2412 to rotate. The other end of the rotating arm 2412 is provided with a sixth drive motor 2413, the power output end of the sixth drive motor 2413 being connected to the main body 211. The directions of extension of the rotation axis of the third slide rail 2311, the directions of extension of the rotation axis of the rotating arm 2412, and the directions of extension of the rotation axis of the main body 211 are mutually perpendicular. The fourth drive motor 2313, the fifth drive motor 2411, and the sixth drive motor 2413 provide the main body 211 with three rotational degrees of freedom, further expanding the operable range of the clamping assembly 21, providing greater flexibility and enabling all-round grasping.

[0040] More preferably, the main body 211 is detachably mounted on the rotating arm 2412. The main body 211 can be directly removed from the rotating arm 2412 for maintenance or replacement.

[0041] More preferably, the coil handling device further includes a control component, which is electrically connected to the expansion cylinder 213, the driving member 216, the first driving motor 2221, the second driving motor 2321, the third driving motor 2421, the fourth driving motor 2313, the fifth driving motor 2411, and the sixth driving motor 2413.

[0042] In summary, the embodiment of the present invention provides a coil material handling device, wherein the power output end of the expansion cylinder 213 is connected to the expansion shaft 212, and the blocking arm 214 is movably arranged on the main body 211. The blocking arm 214 is located on the side of the end of the expansion shaft 212 away from the main body 211. The blocking arm 214 is used to stop the coil material from sliding off the expansion shaft 212. When the coil material is grabbed by the robot 2, the expansion shaft 212 tightens the coil material, and the blocking arm 214 can move to the end of the expansion shaft 212. At this time, the blocking arm 214 can prevent the coil from escaping from the expansion shaft 212. When the robot 2 needs to unload the coil, the blocking arm 214 moves to a position that not only blocks the coil from escaping from the expansion shaft 212, but also releases the tension of the expansion shaft 212 to ensure the stability of transportation; the first linear motion module 22, the second linear motion module 23, and the third linear motion module 24 respectively allow the clamping assembly to slide along the first direction X, the second direction Y, and the third direction Z, thereby increasing the motion range of the clamping assembly and enabling long transportation distances and a large range.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and replacements can be made without departing from the technical principles of the present invention. These improvements and replacements should also be regarded as the scope of protection of the present invention.

Claims

1. A coil material handling device, characterized in that: It comprises a bracket (1) and a manipulator (2); The manipulator (2) is movably arranged on the bracket (1), and the manipulator (2) includes a clamping assembly (21), and the clamping assembly (21) includes a main body (211), an expansion shaft (212), an expansion cylinder (213) and a stop arm (214). The expansion shaft (212) and the expansion cylinder (213) are both arranged on the main body (211), and the power output end of the expansion cylinder (213) is connected to the expansion shaft (212) for driving the expansion shaft (212) to expand. The stop arm (214) is movably arranged on the main body (211) and is located on a side of an end of the expansion shaft (212) away from the main body (211). The stop arm (214) is used to stop the coil from sliding off the expansion shaft (212); The manipulator (2) further comprises a first linear motion module (22), a second linear motion module (23) and a third linear motion module (24); the first linear motion module (22) is slidably arranged on the bracket (1) along a first direction (X); the second linear motion module (23) is arranged on the first linear motion module (22); the second linear motion module (23) can slide in a second direction (Y) relative to the first linear motion module (22); the third linear motion module (24) is arranged on the second linear motion module (23); the third linear motion module (24) can slide in a third direction (Z) relative to the second linear motion module (23); and the clamping assembly (21) is arranged on the third linear motion module (24); Wherein, the first direction (X), the second direction (Y), and the third direction (Z) are perpendicular to each other; The expansion shaft (212) is evenly provided with a plurality of expansion blocks (2121) in the circumferential direction. The plurality of expansion blocks (2121) can slide radially along the expansion shaft (212). An anti-slip layer (21211) is provided at one end of the expansion block (2121) away from the expansion shaft (212).

2. The coil transport device according to claim 1, wherein: The main body (211) is provided with a connecting arm (215), and an end of the connecting arm (215) facing away from the main body (211) is provided with a driving member (216). The power output end of the driving member (216) is fixedly connected to the blocking arm (214) and is used to drive the blocking arm (214) to rotate. The extension direction of the rotating shaft of the blocking arm (214) is parallel to the extension direction of the expansion shaft (212).

3. The coil material transporting device according to claim 1, characterized in that: The first linear motion module (22) includes a first slider (221) and a first driving assembly (222); a first slide rail (11) is provided on the bracket (1); the first slide rail (11) extends along the first direction (X); the first slider (221) is slidably arranged on the first slide rail (11); the first driving assembly (222) is installed on the first slider (221); the first driving assembly (222) is used to drive the first slider (221) to slide; the second linear motion module (23) includes a second slider (231) and a second driving assembly (232); the first slider (221) is provided with a second slide rail (2211); the second slide rail (2211) extends along the second direction (Y); the second slider (231) is slidably arranged on the first slide rail (11); The second linear motion module (24) comprises a third slider (241) and a third driving component (242). The second slider (231) is provided with a third slide rail (2311). The third slide rail (2311) extends along the third direction (Z). The third slider (241) is slidably arranged on the third slide rail (2311). The third driving component (242) is installed on the third slider (241). The third driving component (242) is used to drive the third slider (241) to slide. The main body (211) is arranged on the third slider (241).

4. The coil material transporting device according to claim 3, characterized in that: The first driving assembly (222) comprises a first driving motor (2221) and a first gear; a first rack extending along the first direction (X) is provided on the bracket (1); the first driving motor (2221) is arranged on the first slider (221); a power output end of the first driving motor (2221) is connected to the first gear, and the first gear is meshed with the first rack; the second driving assembly (232) comprises a second driving motor (2321) and a second gear; a second rack extending along the second direction (Y) is provided on the first slider (221); the second driving motor (2321) The third drive assembly (242) comprises a third drive motor (2421) and a third gear. The third drive motor (2421) is provided on the second slider (231). The power output end of the second drive motor (2321) is connected to the second gear, and the second gear is meshed with the second rack. The third drive assembly (242) comprises a third drive motor (2421) and a third gear. The second slider (231) is provided with a third rack (2312) extending along the third direction (Z). The third drive motor (2421) is provided on the third slider (241). The power output end of the third drive motor (2421) is connected to the third gear, and the third gear is meshed with the third rack (2312).

5. The coil transport device according to claim 4, characterized in that: The second slider (231) is provided with a fourth drive motor (2313), the power output end of the fourth drive motor (2313) is connected to one end of the third slide rail (2311), and is used to drive the third slide rail (2311) to rotate. The third slider (241) is provided with a fifth drive motor (2411), the power output end of the fifth drive motor (2411) is provided with a rotating arm (2412), one end of the rotating arm (2412) is connected to the power output end of the fifth drive motor (2411), and is used to drive the rotating arm (2412) to rotate. The other end of the rotating arm (2412) is provided with a sixth drive motor (2413), the power output end of the sixth drive motor (2413) is connected to the main body (211), and the extension direction of the rotating shaft of the third slide rail (2311), the extension direction of the rotating shaft of the rotating arm (2412), and the extension direction of the rotating shaft of the main body (211) are perpendicular to each other.

6. The coil material transporting device according to claim 5, characterized in that: The main body (211) is detachably mounted on the rotating arm (2412).

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