Machine table butt joint supporting roll feeding and discharging robot

Abstract

The utility model relates to a machine table butt joint coil supporting feeding and discharging robot which comprises a chassis and a loading executing mechanism arranged at the top of the chassis. The chassis can move on the working surface; the loading executing mechanism comprises two V-shaped supporting blocks, and the two V-shaped supporting blocks are used for supporting the two ends of a material roll which is axially horizontal. The two V-shaped supporting blocks can synchronously drive the supported material roll to move relative to the base plate in the first horizontal direction parallel to the axial direction of the material roll, the second horizontal direction orthogonal to the first horizontal direction and the vertical direction, and the two V-shaped supporting blocks can further drive the two ends of the supported material roll to move relative to the base plate in the second horizontal direction and the vertical direction correspondingly. The robot has the beneficial effects that when the chassis of the robot stretches into the machine table, the length distance from one side in the width direction of the chassis to the center is reduced, the depth of the chassis stretching into the machine table is effectively reduced, the chassis is prevented from colliding with obstacles such as a cross rod arranged at the bottom of the machine table, and it is guaranteed that a material roll can smoothly stretch into the position between two cone top shafts.

Description

Technical Field

[0001] The utility model relates to the technical field of printing machines, in particular to a machine platform docking and roll loading and unloading robot. Background Art

[0002] In the printing industry, a mechanical device is required to load and unload cylindrical rolls onto the printing press's platform. Traditional roll loading and unloading mechanisms, when in use, drive the entire roll into the platform and align the center receptacles at each end of the roll with the conical top axes on either side of the platform. The conical top axes then extend and insert into the receptacles at the ends of the roll, completing the loading process. However, obstacles such as crossbars at the bottom of the platform prevent the loading and unloading mechanism from extending deep enough, hindering its ability to drive the roll into the platform and align the receptacles at both ends with the conical top axes. Utility Model Content

[0003] (1) Technical issues to be resolved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a machine docking coil loading and unloading robot, which solves the technical problem that obstacles at the bottom of the machine prevent the loading and unloading robot from driving the coil into the interior of the machine.

[0005] (2) Technical solution

[0006] In order to achieve the above-mentioned purpose, the main technical solutions adopted by this utility model include:

[0007] In a first aspect, an embodiment of the present invention provides a machine docking coil loading and unloading robot, comprising a chassis and an upper loading actuator provided on the top of the chassis;

[0008] The chassis is movable on the working surface;

[0009] The upper mounting actuator includes two V-shaped support blocks, and the two V-shaped support blocks are used to support the two ends of the axially horizontal material roll;

[0010] The two V-shaped support blocks can synchronously drive the supported material roll to move relative to the chassis along a first horizontal direction parallel to the axis of the material roll, a second horizontal direction orthogonal to the first horizontal direction, and a vertical direction. The two V-shaped support blocks can also respectively drive the two ends of the supported material roll to move relative to the chassis along the second horizontal direction and vertical direction.

[0011] According to the utility model, it also includes a camera bracket, which is fixed on the top of the chassis;

[0012] Two visual cameras are arranged opposite to each other on the top of the camera bracket along the first horizontal direction, and the two visual cameras correspond to one side in the width direction of the chassis, and the two visual cameras are located on both sides of the upper actuator; the two visual cameras are used to obtain images of both ends of the material roll and the matching images of the two ends of the material roll and the cone top axes on both sides of the machine.

[0013] According to the present utility model, the upper mounting actuator includes a first linear moving portion and a second linear moving portion;

[0014] The first linear moving portion is disposed on the top of the chassis and is capable of moving relative to the chassis along the first horizontal direction;

[0015] The second linear moving portion is arranged on top of the first linear moving portion so as to be movable relative to the first linear moving portion along the second horizontal direction;

[0016] The two V-shaped support blocks are arranged on the top of the second linear motion portion so as to be capable of synchronously moving in the vertical direction relative to the second linear motion portion, moving in the vertical direction separately, and moving in the second horizontal direction separately.

[0017] According to the utility model, a first guide rail extending along the first horizontal direction is provided on the top of the chassis and is rotatably connected to a first axially vertical gear; a first rack extending along the first horizontal direction is fixed to the bottom of the first linear moving portion; the first rack is capable of meshing and connecting with the first gear to drive the first linear moving portion to move along the first guide rail;

[0018] A second guide rail and a second rack extending along the first horizontal direction are provided at the top of the first linear moving part; the bottom of the second linear moving part is rotatably connected to a second axially vertical gear; the second gear can be engaged with the second rack to drive the second linear moving part to move along the second guide rail.

[0019] According to the present utility model, the upper-mounted actuator further comprises a lower lifting assembly and an upper lifting assembly;

[0020] The lower layer lifting assembly includes two brackets arranged on the second linear moving part in a relative manner along the first horizontal direction, and two first lifting drivers arranged on the two brackets in a one-to-one correspondence;

[0021] The upper lifting assembly is arranged in the two brackets, and the upper lifting assembly includes a base fixed to the driving ends of the two first lifting drives, and two groups of second lifting drives arranged at intervals along the first horizontal direction; the driving ends of the two groups of second lifting drives are fixedly connected to two horizontally extending fixed plates in a one-to-one correspondence, the two fixed plates and the two V-shaped support blocks are in a one-to-one correspondence, and the V-shaped support blocks are movably arranged on the corresponding fixed plates along the first horizontal direction.

[0022] According to the present invention, the first lifting driver includes a vertical screw and a nut threadedly connected to the vertical screw, the nut is fixedly connected to a fixed block of a cube, one side of the fixed block abuts against the bracket, and the fixed block is fixedly connected to the base;

[0023] The nuts of the two first lifting drivers are rotated synchronously around a first synchronous belt.

[0024] According to the present invention, the second lifting drive includes two screw elevators spaced apart along the first horizontal direction, and the input end of one screw elevator and the input end of the other screw elevator are synchronously driven by a second synchronous belt;

[0025] The lifting ends of the two screw lifts are fixedly connected to the two ends of the corresponding fixed plates.

[0026] According to the utility model, a third guide rail extending along the first horizontal direction is provided on the top of the fixed plate and is rotatably connected to an axially vertical third gear; a third rack extending along the second horizontal direction is provided at the bottom of the V-shaped support block; the third rack and the third gear are meshed and connected to drive the V-shaped support block to move along the third guide rail.

[0027] According to the present utility model, the V-shaped support block includes a fixing frame and two supporting plates;

[0028] The top of the fixing frame is V-shaped, and both inclined portions of the fixing frame are provided with insertion holes. The two supporting plates are arranged obliquely to each other and are arranged in the two insertion holes in a one-to-one correspondence around opposite ends and turned upside down. An elastic member is connected between the bottom of the supporting plate and the fixing frame. When the elastic member is in a relaxed state, one end of the supporting plate protrudes from the insertion hole. The two supporting plates are used to support the axially horizontal material rolls.

[0029] A photoelectric switch is provided on the fixing frame, and a signal (A) emitted by the photoelectric switch can contact the roll supported by the support plate;

[0030] A micro switch is also provided in the fixing frame. The micro switch is located below the supporting plate. The micro switch can contact the supporting plate when supporting the material roll.

[0031] According to the present invention, the chassis is a dual-steering wheel chassis, and a two-dimensional code camera is provided at the bottom of the chassis, and the two-dimensional code camera can cooperate with the two-dimensional code path on the working surface.

[0032] (3) Beneficial effects

[0033] The beneficial effects of the present invention are as follows: the machine docking coil loading and unloading robot of the present invention, due to the large weight of the coil, which is about 1 t at most, if the coil is carried on one side in the width direction of the chassis for transportation, during the process of the chassis driving the robot to transport the coil as a whole, the wheel pressure difference of the driving wheels on both sides of the chassis is large, which can easily cause the driving wheels on the other side in the width direction of the chassis to slip, and there is also a risk of tipping over at the start and stop moment when the chassis moves horizontally. Therefore, in order to ensure the stability of transportation, the coil needs to be carried at the center in the width direction of the chassis. The traditional coil loading and unloading device directly drives the coil from the chassis to extend between the cone-top shafts on both sides of the machine. However, the machine docking coil loading and unloading robot first drives the coil synchronously relative to the chassis along the first horizontal direction to the side of the chassis close to the machine in the width direction by two V-shaped support blocks, and then the chassis drives the coil to extend between the cone-top shafts on both sides of the machine. Therefore, when the chassis of this robot is extended into the machine, the length distance from one side to the center in the width direction of the chassis is reduced, which effectively reduces the depth of the chassis extending into the interior of the machine, and avoids the chassis colliding with obstacles such as the crossbar set at the bottom of the machine, so as to ensure that the material roll can be smoothly extended between the two cone top axes.

[0034] Furthermore, because the roll is a thin film roll with an irregular diameter and uneven work surface with pits and uneven heights, the axis of the roll resting on the two V-shaped support blocks exhibits both horizontal and vertical errors. Furthermore, the alignment of the center holes of the roll with the cone-shaped axes on either side of the machine requires high precision (within 2mm). Therefore, these errors cannot be compensated for by machining accuracy alone, requiring fine-tuning of the roll using the two V-shaped support blocks. The two V-shaped support blocks in this robot ensure that the center holes of the supported roll align with the cone-shaped axes on either side of the machine and maintain a consistent spacing between them. The two V-shaped support blocks synchronously move the supported roll in a first horizontal direction relative to the chassis to adjust the spacing between the ends of the roll and the cone-shaped axes on either side of the machine. The two V-shaped support blocks also simultaneously move the supported roll in a vertical direction to align the axis of the roll with the centerline of the cone-shaped axes on either side of the machine. The two V-shaped support blocks can also independently drive the two ends of the supported material roll to move in a first horizontal direction and a vertical direction, respectively, to adjust the inclination of the axis of the material roll in the horizontal and vertical directions, so that the axis of the material roll coincides with the line connecting the cone apex axes on both sides of the machine. Thus, the two V-shaped support blocks can drive the center holes at both ends of the supported material roll to align with the cone apex axes on both sides of the machine and maintain the same spacing with the cone apex axes on both sides of the machine, so that the cone apex axes on both sides of the machine can extend and insert into the center holes at both ends of the material roll. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a three-dimensional schematic diagram of the machine docking with the coil loading and unloading robot of the present invention;

[0036] Figure 2 for Figure 1 Bottom view of the chassis in FIG;

[0037] Figure 3 for Figure 2 A top view of

[0038] Figure 4 Assembly drawing of chassis and vision camera;

[0039] Figure 5 for Figure 1 A perspective view of the upper body actuator 2;

[0040] Figure 6 for Figure 1 A perspective view of the lower lifting assembly in FIG.

[0041] Figure 7 for Figure 1 A perspective view of the upper lifting assembly in FIG.

[0042] Figure 8 This is the assembly drawing of the V-shaped support block and the fixing plate;

[0043] Figure 9 is a top view of the fixed plate;

[0044] Figure 10 It is a partial bottom view of the fixing frame.

[0045] [Description of Reference Numerals]

[0046] 1: Chassis; 11: First guide rail; 12: First gear; 13: QR code camera; 14: First steering wheel; 15: First universal wheel; 16: Second steering wheel; 17: Second universal wheel;

[0047] 2: Upper actuator; 21: V-shaped support block; 211: Fixed bracket; 2111: Third rack; 212: Support plate; 213: Opposing photoelectric switch; 214: Micro switch; 22: First linear motion unit; 221: First rack; 222: Second guide rail; 223: Second rack; 23: Second linear motion unit; 24: Lower lift assembly; 241: Bracket; 242: First lift driver; 2421: Vertical lead screw; 2422: Nut; 2423: Fixed block; 243: First motor; 244: First synchronous belt; 245: Tensioner; 25: Upper lift assembly; 251: Base; 252: Second lift driver; 2521: Lead screw lift; 2522: Second synchronous belt; 253: Fixed plate; 2531: Third guide rail; 2532: Second motor; 2533: Third gear; 2534: Slider;

[0048] 31: visual camera; 32: camera bracket;

[0049] A: signal; B: perforation; C: first horizontal direction; D: second horizontal direction. DETAILED DESCRIPTION

[0050] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Figure 1 The orientation is referenced.

[0051] See also Figure 1-10 The embodiment of the present invention provides a machine docking coil loading and unloading robot, which includes a chassis 1 and an upper mounting actuator 2 arranged on the top of the chassis 1.

[0052] The chassis 1 is movable on the work surface. The upper actuator 2 includes two V-shaped support blocks 21, which are used to support the ends of the axially horizontal material roll. The two V-shaped support blocks 21 can synchronously drive the supported material roll to move relative to the chassis 1 in a first horizontal direction C parallel to the axial direction of the material roll, a second horizontal direction D orthogonal to the first horizontal direction C, and a vertical direction. The two V-shaped support blocks 21 can also respectively drive the ends of the supported material roll to move relative to the chassis 1 in the second horizontal direction D and the vertical direction. The work surface is the ground for the robot to walk on.

[0053] Since the material roll is heavy, with a maximum weight of about 1 ton, if the material roll is carried on one side of the chassis 1 in the width direction for transportation, the pressure difference of the driving wheels on both sides of the chassis 1 will be large during the process of the chassis 1 driving the robot to transport the material roll as a whole, which may easily cause the driving wheels on the other side of the chassis 1 in the width direction to slip, and there is also a risk of overturning at the start and stop moments when the chassis 1 moves horizontally. Therefore, in order to ensure the stability of transportation, the material roll must be carried at the center of the chassis 1 in the width direction during transportation.

[0054] In traditional coil loading and unloading devices, the chassis 1 directly drives the coil to extend between the cone-top shafts on both sides of the machine. However, this machine docking coil loading and unloading robot first uses two V-shaped support blocks 21 to drive the coil synchronously relative to the chassis 1 along the second horizontal direction D to the side of the chassis 1 in the width direction close to the machine. Then, the chassis 1 drives the coil located on the one side in the width direction of the chassis 1 to extend between the cone-top shafts on both sides of the machine. Therefore, when the chassis 1 of this robot is extended into the machine, the length distance from the center to one side in the width direction of the chassis 1 is reduced, effectively reducing the depth of the chassis 1 inserted into the interior of the machine, preventing the chassis 1 from colliding with obstacles such as the crossbars provided at the bottom of the machine, and ensuring that the coil can be smoothly extended between the two cone-top shafts. It should be noted that when this machine docking coil loading and unloading robot is used, the chassis 1 drives the coil located on the one side in the width direction of the chassis 1 to extend into the machine. Its movement speed is relatively slow, which will not cause the chassis 1 to slip or tip over.

[0055] At the same time, since the material roll is a film roll, its diameter is irregular, and the working surface has potholes and uneven heights, resulting in errors in the horizontal and vertical directions of the axis of the two ends of the material roll placed on the two V-shaped support blocks, and the docking accuracy of the center holes at both ends of the material roll and the cone top axes on both sides of the machine is required to be high (within 2mm). Therefore, the above errors cannot be compensated by processing accuracy, and the material roll needs to be fine-tuned by two V-shaped support blocks 21. The two V-shaped support blocks in this robot can drive the center holes at both ends of the supported material roll to align with the cone top axes on both sides of the machine and to be consistent with the spacing of the cone top axes on both sides of the machine: the two V-shaped support blocks drive the supported material roll to move synchronously relative to the chassis along the first horizontal direction C to adjust the spacing between the two ends of the material roll and the cone top axes on both sides of the machine to be consistent. The two V-shaped support blocks simultaneously drive the supported material roll to move in the vertical direction so that the height of the axis of the material roll is consistent with the height of the axis line connecting the centers of the cone top axes on both sides of the machine. The two V-shaped support blocks can also independently drive the two ends of the supported coil to move along a second horizontal direction D and vertically, respectively, to adjust the horizontal and vertical inclination of the coil axis, so that the coil axis coincides with the line connecting the cone apex axes on either side of the machine. Thus, the two V-shaped support blocks can align the center holes at both ends of the supported coil with the cone apex axes on either side of the machine, with the spacing between them being consistent, allowing the cone apex axes on either side of the machine to extend and insert into the center holes at both ends of the coil.

[0056] Furthermore, this machine platform further includes two visual cameras 31 for docking with the coil loading and unloading robot.

[0057] The two visual cameras 31 are relatively arranged on both sides of the upper actuator 2 along the first horizontal direction C, and the two visual cameras 31 correspond to one side in the width direction of the chassis 1. The two visual cameras 31 are used to obtain images of the two ends of the material roll and the matching images of the two ends of the material roll and the cone top shafts on both sides of the machine, so that the center holes at both ends of the material roll can be aligned with the cone top shafts on both sides of the machine, so that the cone top shafts can extend out and be inserted into the center holes.

[0058] The visual camera 31 is fixed on the top of the chassis 1 to reduce the overall width of the robot so as to facilitate insertion into a machine with limited space.

[0059] Specifically, the two visual cameras 31 are fixed on the top of the chassis 1 through a camera bracket 32 ​​.

[0060] Furthermore, the working principle of this machine when docking with the coil loading and unloading robot to load the coil is as follows:

[0061] A1: After placing an axially horizontal roll on two V-shaped support blocks 21, the chassis 1 drives the robot to move outside the opening of the machine platform. The two V-shaped support blocks 21 can synchronously move the supported roll along the second horizontal direction D relative to the chassis 1 to the side of the chassis 1 in the width direction closer to the machine platform, so that the axis of the roll aligns with the line connecting the two vision cameras 31. The two vision cameras 31 can capture images of the ends of the roll to determine whether the distance between the ends of the roll and the two sides of the chassis 1 is consistent, and whether the axis of the roll is skewed in the horizontal direction or the vertical direction.

[0062] A2: The two V-shaped support blocks 21, using the images of the ends of the roll captured by the two vision cameras 31, synchronously move the roll relative to the chassis 1 in a first horizontal direction C to adjust the spacing between the ends of the roll and the sides of the chassis 1. They also separately move the ends of the roll relative to the chassis 1 in a second horizontal direction D to adjust the roll axis horizontally to align with the line connecting the two vision cameras 31. They also separately move the ends of the roll relative to the chassis in a vertical direction to adjust the roll axis vertically. Simultaneously, the two V-shaped support blocks 21 can also synchronously move the roll vertically to a height aligned with the cone top axis on the machine platform.

[0063] A3: Chassis 1 drives the robot through the opening of the machine platform until the center holes at each end of the roll correspond to the cone-shaped axes on both sides of the machine platform. Two vision cameras 31 continuously capture images of the ends of the roll and the two cone-shaped axes to determine whether the roll axis is aligned horizontally and vertically with the center line connecting the two cone-shaped axes.

[0064] A4: The two V-shaped support blocks 21 can respectively drive the two ends of the material roll to move relative to the chassis 1 along the second horizontal direction D and the vertical direction through the images of the two cone apex axes captured by the two visual cameras 31, so as to adjust whether the axis of the material roll is consistent with the center line connecting the two cone apex axes in the horizontal direction and the vertical direction.

[0065] A5: When the two visual cameras 31 confirm that the distance between the two ends of the material roll is consistent with the two cone-top shafts, and the axis of the material roll is consistent with the center line of the two cone-top shafts in the horizontal and vertical directions, the two cone-top shafts on both sides of the machine extend and insert into the center holes at both ends of the material roll.

[0066] A6: The two V-shaped support blocks 21 can synchronously descend relative to the material roll to separate from the material roll, and the chassis 1 drives the entire robot to leave the machine.

[0067] The working principle of this machine when docking with the coil loading and unloading robot to unload the coil is as follows:

[0068] B1: Chassis 1 drives the robot as a whole into the opening of the machine. The two V-shaped support blocks 21 move upward relative to chassis 1 and receive the material roll. The cone-top shaft on the machine is separated from the center holes at both ends of the material roll.

[0069] B2: The two V-shaped support blocks 21 move downward relative to the chassis 1 synchronously and separate the material roll from the cone top axis.

[0070] B3: Chassis 1 drives the robot to exit the machine as a whole.

[0071] As a result, the robot can accurately realize the mating and disengagement of the material roll and the conical top shafts on both sides of the machine, and the loading and unloading process is simple and convenient.

[0072] Specifically, the chassis 1 is an AGV chassis, which can receive image information sent by the visual camera 31 and control the V-shaped support block 21 to drive the material roll to move.

[0073] Furthermore, the upper body actuator 2 includes a first linear motion portion 22 and a second linear motion portion 23 .

[0074] The first linear movable portion 22 is disposed on top of the chassis 1 so as to be movable relative to the chassis 1 in a first horizontal direction C. The second linear movable portion 23 is disposed on top of the first linear movable portion 22 so as to be movable relative to the first linear movable portion 22 in a second horizontal direction D. Two V-shaped support blocks 21 are disposed on top of the second linear movable portion 23 so as to be movable synchronously in the vertical direction relative to the second linear movable portion 23, and to be movable separately in the vertical direction and in the second horizontal direction D.

[0075] During use, the first linear motion portion 22 can drive the two V-shaped support blocks 21 and the material roll they carry to move synchronously relative to the chassis 1 in a first horizontal direction C. The second linear motion portion 23 can drive the two V-shaped support blocks 21 and the material roll they carry to move synchronously relative to the first linear motion portion 22 in a second horizontal direction D. The two V-shaped support blocks 21 synchronously drive the material roll they carry to move vertically, respectively drive both ends of the material roll to move vertically, and respectively drive both ends of the material roll to move along the second horizontal direction D.

[0076] By arranging the first linear moving part 22, the second linear moving part 23 and the two V-shaped support blocks 21 in sequence from top to bottom, the overall volume and height of the robot can be reduced, so that it can penetrate deep into the interior of a machine with limited space and is suitable for delivering the material roll between two cone-top shafts with lower heights.

[0077] Specifically, a first guide rail 11 extending along a first horizontal direction C is provided at the top of the chassis 1 and is rotatably connected to an axially vertical first gear 12. A first rack 221 extending along the first horizontal direction C is fixed to the bottom of the first linear motion portion 22. The first rack 221 can mesh with the first gear 12 to drive the first linear motion portion 22 to move along the first guide rail 11.

[0078] When the first gear 12 rotates around the vertical axis, the first linear moving portion 22 can be driven to move along the first horizontal direction C on the first guide rail 11 through the first rack 221 .

[0079] A second guide rail 222 and a second rack 223 extending along a second horizontal direction D are disposed at the top of the first linearly movable portion 22. A second gear, axially vertical, is rotatably connected to the bottom of the second linearly movable portion 23. The second gear engages with the second rack 223 to drive the second linearly movable portion 23 along the second guide rail 222.

[0080] When the second gear rotates around the vertical axis, the second linear moving portion 23 can be driven to move along the second horizontal direction D on the second guide rail 222 through the first rack 221 .

[0081] More specifically, a motor is provided on the chassis 1, the driving end of which is connected to the first gear 12, and the motor is used to drive the first gear 12 to rotate about the vertical axis. A motor is also provided on the second linear motion portion 23, the driving end of which is connected to the second gear 223, and the motor is used to drive the second gear 223 to rotate about the vertical axis.

[0082] Furthermore, the upper body actuator 2 further includes a lower lifting assembly 24 and an upper lifting assembly 25 .

[0083] The lower lifting assembly 24 includes two brackets 241 disposed on the second linear moving portion 23 along the first horizontal direction C, and two first lifting drivers 242 disposed on the two brackets 241 in a one-to-one correspondence.

[0084] The upper lift assembly 25 is housed within the two brackets 241 and includes a base 251 secured to the drive ends of two first lift actuators 242, and two sets of second lift actuators 252 spaced apart along the first horizontal direction C. The drive ends of the two sets of second lift actuators 252 are fixedly connected to two horizontally extending fixed plates 253 in a one-to-one correspondence. The two fixed plates 253 correspond to the two V-shaped support blocks 21, and the V-shaped support blocks 21 are movably mounted on the corresponding fixed plates 253 along the second horizontal direction D.

[0085] During operation, the two first lift actuators 242 of the lower lift assembly 24 drive the upper lift assembly 25, the two V-shaped support blocks 21, and the rolls supported by the two V-shaped support blocks 21 to move synchronously in the vertical direction to adjust the height of the rolls. The two sets of second lift actuators in the upper lift assembly 25, via the fixed plate 253, can each drive the two V-shaped support blocks 21 to move vertically, causing the two V-shaped support blocks 21 to respectively drive the ends of the supported rolls to move vertically, thereby adjusting the vertical inclination of the roll axis. Simultaneously, the upper lift assembly 25 is positioned within the two brackets 241 of the lower lift assembly 24, allowing it to be stored within the lower lift assembly 24, reducing the overall height. This allows the V-shaped support blocks 21 on the upper lift assembly 25 to extend under the lower roll to receive it when the roll is driven off the cone-shaped top shaft of the machine.

[0086] Specifically, the first lifting driver 242 includes a vertical screw 2421 and a nut 2422 threadedly connected to the vertical screw 2421 , the nut 2422 is fixedly connected to a fixed block 2423 of the cube, one side of the fixed block 2423 abuts against the bracket 241 , and the fixed block 2423 is fixedly connected to the base 251 .

[0087] A first synchronous belt 244 is wound around the vertical screws 2421 of the two first lifting drivers 242 so as to rotate synchronously, thereby improving the synchronization of the rotation of the two vertical screws 2421 .

[0088] When the vertical screws 2421 of the two first lifting drivers 242 rotate, the nut 2422 can drive the fixed block 2423 and the vertical screw 2421 to move synchronously in the vertical direction, thereby driving the two V-shaped support blocks 21 to drive the material roll to move synchronously in the vertical direction.

[0089] More specifically, the first lifting driver 242 further includes a first motor 243 .

[0090] The main body of the first motor 243 is fixed to the second linear movable portion 23. The driving end of the first motor 243 is connected to an axially vertical pulley, which is rotatably connected to the second linear movable portion 23. A first synchronous belt 244 is wound around the pulley. When the first motor 243 drives the pulley to rotate, the first synchronous belt 244 can drive the two vertical screws 2421 to rotate in the same direction. The two vertical screws 2421 drive the corresponding nuts 2422 to move synchronously upward or downward in the vertical direction, thereby driving the corresponding fixed blocks 2423 and V-shaped support blocks 21 to move synchronously upward or downward in the vertical direction through the two nuts 2422.

[0091] More specifically, the first lifting driver 242 further includes a plurality of tensioning wheels 245 , which are rotatably connected to the second linear moving portion 23 and wound around the inner and outer sides of the first synchronous belt 244 to tension the first synchronous belt 244 .

[0092] More specifically, a plurality of tensioning pulleys 245 are disposed on both sides of the first synchronous belt 244 and are wound around the inner and outer sides of the first synchronous belt 244 .

[0093] Specifically, the second lifting drive 252 includes two screw elevators 2521 spaced apart along the second horizontal direction D. The input end of one screw elevator 2521 and the input end of the other screw elevator 2521 are synchronously driven through a second synchronous belt 2522, so that a driving motor is set in one of the two screw elevators 2521 to realize synchronous drive lifting of the two screw elevators 2521.

[0094] The lifting ends of the two screw lifts 2521 are fixedly connected to the two ends of the corresponding fixed plate 253 in the length direction to support the two ends of the fixed plate 253 in the length direction, and then support the two ends of the V-shaped support block 21 in the length direction, thereby improving the support stability of the V-shaped support block 21.

[0095] The two screw elevators 2521 of each second lifting driver 252 can synchronously drive the corresponding fixed plate 253 to move synchronously in the vertical direction, so that the two V-shaped support blocks 21 can respectively drive the two ends of the carried material roll to move in the vertical direction.

[0096] Specifically, a third guide rail 2531 extending in the second horizontal direction D is provided on the top of the fixed plate 253 and is rotatably connected to a third axially vertical gear 2533. A third rack 2111 extending in the second horizontal direction D is provided at the bottom of the V-shaped support block 21. The third rack 2111 is meshedly connected to the third gear 2533 to drive the V-shaped support block 21 to move along the third guide rail 2531.

[0097] When the third gear 2533 rotates about the vertical axis, the third rack 2111 can drive the V-shaped support block 21 to move relative to the fixed plate 253 along the second horizontal direction D on the third guide rail 2531 via the slider 2534. In this way, the two V-shaped support blocks 21 can respectively drive the two ends of the material roll they carry to move along the second horizontal direction D.

[0098] Specifically, a second motor 2532 is further provided on the fixing plate 253 , and an output end of the second motor 2532 is connected to the third gear 2533 . The second motor 2532 is used to drive the third gear 2533 to rotate around a vertical axis.

[0099] Furthermore, the V-shaped support block 21 includes a fixing frame 211 , two supporting plates 212 and a micro switch 214 .

[0100] The top of the mounting bracket 211 is V-shaped, with sockets defined on both inclined portions. Two support plates 212 are arranged at an angle to each other and are positioned in the sockets, one for each support plate, one for each support plate, and one for each support plate. An elastic member connects the bottom of each support plate 212 to the mounting bracket 211. When the elastic member is relaxed, the adjacent ends of the support plates 212 protrude from the sockets. The two support plates 212 form a V-shaped structure for supporting the horizontally oriented coil.

[0101] The micro switch 214 is set in the fixing frame 211 and is located below the support plate 212. The micro switch 214 can contact the support plate 212 supporting the material roll. The micro switch 214 is used to detect whether the V-shaped support block 21 touches the material roll when unloading.

[0102] When the two V-shaped support blocks 21 touch the material roll, the elastic member is in a relaxed state, the adjacent end of the support plate 212 protrudes from the insertion hole, and the support plate 212 does not contact the micro switch 214.

[0103] When the robot drives the material roll to separate from the machine's cone-top shaft, the two V-shaped support blocks 21 simultaneously move vertically to the support plate 212 to receive the material roll. The material roll presses the two support plates 212 to flip downward around their opposite ends until they extend into the socket. The elastic member elastically deforms, and the two support plates 212 contact the microswitch 214. The microswitch 214 detects that the two V-shaped support blocks 21 have touched the material roll, and the two V-shaped support blocks 21 stop moving upward to prevent the two V-shaped support blocks 21 from pushing the material roll further upward and getting stuck on the cone-top shaft, preventing it from disengaging. Subsequently, the microswitch 214 sends a signal to the machine, and the cone-top shafts on both sides of the machine retract. The material roll is carried on the two V-shaped support blocks 21. The two V-shaped support blocks 21 synchronously drive the material roll downward, and then the chassis 1 drives the robot as a whole to exit the machine. This can improve the accuracy of material roll unloading.

[0104] More specifically, the elastic member is a spring.

[0105] Specifically, the V-shaped support block 21 further includes a photoelectric switch 213 for detecting whether a material roll is carried on the V-shaped support block 21 during material loading.

[0106] The through-beam photoelectric switch 213 is disposed on the fixing frame 211 , and the signal A emitted by the through-beam photoelectric switch 213 can contact the material roll supported by the supporting plate 212 .

[0107] When the pallet 212 is not carrying a coil, the signal A emitted by the transmitting end of the through-beam photoelectric switch 213 can be transmitted to the receiving end. When the pallet 212 is carrying a coil, the signal A emitted by the transmitting end of the through-beam photoelectric switch 213 cannot be transmitted to the receiving end. Therefore, the through-beam photoelectric switch 213 can detect whether the V-shaped support block 21 is carrying a coil. When the through-beam photoelectric switch 213 detects that the V-shaped support block 21 is carrying a coil, it sends a signal to the chassis 1, which drives the robot as a whole to move along the work surface to a position where it docks with the machine platform, thereby improving the accuracy of coil transfer.

[0108] Specifically, both supporting plates 212 of the V-shaped support block 21 are provided with a through hole B, and the through hole B is used for the signal A emitted by the transmitting end of the photoelectric switch 213 to pass through.

[0109] When the pallets 212 are not carrying a roll, the signal A emitted by the transmitting end of the photoelectric switch 213 can sequentially pass through the perforations B on the two pallets 212 and be transmitted to the receiving end. When the pallets 212 are carrying a roll, the signal A emitted by the transmitting end of the photoelectric switch 213 is blocked by the roll on the pallets 212 and cannot be transmitted to the receiving end.

[0110] Furthermore, the chassis 1 is a dual-steering wheel chassis 1, and a QR code camera 13 is set at the bottom of the chassis 1. The QR code camera 13 can cooperate with the QR code path on the working surface and scan the QR code path to ensure the accuracy of the chassis 1 driving the robot to move along the working surface.

[0111] Specifically, the dual steering wheel system at the bottom of chassis 1 includes a first steering wheel 14, a second steering wheel 16, a first universal wheel 15, and a second universal wheel 17. Both steering wheels and universal wheels are located on either side of the chassis 1 in the longitudinal direction. The first steering wheel 14 and the first universal wheel 15 on one side of the chassis 1 in the longitudinal direction are fixed to the chassis 1, while the second steering wheel 16 and the second universal wheel 17 on the other side of the chassis 1 in the longitudinal direction are connected to the chassis 1 via a swing arm.

[0112] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0113] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0114] In the present invention, unless otherwise expressly specified or limited, when a first feature is “above” or “below” a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0115] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0116] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A machine docking coil loading and unloading robot, characterized in that: It comprises a chassis (1) and an upper-mounted actuator (2) arranged on the top of the chassis (1); The chassis (1) is movable on a working surface; The upper actuator (2) comprises two V-shaped support blocks (21), and the two V-shaped support blocks (21) are used to support the two ends of the axially horizontal material roll; The two V-shaped support blocks (21) can synchronously drive the supported material roll to move relative to the chassis (1) along a first horizontal direction (C) parallel to the axial direction of the material roll, a second horizontal direction (D) orthogonal to the first horizontal direction (C), and a vertical direction. The two V-shaped support blocks (21) can also respectively drive the two ends of the supported material roll to move relative to the chassis (1) along the second horizontal direction (D) and the vertical direction.

2. The machine docking coil loading and unloading robot according to claim 1, characterized in that: It also includes a camera bracket (32), wherein the camera bracket (32) is fixed on the top of the chassis (1); Two visual cameras (31) are arranged opposite to each other on the top of the camera bracket (32) along the first horizontal direction (C), and the two visual cameras (31) correspond to one side of the chassis (1) in the width direction, and the two visual cameras (31) are located on both sides of the upper actuator (2); the two visual cameras (31) are used to obtain images of the two ends of the material roll and the matching images of the two ends of the material roll and the cone top axes on both sides of the machine.

3. The machine docking coil loading and unloading robot according to claim 1, characterized in that: The upper-mounted actuator (2) comprises a first linear moving portion (22) and a second linear moving portion (23); The first linear moving portion (22) is arranged on the top of the chassis (1) so as to be movable relative to the chassis (1) along the first horizontal direction (C); The second linear moving portion (23) is arranged on top of the first linear moving portion (22) so as to be movable along the second horizontal direction (D) relative to the first linear moving portion (22); The two V-shaped support blocks (21) are arranged on the top of the second linear moving part (23) so as to be able to move synchronously in the vertical direction relative to the second linear moving part (23), move separately in the vertical direction, and move separately in the second horizontal direction (D).

4. The machine docking coil loading and unloading robot according to claim 3, characterized in that: A first guide rail (11) extending along the first horizontal direction (C) is provided on the top of the chassis (1) and is rotatably connected to an axially vertical first gear (12); a first rack (221) extending along the first horizontal direction (C) is fixed to the bottom of the first linear moving part (22); the first rack (221) is capable of meshing and connecting with the first gear (12) to drive the first linear moving part (22) to move along the first guide rail (11); A second guide rail (222) and a second rack (223) extending along the first horizontal direction are provided on the top of the first linear moving part (22); the bottom of the second linear moving part (23) is rotatably connected to an axially vertical second gear; the second gear can be meshed with the second rack (223) to drive the second linear moving part (23) to move along the second guide rail (222).

5. The machine docking coil loading and unloading robot according to claim 3, characterized in that: The upper-mounted actuator (2) further includes a lower-layer lifting assembly (24) and an upper-layer lifting assembly (25); The lower layer lifting assembly (24) comprises two brackets (241) relatively arranged on the second linear moving part (23) along the first horizontal direction (C), and two first lifting drivers (242) arranged on the two brackets (241) in a one-to-one correspondence; The upper lifting assembly (25) is arranged in the two brackets (241), and the upper lifting assembly (25) includes a base (251) fixed to the driving ends of the two first lifting drivers (242), and two groups of second lifting drivers (252) arranged at intervals along the first horizontal direction (C); the driving ends of the two groups of second lifting drivers (252) are fixedly connected to two horizontally extending fixed plates (253) in a one-to-one correspondence, the two fixed plates (253) and the two V-shaped support blocks (21) are in a one-to-one correspondence, and the V-shaped support blocks (21) are movably arranged on the corresponding fixed plates (253) along the first horizontal direction.

6. The machine docking coil loading and unloading robot according to claim 5, characterized in that: The first lifting driver (242) includes a vertical screw (2421) and a nut (2422) threadedly connected to the vertical screw (2421); the nut (2422) is fixedly connected to a fixed block (2423) of a cube; one side of the fixed block (2423) abuts against the bracket (241); and the fixed block (2423) is fixedly connected to the base (251); The nuts (2422) of the two first lifting drivers (242) are wound around a first synchronous belt (244) to rotate synchronously.

7. The machine docking coil loading and unloading robot according to claim 5, characterized in that: The second lifting driver (252) comprises two screw elevators (2521) spaced apart along the first horizontal direction, and the input end of one screw elevator (2521) and the input end of the other screw elevator (2521) are synchronously driven via a second synchronous belt (2522); The lifting ends of the two screw lifts (2521) are fixedly connected to the two ends of the corresponding fixed plates (253).

8. The machine docking coil loading and unloading robot according to claim 5, characterized in that: A third guide rail (2531) extending along the first horizontal direction is provided on the top of the fixed plate (253) and is rotatably connected to an axially vertical third gear (2533); a third rack (2111) extending along the second horizontal direction (D) is provided on the bottom of the V-shaped support block (21); the third rack (2111) and the third gear (2533) are meshed and connected to drive the V-shaped support block (21) to move along the third guide rail (2531).

9. The machine docking coil loading and unloading robot according to claim 1, characterized in that: The V-shaped support block (21) includes a fixing frame (211) and two supporting plates (212); The top of the fixing frame (211) is V-shaped, and both inclined parts of the fixing frame (211) are provided with insertion holes. The two supporting plates (212) are arranged at an angle to each other and are arranged in the two insertion holes in a one-to-one correspondence around opposite ends and turned upside down. An elastic member is connected between the bottom of the supporting plate (212) and the fixing frame (211). When the elastic member is in a relaxed state, one end of the supporting plate (212) protrudes from the insertion hole. The two supporting plates (212) are used to support the axially horizontal material roll. A beam photoelectric switch (213) is provided on the fixing frame (211), and a signal (A) emitted by the beam photoelectric switch (213) can contact the material roll supported by the supporting plate (212); A micro switch (214) is also provided in the fixing frame (211), and the micro switch (214) is located below the supporting plate (212). The micro switch (214) can contact the supporting plate (212) when supporting the material roll.

10. The machine docking coil loading and unloading robot according to claim 1, characterized in that: The chassis (1) is a dual-steering wheel chassis (1), and a two-dimensional code camera (13) is provided at the bottom of the chassis (1), and the two-dimensional code camera (13) can cooperate with the two-dimensional code path on the working surface.

Images