Can carrying robot

Abstract

The utility model relates to a can carrying robot which comprises a freely-moving machine body, an observation portion is arranged on the machine body, a navigation detector arranged on the observation portion is higher than the top of a can, one face of the machine body is a working face, the working face is attached to the outer edge of the can, and a dragging claw portion is arranged on the lower side of the working face. The dragging claw part stretches into the lower edge of the strip can when stretching out and grabs the lower edge of the strip can when stretching back, one or more navigation detectors are further arranged on the machine body, a rechargeable battery is arranged in the machine body, the rechargeable battery provides working electricity, all working environments can be directly observed, the obstacle avoidance probability is improved, and the working efficiency is improved. According to the intelligent carrying robot, multiple carrying robots can operate together in a factory, automatic charging can be achieved after intelligent use, intelligent and automatic operation in the working state and the resting state is achieved, and manpower is completely released.

Description

Technical Field

[0001] This utility model relates to a strip handling robot, belonging to the field of intelligent industrial robots. Background Technology

[0002] Sliver cans are commonly used containers for storing fiber slivers in textile production. Due to their extensive use in production, there are a large number of sliver cans in the production workshop. The process of handling them by hand or by cart requires manual labor, which consumes a lot of labor and is inefficient. With the development of automated factories, textile processing equipment is gradually becoming automated, which puts forward higher requirements for the automation of the entire workshop.

[0003] Existing technologies include robots for automatically transporting strips, but in actual use, they have limitations such as difficulty in adapting to strips of different diameters, the risk of strips falling during transport, and difficulty in turning around, causing congestion in the workshop and failing to meet the needs of modern fully automated production workshops. Utility Model Content

[0004] The technical problem to be solved by this utility model is: to overcome the above problems, to provide an intelligent strip handling robot with more stable grasping, better obstacle avoidance function, and the ability to adapt to complex working environments.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A canister handling robot includes a freely movable body, an observation unit on the body, a navigation detector mounted on the observation unit above the top of the canister, one side of the body as a working surface that fits against the outer edge of the canister, a drag claw on the lower side of the working surface that extends into the bottom of the canister when extended and grasps the lower edge of the canister when retracted, one or more navigation detectors on the body, and a built-in rechargeable battery that provides power for operation.

[0007] Preferably, one or more distance sensors are provided on the working surface, and the distance sensors are used to sense the contact distance between the working surface and the strip tube.

[0008] Preferably, the drag claw part includes a drag claw, a horizontal motor for driving the drag claw to move horizontally, and a vertical motor for driving the drag claw to move vertically.

[0009] Preferably, the horizontal motor engages with the rack on the drag claw via a gear at its output end, and the horizontal motor has a locking function, wherein when the horizontal motor stops moving, the gear at its output end locks the rack on the drag claw.

[0010] Preferably, the vertical motor is fixed inside the machine body, the drag claw is fixed on the vertical lifting platform, the vertical lifting platform is fixed to the bottom shell of the machine body by multiple sliding rods, and the output end of the vertical motor controls the vertical movement of the vertical lifting platform.

[0011] Preferably, the drag claw includes a moving section and an arc-shaped claw, the arc-shaped claw abutting against the arc-shaped inner edge of the bottom of the strip tube.

[0012] Preferably, the arc-shaped claw includes a vertically arranged arc-shaped plate, and a flexible pad is provided on the back of the arc-shaped plate, forming a groove between the flexible pad and the arc-shaped claw.

[0013] Preferably, the machine body is equipped with a sound acquisition device and a loudspeaker, and the observation section is equipped with a work warning light.

[0014] Preferably, the rechargeable battery is connected to an automatic charging port on the device body, and the automatic charging port is charged by contacting an external charging station.

[0015] Preferably, the fuselage includes multiple steering wheels at the bottom, which enable free steering and drive the fuselage to move freely.

[0016] The beneficial effects of this utility model are as follows: It adds an observation section higher than the strip, allowing direct observation of the entire working environment, increasing the probability of obstacle avoidance, and enabling multiple handling robots to operate together in the factory, avoiding operational chaos caused by collisions; it uses a working surface that fits the strip and supports the bottom of the strip with drag claws, avoiding the need for adjustments due to different strip sizes, thus improving adaptability; it employs multiple navigation detectors and controllers operating together, effectively planning routes and avoiding obstacles, providing basic control conditions for intelligent factories, and can be used in conjunction with other intelligent equipment in the factory; it uses a built-in battery and automatic charging technology, automatically recharging after intelligent use, achieving intelligent automated operation in both working and resting states, completely freeing up manual labor. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a front view of one embodiment of the present invention;

[0019] Figure 2 This is a perspective view of one embodiment of the present invention;

[0020] Figure 3 This is a rear view of one embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the drag claw part shown in this utility model.

[0022] The markings in the diagram are: 1-body, 2-observation section, 3-working surface, 4-dragging claw section, 5-navigation detector, 6-controller, 7-distance sensor, 8-steering wheel, 9-vertical motor, 10-horizontal motor, 11-vertical lifting platform, 12-gear, 13-slide bar, 14-output end, 15-bottom shell, 16-flexible pad, 17-automatic charging port, 18-speaker. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0024] Example 1

[0025] like Figure 1-4 The present invention discloses a skein handling robot, comprising a freely movable body 1, meaning it can turn and move forward in any direction on the ground, including existing movement methods such as roller drive and tracked movement. An observation unit 2 is provided on the body 1, and a navigation detector 5 is mounted on the observation unit 2 above the top of the skein. The navigation detector 5 can be a video camera, lidar, infrared probe, detection radar, ultrasonic sensor, etc., and is connected to a controller 6 to control the forward path. One or more of these methods can be used in combination. The observation unit 2 of this invention differs from existing technologies, as many existing technologies only move in the forward direction... The existing technology, where the robot body 1 is not higher than the strip, cannot fully observe the environment. While this is barely sufficient when the number of robots is small, smart factories will have not only strip handling robots but also other types of robots. To address this, the present invention sets the observation unit 2 higher than the strip, enabling continuous observation of the surrounding environment. This avoids collisions with similar or other robots. Furthermore, in passages with height restrictions, the observation unit 2 can pass through, allowing the entire device to automatically determine the presence of height obstacles, thus increasing obstacle clearance and effectively reducing the likelihood of the robot encountering obstacles and being unable to operate.

[0026] One side of the machine body 1 is a working surface 3, which is in contact with the outer edge of the strip tube. The strip tube is cylindrical, and the working surface 3 is curved to fit the outer side of the strip tube, reducing the swaying of the strip tube during transport. The lower side of the working surface 3 is provided with a drag claw 4. When the drag claw 4 extends, it extends into the bottom of the strip tube, and when it retracts, it grabs the lower edge of the strip tube. Compared with the existing technology that uses grippers to grab the strip tube from both sides, this utility model uses the drag claw 4 to drag the strip tube from the bottom, which can avoid the need for adjustment due to different strip tube volumes, and is more adaptable. Moreover, the strip tubes used in factories currently have wheels at the bottom, so this utility model does not require much force when dragging from one side. With the working surface 3 ensuring that the strip tube does not sway, the strip tube can be easily transported to the designated location.

[0027] To enhance the accuracy of obstacle avoidance in this invention, one or more navigation detectors 5 are also installed on the lower part of the fuselage 1, which can be positioned in multiple directions. The fuselage 1 has a built-in rechargeable battery that provides power for operation. Figure 3 As shown, after intelligent use, it can automatically recharge, realizing intelligent and automated operation in both work and rest states, completely freeing up manual labor.

[0028] In a preferred embodiment, one or more distance sensors 7 are provided on the working surface 3. The distance sensors 7 are used to sense the contact distance between the working surface 3 and the strip tube, so as to more accurately hold the strip tube when dragging the claw. When the distance sensor 7 determines that the distance to the strip tube is close enough, the claw part 4 extends to effectively grab it.

[0029] In a preferred embodiment, such as Figure 2 and Figure 4 As shown, the drag claw part 4 includes a drag claw, a horizontal motor 10 that drives the drag claw to move horizontally, and a vertical motor 9 that drives the drag claw to move vertically. This utility model decomposes the gripping action of the drag claw part 4 into two actions: vertical lifting and horizontal movement. It is also possible that the drag claw part 4 can be propelled by an arc motion.

[0030] In a preferred embodiment, the horizontal motor 10 engages with the rack on the drag claw via the gear 12 at its output end. The horizontal motor 10 has a locking function, which ensures that it will not move during dragging and will not cause the strip to fall off. When the horizontal motor 10 stops moving, the gear 12 at its output end locks the rack on the drag claw.

[0031] In a preferred embodiment, the vertical motor 9 is fixed inside the body 1, the drag claw is fixed on the vertical lifting platform 11, the vertical lifting platform 11 is fixed on the bottom shell 15 of the body 1 by a plurality of slide rods 13, and the output end 14 of the vertical motor 9 controls the vertical lifting platform 11 to move up and down.

[0032] The entire operation includes: at the beginning, the vertical motor 9 pushes the drag claw downward, the horizontal motor 10 pushes the drag claw horizontally to the bottom of the strip drum, the vertical motor 9 then pulls the drag claw upward, and the horizontal motor 10 drags the drag claw back to flatten the strip drum with the working surface 3, thus completing the entire gripping process. The process of putting down the strip drum is the same as the above process.

[0033] In a preferred embodiment, the drag claw includes a moving section and an arc-shaped claw. The arc-shaped claw abuts against the arc-shaped inner edge of the bottom of the strip tube, and the arc-shaped claw fits more closely to the inner edge of the strip tube to ensure stability during dragging.

[0034] In a preferred embodiment, the arc-shaped claw includes a vertically arranged arc-shaped plate, and a flexible pad 16 is provided on the back of the arc-shaped plate. A groove is formed between the flexible pad 16 and the arc-shaped claw. The flexible pad 16 fits against the strip tube to reduce bumps during the process. The groove can hold the protrusions on the inner edge of the strip tube, further increasing stability.

[0035] In a preferred embodiment, the body 1 is equipped with a sound acquisition device and a loudspeaker 18 to facilitate the on-site acquisition of human voices for emergency control. The loudspeaker 18 broadcasts the working status or warning sounds. The observation section 2 is equipped with a work warning light that illuminates when it is in operation.

[0036] In a preferred embodiment, such as Figure 4 As shown, the body 1 has a built-in rechargeable battery, which is connected to an automatic charging port 17 on the body 1. The automatic charging port 17 can be charged by contacting an external charging pile. After intelligent use, it can be automatically charged again, realizing intelligent and automated operation in both work and rest states, completely freeing up manual labor.

[0037] In a preferred embodiment, the body 1 includes a plurality of steering wheels 8 disposed at the bottom. The steering wheels 8 can freely turn and drive the body 1 to move freely. This is an integrated design, in which the steering wheels 8 are directly disposed inside the body 1, and the body 1 can be designed to be smaller.

[0038] In a preferred embodiment, the body 1 includes an AGV trolley disposed at the bottom. The body 1 rotates on the AGV trolley via a steering device. This is a stacked design, which is slightly larger in size, but can increase other actions and adjust different trolleys to improve coordination.

[0039] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A strip-carrying robot, characterized in that, The device includes a freely movable body, an observation section on which a navigation detector is mounted above the top of the strip drum. One side of the body is a working surface that fits against the outer edge of the strip drum. A drag claw is located on the lower side of the working surface. When the drag claw extends, it reaches into the bottom of the strip drum, and when it retracts, it grasps the lower edge of the strip drum. The body also has one or more navigation detectors. The body has a built-in rechargeable battery that provides power for operation.

2. The strip handling robot as described in claim 1, characterized in that, One or more distance sensors are provided on the working surface, and the distance sensors are used to sense the contact distance between the working surface and the strip.

3. The strip handling robot as described in claim 1, characterized in that, The drag claw unit includes a drag claw, a horizontal motor that drives the drag claw to move horizontally, and a vertical motor that drives the drag claw to move vertically.

4. The strip handling robot as described in claim 3, characterized in that, The horizontal motor engages with the rack on the drag claw via a gear at its output end. The horizontal motor has a locking function; when the horizontal motor stops moving, the gear at its output end locks the rack on the drag claw.

5. The strip handling robot as described in claim 3, characterized in that, The vertical motor is fixed inside the machine body, the drag claw is fixed to the vertical lifting platform, the vertical lifting platform is fixed to the bottom shell of the machine body by multiple sliding rods, and the output end of the vertical motor controls the vertical movement of the vertical lifting platform.

6. The strip handling robot as described in claim 3, characterized in that, The drag claw includes a moving section and an arc-shaped claw, which abuts against the arc-shaped inner edge of the bottom of the strip tube.

7. The strip handling robot as described in claim 6, characterized in that, The arc-shaped claw includes a vertically arranged arc-shaped plate, and a flexible pad is provided on the back of the arc-shaped plate, forming a groove between the flexible pad and the arc-shaped claw.

8. The skewer handling robot as described in any one of claims 1-7, characterized in that, The machine body is equipped with sound acquisition equipment and a loudspeaker, and the observation section is equipped with a work warning light.

9. The strip handling robot as described in claim 8, characterized in that, The rechargeable battery is connected to an automatic charging port on the device body, which is charged by contacting an external charging station.

10. The canister handling robot as described in claim 9, characterized in that, The fuselage includes multiple steering wheels at the bottom, which enable free steering and drive the fuselage to move freely.

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