Material coil taking and placing device

Abstract

The utility model relates to a material coil pick-and-place device which comprises a moving assembly and a pick-and-place assembly, the moving assembly comprises a moving chassis, the pick-and-place assembly comprises a fixed support, a supporting shaft, a swing support, a lifting piece, a first driving device and a second driving device, and the fixed support is fixed on the moving chassis; the supporting shaft is fixed to the multiple fixed supports, the multiple swing supports are arranged in the length direction of the supporting shaft at intervals, and the swing supports are connected with the supporting shaft in a swing mode. The plurality of lifting pieces are respectively arranged corresponding to the plurality of swinging brackets, and the lifting pieces are connected with the corresponding swinging brackets in a swinging manner; the first driving device is used for driving the swinging bracket to swing; the second driving device is used for driving the lifting piece to swing. According to the utility model, the material coil taking and placing device can keep higher sensitivity and precision in the long-term use process.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially is related to a material roll taking and placing device. BACKGROUND

[0002] In the textile industry, the cloth production after the cloth falling process is very important. The traditional cloth falling operation mainly relies on manual completion, and the workers need to spend a lot of physical strength and time to take down the rolled cloth from the textile equipment and carry it to the designated place for storage. This manual operation method is not only inefficient, but as the textile industry continues to expand, the cost of labor continues to rise, and its disadvantages become more and more obvious. Due to the difference in operation method of workers, it is easy to cause damage to the cloth, affecting the product quality. Moreover, long-term engagement in high-intensity cloth falling work will have adverse effects on the health of workers, such as causing strain in the waist, shoulders and other parts.

[0003] In order to improve this situation, some enterprises try to introduce automated equipment to assist in cloth falling. However, some existing automatic cloth falling devices have poor support, and after long-term carrying of heavy quality cloth, the support or lifting mechanism is easy to loosen, which can easily cause the cloth to deviate, slip and other situations during the carrying process, further reducing production efficiency and product quality. Therefore, it has important practical significance to develop a cloth falling robot that can efficiently fall cloth and has good support. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a material roll taking and placing device that can efficiently take and place material rolls and has good support.

[0005] To solve the above technical problems, the utility model provides a material roll taking and placing device, which comprises a moving assembly and a taking and placing assembly, the moving assembly comprises a moving chassis, the moving chassis can be moved to different places;

[0006] The taking and placing assembly comprises:

[0007] A fixed support is fixed on the moving chassis;

[0008] A support shaft is fixed on a plurality of fixed supports, and the central axis of the support shaft extends along a specified direction;

[0009] A swing bracket is arranged at a distance along the length direction of the support shaft, one end of the swing bracket is connected to the support shaft, the other end of the swing bracket is away from the support shaft, and the swing bracket can swing around the axis direction of the support shaft;

[0010] The lifting piece is arranged corresponding to the plurality of swing supports, and is swingably connected to the corresponding swing support. The swing axis of the lifting piece is parallel to the central axis of the support shaft. The lifting piece is in the shape of a bent arm surrounding the swing axis. The side of the lifting piece away from the support shaft is concave. The concave side of the lifting piece forms a lifting groove for lifting the roll.

[0011] The first driving device is in transmission connection with the swing support to drive the swing support to swing.

[0012] The second driving device is in transmission connection with the lifting piece to drive the lifting piece to swing.

[0013] Further, the first driving device is a first motor. The body of the first motor is mounted on a motor support. The motor support is fixed on the moving chassis. A first gear is sleeved on the power output shaft of the first motor.

[0014] A transmission shaft is rotatably connected between the plurality of fixed supports. A second gear and a plurality of third gears are coaxially fixed on the transmission shaft. The second gear is in meshing connection with the first gear.

[0015] Each swing support is connected with a fourth gear at one end close to the support shaft in the length direction. The fourth gears are equal in number to the third gears and are in one-to-one meshing connection.

[0016] Further, a plurality of first rollers rotatable relative to the swing support are connected to the swing support. The rotation axis of the first roller is parallel to the central axis of the support shaft.

[0017] The lifting piece has a first side surface in the set direction. The first side surface faces the swing support. The first side surface is provided with a first arc-shaped guide part. The central axis of the first arc-shaped guide part is parallel to the swing axis of the lifting piece. The plurality of first rollers are arranged along the first arc-shaped guide part and are in guide connection with the first arc-shaped guide part.

[0018] Further, the first arc-shaped guide part is an arc-shaped groove. The first roller is limitingly connected in the arc-shaped groove.

[0019] Further, a plurality of second rollers rotatable relative to the swing support are connected to the swing support. The rotation axis of the second roller is parallel to the central axis of the support shaft.

[0020] The convex side of the lifting piece is provided with a second arc-shaped guide part. The central axis of the second arc-shaped guide part is parallel to the swing axis of the lifting piece. The second arc-shaped guide part guides the second roller.

[0021] Further, the circumferential surface of the second roller is provided with a circumferential roller groove, and the second arc-shaped guide part is an annular protruding part embedded in the circumferential roller groove.

[0022] Further, the second driving device is a second motor, a plurality of the second motors are respectively fixed on a plurality of the swing supports, and a fifth gear is sleeved on a power output shaft of the second motor.

[0023] The outer convex side of the lifting piece is provided with an outer peripheral tooth, the central axis of the outer peripheral tooth is coaxial with the swing axis of the lifting piece, and the outer peripheral teeth of a plurality of the lifting pieces are respectively engaged with a plurality of the fifth gears.

[0024] Further, the lifting piece has a second side surface in the set direction, and the second side surface of the lifting piece is connected with an arc-shaped stop edge.

[0025] Further, the lifting groove is an arc-shaped groove or a V-shaped groove.

[0026] Further, the moving chassis is a robot chassis capable of autonomous movement.

[0027] The technical scheme of the utility model has the following advantages compared with the prior art:

[0028] 1) The material roll taking and placing device, a plurality of swing supports are sleeved on the same support shaft, and the support shaft is fixed, so that the swing supports and the lifting pieces can be more stably supported, and the material roll taking and placing device can maintain high sensitivity and precision during long-term use.

[0029] 2) The material roll taking and placing device, the swing supports and the first driving device adopt a gear transmission mode, the transmission is stable, the transmission precision is high, and the first motor can drive a plurality of swing supports to swing synchronously due to the arrangement of the transmission shaft.

[0030] 3) The material roll taking device, the lifting pieces can swing to connect the swing supports along the predetermined track through the arrangement of the first roller and the first arc-shaped guide part.

[0031] 4) The material roll taking device, the connection stability of the lifting pieces and the swing supports is further improved while the swinging guidance of the lifting pieces is realized through the cooperation of the first arc-shaped guide part and the first roller and the cooperation of the second roller and the second arc-shaped guide part, the lifting pieces are supported by the second roller, and the supportability of the material roll taking and placing device is improved.

[0032] 5) The material roll taking device, the second roller and the second arc-shaped guide part can be prevented from being separated from each other during guidance through the arrangement of the circumferential groove and the annular protruding part, and the connection stability of the lifting pieces and the swing supports is further improved.

[0033] 6)The lifting piece and the second driving device adopt the transmission mode of tooth meshing, the transmission structure is simple, the transmission is stable, and the transmission precision is high;

[0034] 7)The material roll taking and placing device, by setting the arc-shaped baffle, can prevent the material roll from being polluted by oil stains;

[0035] 8)The material roll taking and placing device, the lifting groove is an arc-shaped groove, and the material roll can be better supported and moved relative to the material roll;

[0036] 9)The material roll taking and placing device, the moving assembly is a robot chassis that can move autonomously, so that the material roll taking and placing device can be more intelligent and flexible to use. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to make the content of the utility model more easily and clearly understood, the utility model will be further described in detail in the following according to the specific embodiments of the utility model and in conjunction with the drawings.

[0038] Figure 1 It is the appearance schematic view of the material roll taking and placing device in the utility model;

[0039] Figure 2 It is the connection schematic view of the shell inside the material roll taking and placing device in the utility model;

[0040] Figure 3 It is the connection schematic view of the taking and placing assembly and the driving assembly of the material roll taking and placing device in the utility model;

[0041] Figure 4 It is the connection schematic view of the taking and placing assembly of the material roll taking and placing device in the utility model;

[0042] Figure 5 It is the connection schematic view of the taking and placing assembly of the material roll taking and placing device in the utility model;

[0043] Figure 6 It is the connection schematic view of the lifting piece of the taking and placing assembly in the utility model.

[0044] EXPLANATION OF DRAWINGS IN THE DESCRIPTION:

[0045] 101, moving chassis; 102, counterweight; 103, shell;

[0046] 201, fixed support; 202, support shaft; 203, swing bracket; 204, lifting piece; 205, lifting groove; 206, first driving device; 207, second driving device; 208, bearing; 209, motor support; 210, first gear; 211, transmission shaft; 212, second gear; 213, third gear; 214, fourth gear; 215, first roller; 216, first arc-shaped guide part; 217, second roller; 218, second arc-shaped guide part; 219, fifth gear; 220, outer peripheral teeth; 221, arc-shaped stop edge. DETAILED DESCRIPTION

[0047] The utility model will be further explained in connection with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0048] Referring to Figures 1 to 6 An embodiment of the material roll taking and placing device is shown.

[0049] The material roll taking and placing device comprises a moving assembly and a taking and placing assembly.

[0050] The taking and placing assembly comprises a fixed support 201, a support shaft 202, a swing bracket 203, a lifting piece 204, a first driving device 206, and a second driving device 207.

[0051] The fixed support 201 is fixed to the moving base plate 101.

[0052] The support shaft 202 is fixed to the plurality of fixed supports 201, and the central axis of the support shaft 202 extends along a set direction.

[0053] The plurality of swing brackets 203 are arranged at intervals along the length direction of the support shaft 202, and one end of the swing bracket 203 along the length direction is connected to the support shaft 202. The other end of the swing bracket 203 is away from the support shaft 202, and the swing bracket 203 can swing around the axis direction of the support shaft 202.

[0054] The plurality of lifting pieces 204 are respectively arranged corresponding to the plurality of swing brackets 203, the lifting piece 204 is swingably connected to the corresponding swing bracket 203, the swing axis of the lifting piece 204 is parallel to the central axis of the support shaft 202, the lifting piece 204 is in the shape of a bent arm that surrounds half of the swing axis, the side of the lifting piece 204 away from the support shaft 202 is a concave side, the concave side of the lifting piece 204 is a lifting groove 205, and the lifting groove 205 is used for lifting the material roll.

[0055] The first driving device 206 is in transmission connection with the swing support 203. The first driving device 206 is used to drive the swing support 203 to swing;

[0056] The second driving device 207 is in transmission connection with the lifting piece 204. The second driving device 207 is used to drive the lifting piece 204 to swing.

[0057] In the above, the mobile chassis 101 is the basis of the entire device, and can drive the taking and placing assembly to move to different working positions. In order to realize the autonomous movement of the material roll taking and placing device, the mobile chassis 101 can adopt an AGV, an AMR or the like autonomous mobile robot chassis.

[0058] The taking and placing assembly is the core part of the device. The fixed support 201 is fixed on the mobile chassis 101 and serves as the basis for supporting, installing and fixing the entire taking and placing assembly. In the embodiment, the fixed support 201 has a plurality of. For example, Figure 2As shown, the embodiment is described with two fixed supports 201. This is a relatively simple structure and easy to implement. The two fixed supports 201 are arranged along the length direction of the moving chassis. The support shaft 202 is fixed on the fixed support 201. The setting direction is the length direction of the moving chassis. Specifically, the two ends of the support shaft 202 horizontally pass through the fixed support 201 and are fixedly connected with the fixed support 201. The swing bracket 203 is also arranged as two. The two swing brackets 203 are rotatably connected to the support shaft 202 through the bearing 208, thereby forming a sleeving structure. Moreover, the two swing brackets 203 are close to the two fixed supports 201 respectively. Since the two ends of the support shaft 202 are mounted on the fixed support 201 and fixedly mounted, the support shaft 202 is less affected by the torsional deformation in the swing process of the swing bracket 203, thereby being able to more stably support the lifting piece 204. The plurality of swing brackets 203 are sleeved on the same support shaft 202, and the support shaft 202 is fixedly not moved, which can more stably support the swing bracket 203 and the lifting piece 204, and ensure that the material roll taking and placing device can maintain high sensitivity and precision in the long-term use process. The swing bracket 203 is a first swing piece, which is controlled to swing between a first position and a second position for adjusting the height of the lifting piece 204. When the swing bracket 203 swings to the first position (close to the horizontal low position), the lifting piece 204 is located at the first height. When the swing bracket 203 swings to the second position (vertical high position), the lifting piece 204 is located at the second height, and the second height is greater than the first height. The lifting piece 204 is a second swing piece, which is controlled to swing between a third position and a fourth position for adjusting the relative position with the material roll. The third position and the fourth position herein represent the position of the lifting piece 204 relative to the swing bracket 203. When the lifting piece 204 swings to the third position, the notch of the lifting groove faces the side or obliquely upward, and the lifting piece 204 is located at the side of the material roll. When the lifting piece 204 swings to the fourth position, the notch of the lifting groove 205 faces upward, and the lifting piece 204 is located below the material roll.

[0059] When taking the material roll, the first driving device 206 drives the swing bracket 203 to swing, so that the swing bracket 203 swings to the low position close to the horizontal, and then the lifting piece 204 swings, so that the notch of the lifting piece 204 faces upward and lifts the material roll to make the material roll roll into the lifting groove of the lifting piece 204. Then the swing bracket 203 is reset to swing to the vertical high position, and the lifting piece is reset to swing so that the notch of the lifting groove faces upward. When placing the material roll, the swing bracket 203 swings to the low position close to the horizontal, so that the material roll on the lifting piece 204 rolls out from the lifting groove 205.

[0060] In this embodiment, the first driving device 206 is a first motor. The body of the first motor is mounted on a motor support 209. A first gear 210 is sleeved on the power output shaft of the first motor. The motor support 209 is fixedly mounted on the mobile chassis 101. The first motor can be a reduction motor. The first gear 210 is coaxially fixed to the output shaft of the first motor.

[0061] A transmission shaft 211 is rotatably connected between the plurality of fixed supports 201. The transmission shaft 211 is coaxially fixed with a second gear 212 and a plurality of third gears 213. The second gear 212 is engaged with the first gear 210. Specifically, the transmission shaft 211 is horizontally arranged, and the two ends of the transmission shaft 211 are rotatably connected to the two fixed supports 201. The transmission shaft 211 is provided with one second gear 212 and two third gears 213. The diameter of the second gear 212 is greater than that of the first gear 210, so that one-stage speed reduction can be achieved during transmission.

[0062] Each swing support 203 is connected with a fourth gear 214 at one end close to the support shaft 202 in the length direction. The number of the fourth gears 214 is equal to that of the swing supports 203 and the third gears 213. The fourth gears 214 are fixedly connected with the swing supports 203 one by one. The fourth gears 214 are also coaxially rotatably connected with the support shaft 202 through bearings. The fourth gears 214 are engaged with the third gears 213 one by one. For this embodiment, there are two fourth gears 214, which are arranged close to the two swing supports 203 respectively. The diameter of the fourth gear 214 is greater than that of the third gear 213. At the same time, the diameter of the second gear 212 is greater than that of the third gear 213. Thus, two-stage speed reduction can be achieved during transmission, so that the swing process of the swing support 203 is relatively smooth.

[0063] The fourth gear 214 and the swing support 203 are connected with the first support shaft 202 through the bearing 208. The first motor is started to drive the first gear 210 to rotate. The first gear 210 is engaged with the second gear 212 to drive the transmission shaft 211 to rotate. The plurality of third gears 213 on the transmission shaft 211 rotate with the transmission shaft 211. The third gears 213 are engaged with the fourth gears 214. Finally, the fourth gears 214 are driven to rotate. The swing support 203 and the first driving device 206 adopt gear transmission, which is stable in transmission and high in transmission accuracy. Moreover, since the transmission shaft 211 is arranged, the first motor can drive the plurality of swing supports 203 to swing synchronously.

[0064] In this embodiment, a plurality of first rollers 215 rotatable relative to the swing support 203 are connected to the swing support 203. The rotation axis of the first roller 215 is parallel to the central axis of the support shaft 202.

[0065] The lifting piece 204 has a first side facing the corresponding swing bracket 203 in a set direction. The first side is provided with a first arc-shaped guide part 216. The central axis of the first arc-shaped guide part 216 is parallel to the swing axis of the lifting piece 204. A plurality of first rollers 215 are arranged along the first arc-shaped guide part 216 and guidedly connected with the first arc-shaped guide part 216. For this embodiment, the first rollers 215 are provided with at least three to provide stable guidance and support for the swing of the lifting piece 204.

[0066] The lifting piece 204 is connected to one side of the corresponding swing bracket 203 in a set direction. The lifting piece 204 is connected to the side of the swing bracket 203, which is more convenient for the connection of the two and can ensure better connection of the lifting piece 204 to the swing bracket 203. In this embodiment, the lifting piece 204 is connected to the side of the corresponding swing bracket 203 away from the other swing bracket 203. This is convenient for installing the second motors in the plurality of lifting pieces 204 later. On the one hand, the size of the lifting piece 204 along the length direction of the support shaft 202 is smaller than the size of the second motor along the length direction of the support shaft 202, and the second motor is arranged between the plurality of lifting pieces 204, which fully utilizes the space and makes the material taking and placing device more compact. On the other hand, the second motor is arranged between the plurality of swing brackets 203, and the second motor is not easily damaged.

[0067] The first arc-shaped guide part 216 can guide the relative motion of the first roller 215 according to an accurate track, ensuring the relative motion between the swing bracket 203 and the lifting piece 204 along a predetermined arc-shaped path. When the lifting piece 204 swings, it drives the first arc-shaped guide part 216 to move relative to the first roller 215.

[0068] In this embodiment, the first arc-shaped guide part 216 is an arc-shaped groove, and the first roller 215 is limitingly connected in the arc-shaped groove. In a preferred embodiment, the cross-sectional shape of the arc-shaped groove adopts a T-shaped structure matched with the first roller 215. The arc-shaped groove extends to the end of the lifting piece 204 to facilitate the installation of the first roller 215. The slot width of the arc-shaped groove is smaller than the width of the groove cavity closer to the groove bottom, and the size of the first roller 215 matches the groove cavity of the arc-shaped groove. Therefore, the first roller 215 can slide along the groove cavity of the arc-shaped groove, but will not come out of the slot of the arc-shaped groove. The first arc-shaped guide part 216 and the first roller 215 are limited in the length direction and the up-down direction of the support shaft 202 and cannot be separated. The first roller 215 can adopt a shaft roller. The plurality of first rollers 215 are arranged along the arc-shaped direction of the arc-shaped groove of the lifting piece 204.

[0069] In the embodiment, the swing support 203 is connected with a plurality of second rollers 217 which can rotate relative to the swing support 203, and the rotation axis of the second rollers 217 is parallel to the central axis of the supporting shaft 202. The second rollers 217 are arranged along the arc direction of the convex side of the lifting piece 204. Meanwhile, the convex side of the lifting piece 204 is provided with a second arc-shaped guide part 218. The central axis of the second arc-shaped guide part 218 is parallel to the swing axis of the lifting piece 204. The second arc-shaped guide part 218 guides the second rollers 217.

[0070] The second arc-shaped guide part 218 supports and guides the movement of the second rollers 217, and ensures that the relative movement between the swing support 203 and the lifting piece 204 is along a predetermined arc-shaped path. When the lifting piece 204 swings, the second arc-shaped guide part 218 moves relative to the second rollers 217. By arranging the first rollers 215 and the second rollers 217, a "clamping type" guide is formed. On the one hand, the vibration and deviation during the swing are greatly reduced. On the other hand, the inner and outer rollers share the weight of the material roll together, avoiding stress concentration at a single point, prolonging the service life of the rollers and the guide groove, and improving the movement accuracy.

[0071] Specifically, in the embodiment, the circumferential surface of the second roller 217 is provided with an annular circumferential roller groove, and the second arc-shaped guide part 218 is an annular protruding part which is embedded in the circumferential roller groove. Thus, a guide connection structure is formed between the second roller 217 and the second arc-shaped guide part 218. The annular protruding part and the circumferential roller groove restrict each other from moving away from each other along the set direction, further improving the connection reliability of the lifting piece 204 and the swing support 203. Based on the cooperation of the first arc-shaped guide part 216 and the first roller 215 and the cooperation of the second roller 217 and the second arc-shaped guide part 218, the swing guide of the lifting piece 204 is realized, the possibility of overturning of the lifting piece 204 is reduced, the connection stability of the lifting piece 204 and the swing support 203 is further improved, and the supportability of the material roll taking and placing device is improved.

[0072] In the embodiment, the second driving device 207 is a second motor, a plurality of second motors are fixed on a plurality of swing supports 203, and a fifth gear 219 is sleeved on the power output shaft of the second motor. The number of second motors is equal to the number of swing supports 203, and they are arranged one by one. That is, one second motor is arranged on each swing support 203. The second motor can be a reduction motor. Meanwhile, the convex side of the lifting piece 204 is provided with an outer peripheral tooth 220. The central axis of the outer peripheral tooth 220 is coaxial with the swing axis of the lifting piece 204. Here, "coaxial" means that, in the ideal state without considering assembly gap and machining error, the central axis of the outer peripheral tooth 220 is coaxial with the swing axis of the lifting piece 204. The outer peripheral teeth of a plurality of lifting pieces 204 are respectively engaged with the fifth gears 219 at the output ends of the corresponding second motors.

[0073] Since the plurality of lifting pieces 204 are connected to different swing supports 203 and are generally far apart, a second driving device 207 is provided for each lifting piece 204 to facilitate driving the plurality of lifting pieces 204 to swing. The lifting piece 204 and the second driving device 207 are drivingly connected by means of tooth engagement. The lifting piece 204 can swing.

[0074] In this embodiment, the lifting piece 204 has a second side surface facing away from the corresponding swing support 203 in the set direction, and the second side surface is connected with an arc-shaped retaining edge 221, the center axis of the arc-shaped retaining edge 221 is coaxial with the swing axis of the lifting piece 204.

[0075] When the lifting groove 205 lifts the roll, generally, the two ends of the roll in the length direction will protrude out of the lifting groove 205, the part of the roll protruding out of the lifting groove 205 is close to the position where the fifth gear 219 and the outer peripheral teeth 220 are engaged, and the lubricating oil used at the engagement position may contaminate the roll, so the arc-shaped retaining edge 221 is provided to isolate the second driving device 207 from the roll in the lifting groove 205, preventing the roll from being contaminated by oil.

[0076] In this embodiment, the lifting groove 205 is an arc-shaped groove.

[0077] The inner wall of the arc-shaped lifting groove is a circular arc surface with the swing axis of the lifting piece 204 as the center line. When the lifting groove 205 is an arc-shaped groove, on the one hand, the shape of the arc-shaped groove can better fit the circular profile of the roll. Regardless of the size of the diameter of the roll, the arc-shaped groove can maintain good contact with the roll to some extent; on the other hand, the arc-shaped groove can play a guiding role. In the process of taking and placing the roll, when the lifting piece lifts the roll, the groove inner arm of the arc-shaped groove can guide the roll to some extent, making the roll more easily and accurately fall into the lifting groove. When the lifting piece lowers the roll, the roll can smoothly roll out of the lifting groove.

[0078] In this embodiment, the mobile chassis 101 is a self-moving robot chassis.

[0079] ‌The robot moving assembly is the part of the robot used for moving and steering, responsible for the movement and task execution of the robot. It is usually composed of structural parts, wheels, driving circuits, etc. Its main function is to be responsible for the movement and steering of the robot, ensuring that the robot can complete the task according to the preset path or autonomous navigation. The moving assembly in the utility model adopts the self-moving robot moving assembly in the prior art.

[0080] The moving assembly can further include other components besides the moving chassis 101. For example, in the embodiment, since the swing support 203 and the lifting piece 204 can tilt to the side of the width direction of the roll taking and placing device when swinging, which can cause the roll taking and placing device to fall over, the moving assembly further includes a counterweight 102. In order to protect the first driving device 206, the second driving device 207 and the gears, the moving assembly further includes a housing 103. Embodiments

[0081] The rest is the same as Embodiment 1, except that the lifting groove is a V-shaped groove, the inner wall of the V-shaped lifting groove is tangent to the outer wall of the roll, and it can also be suitable for lifting a plurality of sizes of rolls within a certain range. However, considering the possible deformation of the roll, especially the cloth roll which is easy to be extruded and deformed, it can be stuck in the V-shaped lifting groove during falling into the lifting groove, which makes it difficult to separate from the V-shaped lifting groove when the roll needs to be put down.

[0082] Obviously, the embodiments are only examples for clearly illustrating the present application, and are not intended to limit the embodiments. Based on the description, other different forms of changes or variations can be made by those skilled in the art. All the embodiments do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A material roll taking-out device characterized by comprising: The mobile assembly comprises a mobile chassis which is movable to different locations; The pick-and-place assembly comprises: fixed supports fixed to the mobile chassis; a support shaft fixed to the fixed supports, the central axis of the support shaft extending along a set direction; swing supports arranged at intervals along the length direction of the support shaft, one end of the swing support being connected to the support shaft, the other end of the swing support being away from the support shaft and being swingable about the axis direction of the support shaft; lifting pieces corresponding to the swing supports, the lifting piece being swingably connected to the corresponding swing support, the swing axis of the lifting piece being parallel to the central axis of the support shaft, the lifting piece being in the shape of a curved arm which surrounds half of the swing axis, the side of the lifting piece away from the support shaft being a concave side, the concave side of the lifting piece forming a lifting groove for lifting a roll of material; a first driving device in transmission connection with the swing support to drive the swing support to swing; a second driving device in transmission connection with the lifting piece to drive the lifting piece to swing.

2. The log taking-off device according to claim 1, characterized in that The first driving device is a first motor, the body of the first motor being mounted on a motor support, the motor support being fixed to the mobile chassis, a power output shaft of the first motor being sleeved with a first gear; a transmission shaft rotatably connected between the fixed supports, the transmission shaft being coaxially fixed with a second gear and a plurality of third gears, the second gear being in meshing engagement with the first gear; each swing support being connected at one end along the length direction close to the support shaft with a fourth gear, the fourth gears being equal in number to the third gears and being in one-to-one meshing engagement.

3. The material roll taking and placing device according to claim 1, characterized in that The swing support is connected with a plurality of first rollers rotatable relative to the swing support, the rotation axis of the first roller being parallel to the central axis of the support shaft; The lifting piece has a first side surface in the set direction, the first side surface facing the swing support, the first side surface being provided with a first arc-shaped guide portion, the central axis of the first arc-shaped guide portion being parallel to the swing axis of the lifting piece, a plurality of the first rollers being arranged along the first arc-shaped guide portion and being in guide connection with the first arc-shaped guide portion.

4. The material roll taking and placing device according to claim 3, characterized in that The first arc-shaped guide portion is an arc-shaped groove, the first roller being limitingly connected in the arc-shaped groove.

5. The material web taking-off device according to claim 1, characterized in that The swing support is connected with a plurality of second rollers rotatable relative to the swing support, the rotation axis of the second roller being parallel to the central axis of the support shaft; The convex side of the lifting piece is provided with a second arc-shaped guide portion, the central axis of the second arc-shaped guide portion being parallel to the swing axis of the lifting piece, the second arc-shaped guide portion guiding the second roller.

6. The log taking-off device according to claim 5, characterized in that The circumferential surface of the second roller is provided with a circumferential roller groove, the second arc-shaped guide portion being an annular protruding portion, the annular protruding portion being embedded in the circumferential roller groove.

7. The log taking-off device according to claim 1, characterized in that The second driving device is a second motor, a plurality of the second motors are respectively fixed on a plurality of the swing supports, and a fifth gear is sleeved on a power output shaft of the second motor. An outer convex side of the lifting piece is provided with an outer peripheral gear, a central axis of the outer peripheral gear is coaxial with the swing axis of the lifting piece, and outer peripheral gears of a plurality of the lifting pieces are respectively engaged with a plurality of the fifth gears.

8. The log taking-off device according to claim 1, characterized in that The lifting piece has a second side surface in the set direction, and the second side surface of the lifting piece is connected with an arc-shaped stop edge.

9. The log taking-off device according to claim 1, characterized in that The lifting groove is an arc-shaped groove or a V-shaped groove.

10. The log taking-off device according to claim 1, characterized in that The moving chassis is a robot chassis capable of autonomous movement.

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