Lifting mechanism and material coil taking and placing robot

Abstract

The lifting mechanism comprises a lifting support, a rocker arm and a supporting arm, the rocker arm is connected with the lifting support in a swinging mode, the rocker arm is further provided with a plurality of guide wheels, the guide wheels are connected with the rocker arm in a rotating mode, and circumferential guide parts are arranged on the peripheral faces of the guide wheels. The supporting arm is connected with the guide wheel in a swinging mode and is a bent arm, a lifting groove is formed in the inner concave side of the supporting arm, an arc-shaped guide wheel groove is formed in one end face of the supporting arm, an arc-shaped guide part is arranged on the groove wall of the arc-shaped guide wheel groove, and the arc-shaped guide wheel groove of the supporting arm is in rolling contact with the guide wheel on the rocker arm. The arc-shaped guide wheel grooves are connected with the circumferential guide parts of the guide wheels in a guiding mode through arranged arc-shaped guide parts and are mutually separated in the set horizontal direction in a mutual limiting mode. The supporting arm is prevented from being separated from the rocker arm, the movement stability of the supporting arm can be effectively improved, the supporting arm is prevented from axially inclining or being separated, and a material roll is prevented from sliding off.

Description

TECHNICAL FIELD

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

[0002] In the field of textile production, cloth falling operation is an important link to take the finished cloth from the loom or cloth winding device and place it to the designated position. The traditional cloth falling operation mainly relies on manual completion, which not only has high labor intensity and low efficiency, but also causes fatigue of workers after long time work, leading to operation failure and affecting the quality of cloth.

[0003] With the development of science and technology, some enterprises begin to use robots for cloth falling operation. However, the existing cloth falling robot lifting mechanism has many deficiencies. The structure design of some lifting mechanisms is unreasonable, which leads to poor stability of cloth lifting and easy cloth sliding during movement. The adaptability of some lifting mechanisms is poor, which is difficult to cope with cloth of different sizes. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model provides a kind of lifting mechanism and material roll taking and placing robot, effectively increase the stability of the movement of supporting arm, prevent the axial inclination or disengagement of supporting arm, prevent material roll from sliding.

[0005] To solve the above technical problems, the utility model provides a kind of lifting mechanism, comprising:

[0006] Lifting support;

[0007] Swing arm, the swing arm is swingably connected to the lifting support, the swing axis of the swing arm extends along the set horizontal direction, the swing arm is further provided with a plurality of guide wheels, the guide wheels are rotatably connected to the swing arm, the rotation axis of the guide wheels is parallel to the swing axis of the swing arm, and the outer circumferential surface of the guide wheels is provided with a circumferential guide part;

[0008] Supporting arm, the supporting arm is swingably connected to the swing arm through the guide wheels, the swing axis of the supporting arm is parallel to the swing axis of the swing arm, the supporting arm is a bent arm that surrounds its swing axis, the concave side of the supporting arm is a lifting groove, and the supporting arm has two opposite end faces in the set horizontal direction, wherein an arc-shaped guide wheel groove is arranged on one of the end faces, an arc-shaped guide part that is matched with the circumferential guide part is arranged on the groove wall of the arc-shaped guide wheel groove, the arc-shaped guide wheel groove of the supporting arm is in rolling contact with the guide wheels on the swing arm, and the swing of the supporting arm relative to the swing arm and the tendency of the supporting arm to disengage from the swing arm along the set horizontal direction are guided and limited based on the cooperation between the arc-shaped guide part and the circumferential guide part.

[0009] Further, one of the circumferential guide part and the arc-shaped guide part is a convex structure, and the other is a concave structure.

[0010] Further, a first gear is connected to one end of the rocker arm close to the lifting support, and an arc-shaped rack part is arranged on the outer convex side of the rocker arm.

[0011] Further, a protective layer is arranged on the inner concave side of the rocker arm.

[0012] Further, a dirt-proof baffle is connected to the other end surface side of the rocker arm.

[0013] The utility model also provides a material roll taking and placing robot, which comprises:

[0014] A mobile chassis;

[0015] A plurality of lifting mechanisms are arranged on the mobile chassis at intervals along the set horizontal direction;

[0016] A first driving mechanism is arranged on the mobile chassis and used for driving the rocker arms of all the lifting mechanisms to swing synchronously;

[0017] A plurality of second driving mechanisms are respectively arranged on the plurality of lifting mechanisms and used for driving the rocker arms of the plurality of lifting mechanisms to swing respectively.

[0018] Further,

[0019] The first driving mechanism comprises a first motor, a second gear, a synchronous rotating shaft, a third gear and a plurality of fourth gears, the first motor is arranged on the mobile chassis, the second gear is sleeved on the power output shaft of the first motor and rotates with the power output shaft of the first motor, the synchronous rotating shaft is rotatably connected to the lifting support, the third gear is sleeved on the synchronous rotating shaft and engaged with the second gear, and the plurality of fourth gears are sleeved on the synchronous rotating shaft and rotate with the synchronous rotating shaft, and the plurality of fourth gears are used for engaging with the first gears of the plurality of lifting mechanisms respectively.

[0020] The second driving mechanism comprises a second motor and a fifth gear, the second motor is arranged on the rocker arm, the fifth gear is sleeved on the power output shaft of the second motor, and the fifth gear is used for engaging with the arc-shaped rack part of the lifting mechanism.

[0021] Further, support shafts are connected between the lifting supports of the plurality of lifting mechanisms, and the rocker arms of the plurality of lifting mechanisms are rotatably connected to the same support shafts.

[0022] Further, the first limiting and detecting mechanism comprises a first limiting support, a first stopper, a second limiting support, a second stopper, a third stopper, a first photoelectric contact, a first sensor support and a first photoelectric sensor.

[0023] The first limiting support is fixed opposite to the lifting support and close to the lower end of the lifting support, the first stopper is connected to the first limiting support, and the first stopper limits the limit position of the downward swing of the swing arm when the first stopper abuts against the swing arm.

[0024] The second limiting support is connected to the lifting support and close to the upper end of the lifting support, the second stopper is connected to the second limiting support, the third stopper is connected to the swing arm, and the second stopper limits the limit position of the upward swing of the swing arm when the second stopper abuts against the third stopper.

[0025] The first photoelectric contact is connected to the swing arm,

[0026] The first sensor support is fixed opposite to the lifting support, the first photoelectric sensor is connected to the first sensor support and detects the position of the swing arm when the swing arm swings downward by detecting the first photoelectric contact.

[0027] Further, the second limiting and detecting mechanism comprises two limiting edges, a second photoelectric contact, a second sensor support and a second photoelectric sensor, the two limiting edges are respectively arranged at the two ends of the length direction of the supporting arm and protrude out of the convex side of the supporting arm, and the two limiting edges are used for limiting the limit position of the swing of the connected supporting arm.

[0028] The second photoelectric contact is arranged on the supporting arm,

[0029] The second sensor support is fixed opposite to the swing arm, and the second photoelectric sensor is connected to the second sensor support and is used for detecting the position of the supporting arm when the supporting arm swings forward and reversely by the second photoelectric contact.

[0030] Compared with the prior art, the above technical scheme of the utility model has the following advantages:

[0031] 1) The lifting mechanism, the swing arm is provided with a plurality of guide wheels, the guide wheels are provided with circumferential guide portions, the supporting arm is provided with an arc-shaped guide wheel groove, the arc-shaped guide wheel groove is provided with an arc-shaped guide portion, the guide wheels and the arc-shaped guide wheel groove can not only guide the swing direction, but also prevent the guide wheels and the arc-shaped guide wheel groove from being separated from each other, thereby preventing the supporting arm from being separated from the swing arm, effectively increasing the stability of the movement of the supporting arm, preventing the supporting arm from being axially inclined or separated, and preventing the material roll from sliding off.

[0032] 2) The lifting mechanism, one of the circumferential guide part and the arc-shaped guide part is a convex structure, the other is a concave structure, the concave-convex cooperation prevents the supporting arm from axial inclination or separation;

[0033] 3) The lifting mechanism, the first gear is connected to the end of the rocker arm close to the lifting support, the rocker arm is driven to swing through the gear transmission, the arc-shaped rack part is arranged on the convex side of the supporting arm, the supporting arm is driven to swing through the gear transmission;

[0034] 4) The lifting mechanism, the protective layer is arranged on the concave side of the supporting arm, which can prevent the damage to the roll;

[0035] 5) The lifting mechanism, the anti-pollution baffle is arranged on the other end surface side of the supporting arm, which can prevent the pollution of the roll;

[0036] 6) The roll taking and placing robot, the moving chassis, the first driving mechanism and the second driving mechanism are arranged, so that the roll can be taken and placed;

[0037] 7) The roll taking and placing robot, the synchronous rotating shaft and the plurality of gears are arranged, so that the synchronous swing of the plurality of rocker arms and the individual swing of the supporting arms can be realized, the gear transmission is stable, and the transmission precision is high;

[0038] 8) The roll taking and placing robot, the supporting shaft is arranged, and the plurality of lifting mechanisms are supported and connected to the supporting shaft, so that the supportability of the lifting mechanism is improved;

[0039] 9) The roll taking and placing robot, the first limiting and detecting mechanism is arranged, so that the swing range of the rocker arm and the swing position of the rocker arm can be limited and detected.

[0040] 10) The roll taking and placing robot, the second limiting and detecting mechanism is arranged, so that the swing range of the supporting arm and the swing position of the supporting arm can be limited and detected. DRAWINGS

[0041] In order to make the content of the utility model more easily understood clearly, the utility model is further explained in detail below according to the specific embodiment of the utility model and in conjunction with the drawings.

[0042] Figure 1 It is the structural schematic diagram of the lifting mechanism in the embodiment one of the utility model;

[0043] Figure 2 It is the schematic diagram of the guide wheel in the embodiment one of the utility model;

[0044] Figure 3It is the schematic view of the supporting arm in the embodiment one of the utility model;

[0045] Figure 4 It is the schematic view of the guide wheel in the embodiment two of the utility model;

[0046] Figure 5 It is the schematic view of the supporting arm in the embodiment two of the utility model;

[0047] Figure 6 It is the appearance schematic view of the material roll taking and placing robot in the embodiment three of the utility model;

[0048] Figure 7 It is the internal schematic view of the material roll taking and placing robot in the embodiment three of the utility model;

[0049] Figure 8 It is the connection schematic view of the two supporting mechanisms in the embodiment three of the utility model.

[0050] The description of the drawing mark of the utility model is as follows:

[0051] 1, supporting mechanism, 101, supporting support, 102, rocker arm, 103, guide wheel, 104, circumferential guide part, 105, supporting arm, 106, arc guide wheel groove, 107, arc guide part, 108, first gear, 109, arc rack part, 110, protective layer, 111, anti-fouling baffle;

[0052] 2, mobile chassis;

[0053] 301, first motor, 302, second gear, 303, synchronous rotating shaft, 304, third gear, 305, fourth gear;

[0054] 401, second motor, 402, fifth gear;

[0055] 501, support shaft;

[0056] 601, first limit support, 602, first stopper, 603, second limit support, 604, second stopper, 605, third stopper, 606, first photoelectric contact, 607, first sensor support, 608, first photoelectric sensor;

[0057] 701, limit baffle, 702, second photoelectric contact, 703, second sensor support, 704, second photoelectric sensor;

[0058] 8, shell, 9, counterweight, 10, safety touch edge. DETAILED DESCRIPTION

[0059] The utility model is further described below in combination with the drawings and specific embodiments, so that those skilled in the art can better understand the utility model and implement it, but the embodiments are not used as the limitation of the utility model. Embodiments

[0060] Referring to Figures 1 to 3 An embodiment of the lifting mechanism is shown in the drawings.

[0061] The lifting mechanism 1 comprises:

[0062] A lifting support 101;

[0063] A rocker arm 102, which is swingably connected to the lifting support 101, and has an oscillation axis extending along a predetermined horizontal direction, and is provided with a plurality of guide wheels 103, which are rotatably connected to the rocker arm 102, and have an axis of rotation parallel to the oscillation axis of the rocker arm 102, and have a circumferential guide portion 104 on the outer periphery.

[0064] A support arm 105, which is swingably connected to the rocker arm 102 via the guide wheels 103, and has an oscillation axis parallel to the oscillation axis of the rocker arm 102, and is a curved arm that partially encloses the oscillation axis, and has a concave inner side as a lifting groove, and has two opposite end faces in the predetermined horizontal direction, one of which is provided with an arc-shaped guide wheel groove 106, and the groove wall of the arc-shaped guide wheel groove 106 is provided with an arc-shaped guide portion 107 adapted to the circumferential guide portion 104, and the arc-shaped guide wheel groove 106 of the support arm 105 is in rolling contact with the guide wheels 103 on the rocker arm 102, and the arc-shaped guide portion 107 cooperates with the circumferential guide portion 104 to guide the oscillation of the support arm 105 relative to the rocker arm 102 and limit the tendency of the support arm 105 to move away from the rocker arm 102 in the predetermined horizontal direction.

[0065] In the above, the lifting support 101 serves as the basis for supporting, mounting and fixing the entire lifting mechanism 1.

[0066] The rocker arm 102 is a first swing member, and is controlled to swing between a first position and a second position for adjusting the height of the support arm 105, when the rocker arm 102 swings to the first position (low position close to the horizontal), the support arm 105 is at a first height, and when the rocker arm 102 swings to the second position (high position perpendicular to the horizontal), the support arm 105 is at a second height, and the second height is greater than the first height.

[0067] The guide wheel 103 is a guide support of the supporting arm 105. The guide wheels 103 on the same rocker arm 102 are located on the same circular arc line, the center axis of the circular arc line is parallel to the swing axis of the rocker arm 102, and the convex side of the circular arc line is towards the swing axis of the rocker arm 102. The center axis of the circumferential guide part 104 is coaxial with the rotation axis of the guide wheel 103.

[0068] The supporting arm 105 is a second swing part, and the guide wheel 103 is connected through the arc-shaped guide wheel groove 106 and the arc-shaped guide part 107. The center axes of the arc-shaped guide wheel groove 106 and the arc-shaped guide part 107 are coaxial with the swing axis of the supporting arm 105. The supporting arm 105 is controlled to swing between the third position and the fourth position, so as to adjust the relative position with the material roll. When the supporting arm 105 swings to the third position, the notch of the supporting groove is towards the side or obliquely upwards, and the supporting arm 105 is located at the side of the material roll. When the supporting arm 105 swings to the fourth position, the notch of the supporting groove is towards upwards, and the supporting arm 105 is located below the material roll. Here, the third position and the fourth position represent the position of the supporting arm 105 relative to the rocker arm 102.

[0069] The rocker arm 102 is provided with a plurality of guide wheels 103, and the plurality of guide wheels 103 are arranged along the length direction of the arc-shaped guide wheel groove 106. The guide wheel 103 is provided with a circumferential guide part 104, the supporting arm 105 is provided with an arc-shaped guide wheel groove 106, the arc-shaped guide wheel groove 106 is provided with an arc-shaped guide part 107, and the guide wheel 103 and the arc-shaped guide wheel groove 106 can not only realize the swing direction guidance, but also prevent the guide wheel 103 and the arc-shaped guide wheel groove 106 from being separated from each other in the above-mentioned set direction, thereby preventing the supporting arm 105 from being separated from the rocker arm 102, effectively increasing the stability of the movement of the supporting arm 105, preventing the supporting arm 105 from being axially inclined or separated, and preventing the material roll from sliding. While realizing the swing guidance of the supporting arm 105, the possibility of overturning of the supporting arm 105 is reduced, the connection stability of the supporting arm 105 and the rocker arm 102 is further improved, and the supportability of the lifting mechanism is improved. For this embodiment, the guide wheel 103 is provided with at least three guide wheels to provide stable guidance and support for the swing of the supporting arm 105.

[0070] In this embodiment, the circumferential guide part 104 is a ring-shaped recess, and the arc-shaped guide part 107 is an arc-shaped protrusion.

[0071] The ring-shaped recess and the arc-shaped protrusion are matched in shape and size, the ring-shaped recess is roll-connected with the arc-shaped protrusion, and the recess and protrusion are matched. Not only can the accurate guidance of the swing of the supporting arm 105 be ensured, but also the supporting arm 105 can be limited to be separated from the guide wheel 103 in the above-mentioned set horizontal direction. In this embodiment, the ring-shaped recess is a V-shaped groove, and the arc-shaped protrusion is a V-shaped protrusion ring.

[0072] In this embodiment, the rocker arm 102 is connected to a first gear 108 at one end near the support 101, and the support arm 105 is provided with an arc-shaped rack portion 109 on its outer convex side.

[0073] The central axis of the first gear 108 is coaxial with the swing axis of the rocker arm 102. When the first gear 108 rotates around its own central axis, it drives the rocker arm 102 to swing around its own swing axis. The arc-shaped rack portion 109 is an arc-shaped rack. The arc-shaped rack portion 109 is coaxial with the swing axis of the support arm 105. When the arc-shaped rack portion 109 rotates around its own central axis, it drives the support arm 105 to swing around its own passive axis.

[0074] In this embodiment, a protective layer 110 is provided on the concave side of the support arm 105.

[0075] A protective layer 110 is provided on the concave side of the support arm 105 to prevent damage to the material roll. The protective layer 110 is generally a soft padding layer to prevent damage to the material roll when in contact with it. Specifically, in this embodiment, the protective layer 110 is Teflon tape.

[0076] In this embodiment, a dirt-proof baffle 111 is connected to the other end face of the aforementioned support arm 105.

[0077] When the lifting groove lifts the material roll, under normal circumstances, both ends of the material roll will protrude from the lifting groove along its length. The parts of the material roll that protrude from the lifting groove may be contaminated by lubricating oil, so an anti-contamination guard 111 is provided. The aforementioned anti-contamination guard 111 is an arc-shaped guard, and the central axis of the arc-shaped guard is coaxial with the swing axis of the support arm 105. Example

[0078] See Figure 4 and Figure 5 As shown, another embodiment of the lifting mechanism in this utility model.

[0079] The rest is the same as in Embodiment 1, except that the above-mentioned circumferential guide portion 104 is an annular protrusion and the above-mentioned arc-shaped guide portion 107 is an arc-shaped recess.

[0080] The aforementioned annular protrusion and arc-shaped recess are matched in shape and size. The annular protrusion rolls into the arc-shaped recess, and the two fit together in a convex-concave manner. This not only ensures precise guidance of the swing of the support arm 105, but also prevents the support arm 105 from disengaging from the guide wheel 103 along the aforementioned set horizontal direction. Specifically, in this embodiment, the annular protrusion is a V-shaped convex ring, and the arc-shaped recess is a V-shaped groove. Example

[0081] See Figures 6 to 8 This invention relates to an embodiment of a material roll pick-and-place robot.

[0082] The utility model discloses still provide a material roll taking and placing robot, including:

[0083] Mobile chassis 2 can be moved to different places;

[0084] A plurality of above-mentioned lifting mechanism 1, along above-mentioned set horizontal direction interval distance arrangement installs on above-mentioned mobile chassis 2;

[0085] First drive mechanism is used for driving above-mentioned swing arm 102 swing;

[0086] Second drive mechanism is used for driving above-mentioned to swing.

[0087] In the foregoing, mobile chassis 2 is the basis of the whole device, can drive robot to move to different working positions.And in order to realize the autonomous movement of material roll taking and placing robot, mobile chassis 2 can adopt AGV, AMR and other self-moving robot chassis.Lifting mechanism 1 is the core part of the device, is used for lifting material roll and swing height and position adjustment. Figure 7 As shown, this embodiment is with two lifting mechanism 1 case to the technical scheme of this embodiment is explained.This case, it is also relatively simple structure and easy to realize.This two lifting mechanism 1 is along the length direction of mobile chassis 2.Set horizontal direction in this embodiment is the length direction of mobile chassis 2.First drive mechanism and second drive mechanism are power parts.First drive mechanism drives swing arm 102 swing between first position and second position.Second drive mechanism drives to swing between third position and fourth position.

[0088] When taking and placing material roll: first drive mechanism drives swing arm 102 swing, adjusts the position of totem arm 105.Second drive mechanism drives totem arm 105 swing, makes lifting groove aligns roll material.After totem arm 105's lifting groove holds roll material, mobile chassis, first drive mechanism and second drive mechanism cooperate and work, and will roll material move to the designated position.After completing taking and placing operation, totem arm 105 and swing arm 102 reset, prepares next operation.

[0089] When taking material roll, first drive mechanism drives swing arm 102 swing, makes swing arm 102 swing to close to horizontal low position, and totem arm 105's notch aligns lateral material roll, then totem arm 105 swing, makes totem arm 105's notch upwards and holds up material roll and makes material roll roll into totem arm 105's lifting groove, then swing arm 102 resets swing to vertical high position, and totem arm 105 resets swing and makes lifting groove's notch upwards.When placing material roll, swing arm 102 swing to close to horizontal low position, so that the material roll on totem arm 105 rolls out from lifting groove.

[0090] The first driving mechanism includes a first motor 301, a second gear 302, a synchronous rotating shaft 303, a third gear 304, and a plurality of fourth gears 305. The first motor 301 is installed on the mobile chassis 2. The second gear 302 is sleeved on the power output shaft of the first motor 301 and rotates with the power output shaft of the first motor 301. The synchronous rotating shaft 303 is rotatably connected to the lifting support 101. The third gear 304 is sleeved on the synchronous rotating shaft 303 and engaged with the second gear 302. The plurality of fourth gears 305 are sleeved on the synchronous rotating shaft 303 and rotate with the synchronous rotating shaft 303. The plurality of fourth gears 305 are used to engage with the first gears 108 of the plurality of lifting mechanisms 1 respectively.

[0091] The second driving mechanism includes a second motor 401 and a fifth gear 402. The second motor 401 is installed on the rocker arm 102. The fifth gear 402 is sleeved on the power output shaft of the second motor 401 and is used to engage with the arc-shaped rack portion 109 of the lifting mechanism.

[0092] Specifically, the material roll taking and placing robot includes a first motor 301. The first motor 301 drives the synchronous swinging of the plurality of rocker arms of the lifting mechanisms 1. The first motor 301 can be a reduction motor. The synchronous rotating shaft 303 is horizontally arranged and rotatably connected to the two lifting supports 101 at both ends. The synchronous rotating shaft 303 is provided with a third gear 304 and two fourth gears 305. The diameter of the third gear 304 is greater than that of the second gear 302, so that one-stage speed reduction can be realized in the transmission process. The fourth gears 305 are respectively engaged with the first gears 108 one by one. For this embodiment, the fourth gears 305 and the first gears 108 are each two, which are arranged close to the two rocker arms 102. Meanwhile, the diameter of the first gear 108 is greater than that of the fourth gear 305. Thus, two-stage speed reduction can be realized in the transmission process, so that the swinging process of the rocker arm 102 is relatively smooth.

[0093] The number of second motors 401 is equal to the number of rocker arms 102 and is arranged one by one. That is, one second motor 401 is arranged on each rocker arm 102. The second motor 401 can be a reduction motor.

[0094] The first motor 301 is started to drive the second gear 302 to rotate. The third gear 304 is engaged with the second gear 302 to drive the synchronous rotating shaft 303 to rotate. The two fourth gears 305 on the synchronous rotating shaft 303 rotate with the synchronous rotating shaft 303. The fourth gears 305 drive the first gears 108 to rotate, thereby driving the rocker arms 102 to swing.

[0095] Since the two supporting arms 105 are connected to different rocker arms 102 and are generally far apart, a second driving mechanism is provided for each supporting arm 105 to facilitate driving the two supporting arms 105 to swing. The second motor 401 is started to drive the fifth gear 402 to rotate, which drives the arc-shaped rack portion 109 to swing along the guide wheel, thereby driving the supporting arm 105 to swing.

[0096] By providing the synchronous rotating shaft and the plurality of gears, synchronous swinging of the plurality of rocker arms 102 and individual swinging of the plurality of supporting arms 105 can be achieved, the gear transmission is stable, and the transmission precision is high.

[0097] In the embodiment, the supporting shaft 501 is connected between the supporting seats 101 of the plurality of lifting mechanisms 1, and the rocker arms 102 of the plurality of lifting mechanisms 1 are rotatably connected to the same supporting shaft 501.

[0098] Specifically, the axis of the supporting shaft 501 extends along the set horizontal direction, and the two ends of the supporting shaft 501 horizontally pass through the supporting seats 101 and are fixedly connected to the supporting seats 101. The supporting shaft 501 is connected with a bearing, and the end of the rocker arm 102 close to the supporting seat is fixed relative to the first gear 108 and is sleeved on the bearing. Since the two ends of the supporting shaft 501 are mounted to the supporting seats 101 and are fixedly mounted, the supporting shaft 501 is less affected by the torsional deformation during the swinging of the rocker arm 102, thereby being able to more stably support the supporting arm 105.

[0099] The plurality of rocker arms 102 are sleeved on the same supporting shaft 501, and the supporting shaft 501 is fixedly mounted, thereby being able to more stably support the rocker arms 102 and the supporting arms 105 and ensure that the material roll taking and placing device can maintain high sensitivity and precision during long-term use.

[0100] In the embodiment, the first limiting and detecting mechanism is further included, which comprises a first limiting support 601, a first stopper 602, a second limiting support 603, a second stopper 604, a third stopper 605, a first photoelectric contact 606, a first sensor bracket 607, and a first photoelectric sensor 608.

[0101] The first limiting support 601 is fixed relative to the supporting seat 101 and close to the lower end of the supporting seat 101, the first stopper 602 is connected to the first limiting support 601, and the first stopper 602 limits the limit position of the downward swinging of the rocker arm 102 when the first stopper 602 abuts against the rocker arm 102.

[0102] The second limiting support 603 is connected to the lifting support 101 and is close to the upper end of the lifting support 101, the second stopper 604 is connected to the second limiting support 603, the third stopper 605 is connected to the rocker arm 102, and the second stopper 604 and the third stopper 605 abut to limit the limit position of the upward swing of the rocker arm 102;

[0103] The first photoelectric touch piece 606 is connected to the rocker arm 102;

[0104] The first sensor support 607 is fixed relative to the lifting support 101, and the first photoelectric sensor 608 is connected to the first sensor support 607 and detects the position of the downward swing of the rocker arm 102 by detecting the first photoelectric touch piece 606.

[0105] In the above, the first limiting support 601 and the first stopper 602 are located on the swing track of the rocker arm 102, the first limiting support 601 is used to provide support, and the first stopper 602 is generally a soft cushion layer used to buffer when contacting the rocker arm. The second limiting support 603 and the second stopper 604 are located on the swing track of the third stopper 605, the second limiting support 603 is used to provide support, and the second stopper 604 is generally a soft cushion layer used to prevent contact with the third stopper 605 to achieve buffering, and the third stopper 605 is generally a limiting pin. Since the plurality of rocker arms 102 swing synchronously, only one first limiting and detecting mechanism needs to be provided. When the rocker arm 102 swings to the set position, the first photoelectric sensor 608 can detect the first photoelectric touch piece 606 at this time, thereby ensuring that the rocker arm 102 will not swing excessively. By providing the first limiting and detecting mechanism, the swing range of the rocker arm can be limited and the swing position of the rocker arm can be detected.

[0106] In the embodiment, two limiting stop edges 701, a second photoelectric touch piece 702, a second sensor support 703, and a second photoelectric sensor 704 are further included. The two limiting stop edges 701 are respectively arranged at the two ends of the length direction of the support arm 105 and protrude outward from the convex side of the support arm 105, and are used to limit the limit position of the swing of the connected support arm 105;

[0107] The second photoelectric touch piece 702 is connected to the support arm 105,

[0108] The second sensor support 703 is fixed relative to the rocker arm 102, and the second photoelectric sensor 704 is connected to the second sensor support 703 and is used to detect the position of the forward swing and the reverse swing of the support arm 105 through the second photoelectric touch piece 702.

[0109] When the limiting flange 701 abuts against the fifth gear 402, the further swing of the supporting arm 105 is limited. When the supporting arm 105 swings to the set position, the second photoelectric sensor 704 can detect the second photoelectric contact 702, thereby ensuring that the supporting arm 105 does not swing too much. Since the supporting arms 105 swing independently, the first limiting and detecting mechanism corresponds to the supporting arms 105 one by one. By setting the second limiting and detecting mechanism, the swing range of the supporting arm can be limited and the swing position of the supporting arm can be detected.

[0110] In addition to the lifting mechanism 1, the moving chassis 2, the first driving mechanism and the second driving mechanism, the material roll taking and placing robot further comprises other components, such as the shell 8, the counterweight 9 and the safety touch edge 10 in the above. Figure 7 and Figure 8 The components that do not need to be exposed are placed in the shell 8, such as part of the components of the first driving mechanism and the second driving mechanism. The counterweight 9 can prevent the rocker arm 102 and the supporting arm 105 from tilting when they swing, thereby ensuring the balance of the robot. The safety touch edge 10 can prevent collision.

[0111] In the present application, the coaxial is understood as an ideal state without considering assembly gap, machining error, etc.

[0112] Obviously, the above-mentioned embodiments are only examples for clearly illustrating, and are not a limitation on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, 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 lifting mechanism, characterized by Comprising: a lifting support; a rocker arm, the rocker arm being swingably connected to the lifting support, an oscillation axis of the rocker arm extending along a set horizontal direction, the rocker arm being further provided with a plurality of guide wheels, the guide wheels being rotatably connected to the rocker arm, an axis of rotation of the guide wheels being parallel to the oscillation axis of the rocker arm, an outer circumferential surface of the guide wheels being provided with a circumferential guide portion; a supporting arm, the supporting arm being swingably connected to the rocker arm through the guide wheels, an oscillation axis of the supporting arm being parallel to the oscillation axis of the rocker arm, the supporting arm being a curved arm that semi-surrounds the oscillation axis thereof, an inner concave side of the supporting arm being a lifting groove, the supporting arm having two opposite end faces in the set horizontal direction, one of the end faces being provided with an arc-shaped guide wheel groove, a groove wall of the arc-shaped guide wheel groove being provided with an arc-shaped guide portion that is adapted to the circumferential guide portion, the arc-shaped guide wheel groove of the supporting arm being in rolling contact with the guide wheels on the rocker arm, and the oscillation of the supporting arm relative to the rocker arm being guided and the tendency of the supporting arm to disengage from the rocker arm in the set horizontal direction being limited based on the cooperation between the arc-shaped guide portion and the circumferential guide portion.

2. The lifting mechanism of claim 1, wherein, In the circumferential guide portion and the arc-shaped guide portion, one is a convex structure and the other is a concave structure.

3. The lifting mechanism of claim 1, wherein, The rocker arm is connected to a first gear at one end close to the lifting support, and an arc-shaped rack portion is provided on an outer convex side of the supporting arm.

4. The lifting mechanism of claim 1, wherein, The inner concave side of the supporting arm is provided with a protective layer.

5. The lifting mechanism of claim 1, wherein, The other end face side of the supporting arm is connected to a dirt-proof baffle.

6. A web taking-off robot, characterized in that Comprising: a moving chassis; a plurality of lifting mechanisms according to any one of claims 1 to 5, the lifting mechanisms being arranged at intervals in the set horizontal direction and mounted on the moving chassis; a first driving mechanism mounted on the moving chassis and used for driving the rocker arms of all the lifting mechanisms to swing synchronously; a plurality of second driving mechanisms respectively mounted on the lifting mechanisms and used for driving the supporting arms of the lifting mechanisms to swing respectively.

7. The material roll taking and placing robot according to claim 6, wherein the first driving mechanism comprises a first motor, a second gear, a synchronous rotating shaft, a third gear and a plurality of fourth gears, the first motor is mounted on the moving chassis, the second gear is sleeved on a power output shaft of the first motor and rotates with the power output shaft of the first motor, the synchronous rotating shaft is rotatably connected to the lifting support, the third gear is sleeved on the synchronous rotating shaft and engages with the second gear, and the plurality of fourth gears are sleeved on the synchronous rotating shaft and rotate with the synchronous rotating shaft, and the plurality of fourth gears are used for engaging with the first gears of the lifting mechanisms according to claim 3 respectively; the second driving mechanism comprises a second motor and a fifth gear, the second motor is mounted on the rocker arm, the fifth gear is sleeved on a power output shaft of the second motor, and the fifth gear is used for engaging with the arc-shaped rack portion of the lifting mechanism according to claim 3.

8. The material roll taking-out robot according to claim 6, characterized by Supporting shafts are connected between the lifting supports of the plurality of lifting mechanisms, and the rocker arms of the plurality of lifting mechanisms are rotatably connected to the same supporting shafts.

9. The material roll taking-out robot according to claim 6, characterized by The first limiting and detecting mechanism comprises a first limiting support, a first stopper, a second limiting support, a second stopper, a third stopper, a first photoelectric touch piece, a first sensor support and a first photoelectric sensor. The first limiting support is fixed opposite to the lifting support and close to the lower end of the lifting support, the first stopper is connected to the first limiting support, and the first stopper limits the limit position of the downward swing of the rocker arm when the first stopper abuts against the rocker arm. The second limiting support is connected to the lifting support and close to the upper end of the lifting support, the second stopper is connected to the second limiting support, the third stopper is connected to the rocker arm, and the second stopper limits the limit position of the upward swing of the rocker arm when the second stopper abuts against the third stopper. The first photoelectric touch piece is connected to the rocker arm, The first sensor support is fixed opposite to the lifting support, the first photoelectric sensor is connected to the first sensor support and detects the position of the downward swing of the rocker arm by detecting the first photoelectric touch piece.

10. The material roll taking-out robot according to claim 6, characterized by, The second limiting and detecting mechanism comprises two limiting edges, a second photoelectric touch piece, a second sensor support and a second photoelectric sensor, the two limiting edges are respectively arranged at the two ends of the length direction of the supporting arm and protrude out of the convex side of the supporting arm, and the two limiting edges are used for limiting the limit position of the swing of the connected supporting arm; The second photoelectric touch piece is arranged on the supporting arm, The second sensor support is fixed opposite to the rocker arm, and the second photoelectric sensor is connected to the second sensor support and is used for detecting the position of the forward swing and the reverse swing of the supporting arm through the second photoelectric touch piece.

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