Hanging type workpiece carrying device

Abstract

The utility model relates to the technical field of saw blade production, in particular to a hanging type workpiece carrying device which comprises a frame, a second driving assembly, a third driving assembly, a movable connector, a disc, a hanging rod and a fourth driving assembly. Power wheels are arranged at the bottom of the frame, an intelligent control mechanism and a supporting frame are arranged on the frame, the supporting frame is rotationally connected with a large arm, and the large arm is slidably connected with a second movable rod; the second driving assembly is in driving connection with the big arm; the third driving assembly is in driving connection with the second movable rod; the movable joint is rotationally arranged on the second movable rod; the disc is movably connected with the movable joint, and the movable joint is provided with a brake module for slowing down the swing amplitude of the disc; the plurality of suspenders are rotationally arranged at the bottom of the disc in an annular array around the axis of the disc; the fourth driving assembly is in driving connection with the suspenders. The saw blade carrying device automatically completes carrying of saw blades, reduces swing of the disc by controlling the brake module, and further avoids mutual collision of the saw blades by adjusting the distance between the saw blades.

Description

Technical Field

[0001] This utility model relates to the field of saw blade production technology, and in particular to a hanging workpiece handling device. Background Technology

[0002] Saw blades (especially bimetallic composite steel strips) need to maintain surface flatness during processes such as annealing, rolling, and straightening. Hanging handling can reduce friction with the conveyor belt or machinery and prevent surface scratches or deformation.

[0003] Existing handling devices mostly rely on manual trolley handling, which inevitably leads to sudden uneven speed control. The high frequency of sudden acceleration and deceleration during the movement of the trolley frame can easily cause the saw blade to swing. The swinging saw blades are prone to colliding with each other, so improvements are needed. Utility Model Content

[0004] The purpose of this invention is to address the problems existing in the background technology by proposing a hanging workpiece handling device.

[0005] The technical solution of this utility model is as follows: a hanging workpiece handling device, including a frame, a plurality of drive wheels are provided at the bottom of the frame, an intelligent control mechanism and a support frame are provided on the frame, the top of the support frame is rotatably connected to a large arm, a second movable rod is slidably provided inside the large arm, and the intelligent control mechanism controls the rotation of the drive wheels in the working state to realize the movement of the frame between set points and control the movement speed of the frame.

[0006] The second drive assembly is mounted on the support frame and drives the boom to adjust the pitch angle of the boom.

[0007] The third drive assembly is mounted on the boom and drives the second movable rod to slide radially along the boom;

[0008] A movable joint is rotatably mounted on the second movable rod.

[0009] A disc with a ball head at its top, which is inserted into and movably connected to a movable joint. A brake module is provided on the movable joint to reduce the swing amplitude of the disc, and the brake module is connected to an intelligent control mechanism.

[0010] A series of booms, arranged in a circular array around the axis of the disc, are positioned at the bottom of the disc.

[0011] And a fourth drive assembly, which is mounted on the disk and drives the connecting rods to adjust the spacing of the rods at the end away from the disk.

[0012] Preferably, the frame includes a main beam and two side beams, both of which are connected to the main beam. A first movable rod is slidably connected inside each of the two side beams. A support wheel is provided on the first movable rod, and a first drive assembly is provided on the side beam to drive the first movable rod to slide along its radial direction.

[0013] Preferably, the intelligent control mechanism includes a vision recognition module, a speed sensor, and a controller. Multiple vision recognition modules are distributed around the frame, and a chassis is installed on the frame. The controller is installed inside the chassis and electrically connected to each vision recognition module. The drive wheels are Mecanum wheels, and the controller is electrically connected to each Mecanum wheel. The speed sensor is installed on the frame and detects the acceleration of the frame when it is in operation.

[0014] Preferably, the brake module includes a damping block, a permanent magnet, and an electromagnet. The movable joint is provided with a spherical groove and a sliding groove communicating with the spherical groove. The ball head is inserted into the spherical groove and rotates around the center of the ball. The damping block is slidably disposed in the sliding groove. The permanent magnet is disposed at the end of the damping block away from the ball head. The electromagnet is disposed in the sliding groove at the end of the permanent magnet away from the damping block. The electromagnet is electrically connected to the controller.

[0015] Preferably, an iron chain is installed at the end of the boom away from the disc, and a hook is installed at the end of the iron chain away from the disc.

[0016] Preferably, an energy storage battery is installed on the vehicle frame, and the energy storage battery is electrically connected to all electrical components.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] By incorporating a visual recognition module, a power wheel, and a controller, this device achieves automatic saw blade handling with the support of powerful algorithms. Compared to manual control, the movement speed is more stable, and the oscillation amplitude of the disc and saw blade is less and the oscillation frequency is lower. A braking module consisting of a permanent magnet, an electromagnet, and a damping block, along with an acceleration sensor, controls the magnetism of the electromagnet at the moment the frame starts or stops. Based on the principle of like poles repelling each other, the friction between the damping block and the ball joint is adjusted, thereby assisting in stopping the disc and reducing the oscillation amplitude of the saw blade. Furthermore, this invention includes a fourth drive component for adjusting the distance between the ends of the boom, facilitating the widening of the gap between adjacent saw blades and further reducing the frequency of collisions between them. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of one embodiment of the present utility model;

[0020] Figure 2 A schematic diagram of the connection structure of the various components on the movable joint;

[0021] Figure 3 This is a schematic diagram of the connection structure between the frame and the first movable rod.

[0022] Reference numerals: 1. Frame; 2. Drive wheel; 3. First movable rod; 31. Support wheel; 4. First drive assembly; 5. Vision recognition module; 6. Chassis; 7. Support frame; 8. Strut; 9. Boom; 10. Second movable rod; 11. Second drive assembly; 12. Third drive assembly; 13. Movable joint; 14. Disc; 141. Ball joint; 142. Guide tube; 15. Hanging rod; 16. Fourth drive assembly; 161. Carriage; 162. Lead screw; 163. Motor; 164. Connecting rod; 17. Chain; 18. Hook; 19. Damping block; 20. Permanent magnet; 21. Electromagnet. Detailed Implementation

[0023] Example 1

[0024] like Figures 1-3As shown, this utility model proposes a suspended workpiece handling device, including a frame 1, a second drive assembly 11, a third drive assembly 12, a movable joint 13, a disc 14, a lifting rod 15, and a fourth drive assembly 16. The frame 1 includes a main beam and two side beams, both of which are connected to the main beam. Several drive wheels 2 are provided at the bottom of the frame 1. An intelligent control mechanism and a support frame 7 are provided on the frame 1. The top of the support frame 7 is rotatably connected to a large arm 9, and a second movable rod 10 is slidably provided inside the large arm 9. The intelligent control mechanism includes a vision recognition module 5, a speed sensor, and a controller. The vision recognition module 5 includes, but is not limited to, an infrared binocular camera. Multiple vision recognition modules 5 are distributed around the frame 1. A housing 6 is provided on the frame 1. The controller is a PLC controller, which is located inside the housing 6 and electrically connected to each vision recognition module 5. The drive wheels 2 are Mecanum wheels, and the controller is electrically connected to each Mecanum wheel. The speed sensor is located on the frame 1 and detects the acceleration of the frame 1 during operation. A strut 8 is mounted on the frame 1 and connected to a support frame 7. A second drive assembly 11 is mounted on the support frame 7 and drives the boom 9 to adjust its pitch angle. The second drive assembly includes, but is not limited to, an electric telescopic rod. The body of the electric telescopic rod is rotatably connected to the support frame 7, and the push rod of the electric telescopic rod is rotatably connected to the boom 9. The electric telescopic rod is connected to both the support frame 7 and the boom 9 via pins to facilitate removal of the electric telescopic rod and replacement of the hydraulic cylinder. A hydraulic pump is also mounted on the frame 1. A third drive assembly 12 is mounted on the boom 9 and drives a second movable rod 10 to slide radially along the boom 9. The third drive assembly 12 includes, but is not limited to, a second linear module. The body of the second linear module is mounted on the boom 9, and its output end is connected to a second slide block. A second through hole communicating with the boom 9 is provided, and the second slide block is inserted into the second through hole and connected to the second movable rod 10. A movable joint 13 is rotatably mounted on the second movable rod 10. A ball head 141 is provided at the top of the disc 14. The ball head 141 is inserted into and movably connected to the movable joint 13. A brake module for reducing the swing amplitude of the disc 14 is provided on the movable joint 13. The brake module includes a damping block 19, a permanent magnet 20, and an electromagnet 21. The movable joint 13 is provided with a spherical groove and a sliding groove communicating with the spherical groove. The ball head 141 is inserted into the spherical groove and rotates around the center of the sphere. The damping block 19 is slidably disposed in the sliding groove. The permanent magnet 20 is disposed at the end of the damping block 19 away from the ball head 141. The electromagnet 21 is disposed in the sliding groove at the end of the permanent magnet 20 away from the damping block 19. The electromagnet 21 is electrically connected to the controller. Several lifting rods 15 are arranged in a circular array around the axis of the disc 14 and rotate at the bottom of the disc 14. A chain 17 is provided at the end of the lifting rod 15 away from the disc 14, and a hook 18 is provided at the end of the chain 17 away from the disc 14.The fourth drive assembly 16 is mounted on the disc 14 and drives each hanger 15 to adjust the distance between the ends of each hanger 15 away from the disc 14. An energy storage battery is mounted on the frame 1, and the energy storage battery is electrically connected to all electrical components.

[0025] In this embodiment, the position parameters for the movement of the frame 1 are first set, and the saw blades are suspended one by one from the hooks 18. The fourth drive assembly 16 is activated to open the boom 15, thereby increasing the distance between adjacent saw blades and reducing the probability of collisions between the saw blades during movement. Then, the Mecanum wheel is activated, and the frame 1 accelerates to a certain speed and maintains a constant speed until it reaches the preset point and stops. During this process, the visual recognition module 5 monitors the surrounding environment in the direction of movement of the frame 1 in real time to avoid collisions with dynamic objects. Moreover, the intelligent movement method ensures that the movement speed of the frame 1 remains basically constant, avoiding the swaying of the disc 14 due to uneven movement speed. During the start-up and braking of the device, an acceleration occurs. Under this acceleration, the disc 14 will still swing slightly due to inertial force. At this time, the controller controls the current value to the electromagnet 21, thereby controlling the magnetism of the electromagnet 21. When the magnetic poles of the electromagnet 21 and the permanent magnet 20 are the same, the electromagnet 21 pushes the damping block 19 to press and contact the ball head 141 at a certain frequency, thereby gradually eliminating the swing amplitude of the disc 14. In this process, by changing the direction of the inertial force of the disc 14, the inertial force of the saw blade is gradually counteracted, so that the saw blade stops swinging at a relatively fast speed, ensuring that the saw blades do not collide with each other.

[0026] Example 2

[0027] like Figure 1 and Figure 3 As shown, the suspended workpiece handling device proposed in this utility model, compared with Embodiment 1, has a first movable rod 3 slidably connected inside each of the two side beams. A support wheel 31 is provided on the first movable rod 3, and a first driving assembly 4 is provided on the side beam to drive the first movable rod 3 to slide radially along it. The first driving assembly 4 includes, but is not limited to, a first linear module. The body of the first linear module is disposed on the side beam, and the output end of the first linear module is connected to a first slide block. A first through hole communicating with the side beam is provided, and the first slide block is inserted into the first through hole and connected to the first movable rod 3.

[0028] In this embodiment, when the saw blade needs to extend a long distance, the first movable rod 3 is pushed out an appropriate distance by the first linear module, so that the center of gravity of the entire device is appropriately moved in the direction of the saw blade, thus preventing the device from tipping over when the hook 18 suddenly increases in weight or loses weight.

[0029] Example 3

[0030] like Figure 1 and Figure 2 As shown, the present invention proposes a hanging workpiece handling device, which, compared with Embodiment 1 or Embodiment 2, presents a specific structure of a fourth drive component 16. The fourth drive component 16 includes a slide 161, a lead screw 162, a motor 163, and connecting rods 164. A guide tube 142 coaxially arranged is provided at the bottom of the disc 14. Several vertical slots are arranged in a ring around the axis of the guide tube 142. The slide 161 is arranged in the guide tube 142 and slides radially therein. The lead screw 162 is arranged in the guide tube 142 and rotatably connected to it coaxially. The lead screw 162 passes through the slide 161 and is helically connected to it. The body of the motor 163 is arranged on the guide tube 142, and the output end of the motor 163 is connected to the lead screw 162. The number of connecting rods 164 is the same as the number of lifting rods 15. Each connecting rod 164 is inserted into the vertical slot on the corresponding side, and the two ends of each connecting rod 164 are rotatably connected to the slide 161 and the lifting rod 15 on the corresponding side, respectively.

[0031] In this embodiment, the motor 163 drives the lead screw 162 to rotate, which in turn causes the slide 161 to slide radially within the guide tube 142. The sliding slide 161 drives the connecting rod 164 to rotate, thereby opening or closing the hanger 16 through the connecting rod 164, achieving synchronous adjustment of the spacing between each saw blade.

[0032] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A suspended workpiece handling device, characterized by, The utility model relates to a kind of intelligent control mechanism and support frame (7) are provided on the chassis (1) of the chassis (1) of the bottom of several power wheels (2) are provided, the top of support frame (7) is rotatably connected with large arm (9), the second movable rod (10) is slidably arranged in large arm (9), and the speed of the chassis (1) is controlled by intelligent control mechanism in working condition to realize the chassis (1) between the set point moves, and control the moving speed of chassis (1); Second drive assembly (11) is arranged on support frame (7) and is drivenly connected with large arm (9), to adjust the pitch angle of large arm (9) by second drive assembly (11); Third drive assembly (12) is arranged on large arm (9) and drives the second movable rod (10) to slide along the radial direction of large arm (9); Movable joint (13) is rotatably arranged on the second movable rod (10); Disc (14) is rotatably arranged on the second movable rod (10); And fourth drive assembly (16) is arranged on disc (14) and is drivenly connected with each hanger rod (15), to adjust the distance between each hanger rod (15) and disc (14) by fourth drive assembly (16). The chassis (1) includes a main beam and two side beams, both of which are connected to the main beam. A first movable rod (3) is slidably connected in each of the two side beams. A support wheel (31) is arranged on the first movable rod (3), and a first drive assembly (4) is arranged on the side beam to drive the first movable rod (3) to slide radially. The intelligent control mechanism includes a visual recognition module (5), a speed sensor, and a controller. Multiple sets of visual recognition modules (5) are distributed around the chassis (1). A machine case (6) is arranged on the chassis (1), and the controller is arranged in the machine case (6) and electrically connected to each visual recognition module (5). The power wheels (2) are Mecanum wheels, and the controller is electrically connected to each Mecanum wheel. The speed sensor is arranged on the chassis (1) and detects the acceleration of the chassis (1) in the working state.

2. A suspended workpiece handling apparatus according to claim 1, wherein, The brake module includes a damping block (19), a permanent magnet (20), and an electromagnet (21). A spherical groove and a sliding groove communicating with the spherical groove are arranged on the movable joint (13). The ball head (141) is inserted into the spherical groove and rotates around the ball center. The damping block (19) is slidably arranged in the sliding groove. The permanent magnet (20) is arranged at the end of the damping block (19) away from the ball head (141). The electromagnet (21) is arranged in the sliding groove and located at the end of the permanent magnet (20) away from the damping block (19). The electromagnet (21) is electrically connected to the controller.

3. A suspended workpiece handling apparatus as defined in claim 1, wherein, ​ 4. A suspended workpiece handling apparatus according to claim 3, wherein ​ 5. The overhead workpiece handling apparatus of claim 1 wherein, A chain (17) is arranged at the end of the boom (15) away from the disc (14), and a hook (18) is arranged at the end of the chain (17) away from the disc (14).

6. A suspended workpiece handling apparatus as defined in claim 1, wherein, The energy storage battery is arranged on the frame (1) and electrically connected with each electrical device.

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