Material coil carrying robot

Abstract

The embodiment of the utility model provides a material roll carrying robot. The material roll carrying robot comprises a fork arm assembly, a transverse moving assembly, a jacking assembly and a moving chassis. The fork arm assembly comprises a fork arm bottom plate and at least one set of bearing pieces connected to the fork arm bottom plate, each set of bearing pieces comprises two bearing fork arms, the two bearing fork arms are arranged in the first direction of the fork arm bottom plate in a spaced mode, and the tops of the two bearing fork arms are used for bearing the two ends of a material coil; the transverse moving assembly comprises a transverse moving bottom plate and a transverse moving driving structure arranged at the top of the transverse moving bottom plate, the fork arm bottom plate is in transmission connection with the transverse moving bottom plate through the transverse moving driving structure, and the transverse moving driving structure is used for driving the fork arm bottom plate to reciprocate in the horizontal direction so as to adjust the position of the bearing part in the first direction; the bottom of the jacking assembly is fixedly connected with the movable chassis, the top of the jacking assembly is fixedly connected with the transverse moving bottom plate, and the jacking assembly is used for jacking or descending the transverse moving assembly; and the movable chassis is used for driving the jacking assembly, the transverse moving assembly and the fork arm assembly to move so as to carry the material coil.

Description

A coil handling robot Technical Field

[0001] This application relates to the field of coil handling technology, and in particular to a coil handling robot. Background Technology

[0002] With the rapid development of robotics technology in recent years, AGV (Automated Guided Vehicle) technology has also been continuously advancing. AGVs can automatically travel along a prescribed guided path according to instructions, reach designated locations, and complete a series of tasks. AGVs are one of the main pieces of equipment for automating material handling in factories and warehouses, and are especially suitable for warehousing, manufacturing, and hazardous locations. They are characterized by high efficiency, speed, and flexibility, and can greatly improve the level of production automation and production efficiency.

[0003] One type of AGV is the roll handling robot, which can be used to dock and transfer material shafts and rolls on machine tools or buffer racks. In the existing technology, roll handling robots have a complex structure, are cumbersome to disassemble and assemble, and have high maintenance costs. Summary of the Invention

[0004] The purpose of this application is to provide a material roll handling robot to simplify its structure. The specific technical solution is as follows:

[0005] This application provides a material roll handling robot for handling material rolls on a machine or buffer rack, comprising: a fork arm assembly, a traversing assembly, a lifting assembly, and a mobile chassis; the fork arm assembly includes a fork arm base plate and at least one set of support members connected to the fork arm base plate, each set of support members including two support fork arms, the two support fork arms being spaced apart along a first direction of the fork arm base plate, the tops of the two support fork arms being used to support both ends of the material roll; the traversing assembly includes a traversing base plate and a traversing drive structure disposed on the top of the traversing base plate, the fork arm base plate being driveably connected to the traversing base plate through the traversing drive structure, the traversing drive structure being used to drive the fork arm base plate to reciprocate in a horizontal direction to adjust the position of the support members in the first direction; the lifting assembly is fixedly connected to the mobile chassis at the bottom and fixedly connected to the traversing base plate at the top, and is used to lift or lower the traversing assembly; the mobile chassis is used to drive the lifting assembly, the traversing assembly, and the fork arm assembly to move, thereby handling the material roll.

[0006] In some embodiments, the supporting fork arm is detachably connected to the fork arm base plate, or the supporting fork arm and the fork arm base plate are integrally formed.

[0007] In some embodiments, the top of the supporting fork arm is provided with a limiting groove, and the two ends of the material roll overlap the limiting groove.

[0008] In some embodiments, the lateral drive structure includes a lateral drive motor, a lateral drive screw arranged along a first direction, and a lateral drive nut sleeved on the lateral drive screw; the lateral drive nut is fixedly connected to the fork arm base plate, the output shaft of the lateral drive motor is connected to the lateral drive screw, and the lateral drive motor is used to drive the lateral drive screw to rotate, so that the lateral drive nut drives the fork arm base plate to move along the first direction.

[0009] In some embodiments, the lateral drive structure further includes a timing belt, the lateral drive motor and the lateral drive screw are arranged side by side at intervals, and the output shaft of the lateral drive motor is parallel to the lateral drive screw; the timing belt is sleeved on the output shaft of the lateral drive motor and one end of the lateral drive screw, and the output shaft of the lateral drive motor drives the lateral drive screw to rotate through the timing belt; or, the lateral drive structure further includes a coupling, and the output shaft of the lateral drive motor is connected to one end of the lateral drive screw through the coupling.

[0010] In some embodiments, the lateral movement assembly further includes a lateral movement guide structure, which includes: two guide rails arranged along the first direction and fixedly connected to the lateral movement base plate; the lateral movement drive structure arranged parallel to the two guide rails; and a plurality of guide sliders slidably connected to the guide rails and fixedly connected to the fork arm base plate.

[0011] In some embodiments, the lifting assembly includes a dual-output drive module and four lifting platforms; two of the four lifting platforms are first lifting platforms respectively connected to the two output shafts of the dual-output drive module; the other two lifting platforms are respectively connected to the first lifting platforms via drive shafts; the lifting platforms are fixedly connected to the mobile chassis, and the top of the lifting platform is fixedly connected to the transverse base plate; the lifting of the top of the lifting platform drives the transverse assembly to move up and down along the height direction.

[0012] In some embodiments, the dual-output drive module includes a lifting drive motor and a dual-output shaft reducer. The output shaft of the lifting drive motor is connected to the dual-output shaft reducer, and the two output shafts of the dual-output shaft reducer are respectively connected to the two first elevators.

[0013] In some embodiments, the roll handling robot also has a beacon camera located on the outer side of the supporting fork arm for scanning beacon codes on the machine or buffer rack.

[0014] In some embodiments, the roll handling robot has two sets of support members, which are spaced apart along a second direction of the fork arm base plate, the second direction being perpendicular to the first direction.

[0015] The material roll handling robot provided in this application embodiment has a mobile chassis that can drive the lifting component, the lateral component, and the fork arm component to move, thereby realizing the transfer of material rolls on the fork arm component; the lifting component can drive the lateral component and the fork arm component to move along the height direction, thereby adjusting the height position of the support component in the fork arm component to connect with material shafts or material rolls of different heights; the fork arm base plate of the fork arm component can move back and forth along the horizontal direction under the drive of the lateral drive structure, and the movement of the fork arm base plate drives the support component to move, thereby realizing the position adjustment of the support component along the first direction; it can be seen that the material roll handling robot provided in this application embodiment can realize the adjustment of a total of 2 degrees of freedom in the height direction and the horizontal direction of the supporting fork arm through the lifting component and the lateral component, and the structure is simple and easy to maintain and install.

[0016] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 is an axonometric view of a material roll handling robot provided in an embodiment of this application;

[0019] Figure 2 is an axonometric view of the material roll handling robot shown in Figure 1 without the dustproof shell and the material roll;

[0020] Figure 3 is an axonometric view of the lateral movement component, lifting component, and moving chassis in the coil handling robot shown in Figure 1.

[0021] Figure 4 is an axonometric view of the lateral movement component in the coil handling robot shown in Figure 1;

[0022] Figure 5 is an axonometric view of the lifting assembly in the coil handling robot shown in Figure 1;

[0023] Figure 6 is a perspective view of one of the elevators in the lifting assembly shown in Figure 5;

[0024] Figure 7 is an axonometric view of another material roll handling robot provided in an embodiment of this application.

[0025] Figure label:

[0026] Fork arm assembly 100; fork arm base plate 110; support component 120; fork arm support 121; limiting groove 1211; weight reduction hole 1212;

[0027] Horizontal movement assembly 200; horizontal movement base plate 210; horizontal movement drive structure 220; horizontal movement drive motor 221; horizontal movement drive screw 222; screw mounting base 2221; horizontal movement drive nut 223; synchronous belt 224; horizontal movement guide structure 225; guide rail 2251; guide slider 2252; limiting component 2253;

[0028] Lifting assembly 300; Dual-output drive module 310; Lifting drive motor 311; Dual-output shaft reducer 312; Reducer output shaft 3121; Lifting platform 320; Lifting platform housing 3201; Lifting nut 3202; Lifting screw 3203; Screw bevel gear 3204; First transmission bevel gear 3205; Bevel gear sleeve 3206; Connecting flange 3207; First lifting platform 321; Second lifting platform 322; Drive shaft 330; Mobile chassis 400; Traveling wheels 401; Mounting support column 402; Material coil 500a; Material shaft 500b; Dustproof housing 600; Beacon camera 700;

[0029] First direction X; second direction Y; altitude direction Z. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0031] In related technologies, ordinary material handling robots mainly consist of a chassis and an upper structure. The chassis structure is relatively similar across manufacturers; the upper structure generally comprises a horizontal adjustment mechanism and a lifting adjustment mechanism, with the adjustment mechanisms consisting of guide rails, sliders, ball screws, etc. To improve docking accuracy, the upper structure is generally divided into left and right sides, each with 2 or 3 degrees of freedom, totaling 4 or 6 degrees of freedom. This increase in degrees of freedom leads to a complex structure and high cost.

[0032] To simplify the structure of the coil handling robot, refer to Figures 1, 2, and 3. Figure 1 is an axonometric view of a coil handling robot provided in an embodiment of this application; Figure 2 is an axonometric view of the coil handling robot shown in Figure 1 without the dustproof shell and the coil; Figure 3 is an axonometric view of the lateral movement component, lifting component, and mobile chassis in the coil handling robot shown in Figure 1. This application provides a coil handling robot for handling coils 500a on a machine or buffer rack. The coil handling robot includes a fork arm assembly 100, a lateral movement component 200, a lifting component 300, and a mobile chassis 400. The fork arm assembly 100 includes a fork arm base plate 110 and at least one set of support members 120 connected to the fork arm base plate 110. Each set of support members 120 includes two support fork arms 121, which are spaced apart along a first direction X of the fork arm base plate 110. The two supporting fork arms 121 are positioned such that their tops support both ends of the material roll 500a; the lateral movement assembly 200 includes a lateral movement base plate 210 and a lateral movement drive structure 220 disposed on the top of the lateral movement base plate 210; the fork arm base plate 110 is connected to the lateral movement base plate 210 via the lateral movement drive structure 220; the lateral movement drive structure 220 is used to drive the fork arm base plate 110 to reciprocate along the horizontal direction (i.e., the first direction X) to adjust the position of the supporting member 120 in the first direction X; the lifting assembly 300 is fixedly connected to the bottom of the movable chassis 400 and to the top of the lateral movement base plate 210, and is used to lift or lower the lateral movement assembly 200; the movable chassis 400 is used to drive the lifting assembly 300, the lateral movement assembly 200 and the fork arm assembly 100 to move, so as to transport the material roll 500a.

[0033] In this embodiment of the application, as shown in Figures 1, 2 and 3, the movable chassis 400 can drive the lifting assembly 300, the lateral moving assembly 200 and the fork arm assembly 100 to move, thereby realizing the transfer of the loading coil 500a on the fork arm assembly 100; the lifting assembly 300 can drive the lateral moving assembly 200 and the fork arm assembly 100 to move along the height direction Z, thereby adjusting the height position of the support member 120 in the fork arm assembly 100 to connect with coils 500a of different heights; the fork arm base plate 110 of the fork arm assembly 100 can reciprocate along the horizontal direction under the drive of the lateral moving drive structure 220, and the movement of the fork arm base plate 110 drives the support member 120 to move, thereby realizing the position adjustment of the support member 120 along the first direction X.

[0034] Therefore, the material roll handling robot provided in this application embodiment can achieve a total of two degrees of freedom adjustment in the height and horizontal direction of the supporting fork arm 121 through the lifting component 300 and the lateral movement component 200. Moreover, the structure is simple and easy to maintain and install.

[0035] In related technologies, material roll handling robots employ a total of 4 or 6 degrees of freedom, resulting in complex mechanisms and high costs. The inventors of this application have discovered that in practical applications, handling material rolls often does not require such a large number of degrees of freedom or such a complex structure.

[0036] Compared with related technologies, the material roll handling robot provided in this application embodiment has a total of 2 degrees of freedom, which significantly reduces complexity and effectively lowers costs; it can also meet the docking and handling needs of most material rolls, thus improving product competitiveness.

[0037] Specifically, as shown in Figure 3, the bottom of the mobile chassis 400 is equipped with a traveling wheel 401, which enables the mobile chassis 400 to move in all directions.

[0038] As shown in Figure 1, the supporting fork arm 121 can be integrally formed with the fork arm base plate 110. When the fork arm assembly 100 is installed on the transverse assembly 200, it is only necessary to install the fork arm base plate 110 on the transverse assembly 200. The structure is simple and easy to install and maintain.

[0039] In this embodiment, as shown in Figures 1 and 2, the top of the supporting fork arm 121 is provided with a limiting groove 1211, and both ends of the material roll 500a overlap the limiting groove 1211. The limiting groove 1211 can limit the material roll 500a, preventing the material roll 500a from falling off during the movement or docking of the material roll handling robot, thereby improving the stability and safety during the handling process.

[0040] It should be noted that in actual production scenarios, the length of the material roll 500a is often a single dimension, so there is no need to adjust the distance between the two supporting fork arms 121. The supporting fork arms 121 can be integrally formed with the fork arm base plate 110, which is sufficient to meet the needs of actual production. Moreover, the structure is simple and easy to install and maintain.

[0041] In some embodiments of this application, the supporting fork arm 121 is detachably connected to the fork arm base plate 110, or the supporting fork arm 121 is integrally formed with the fork arm base plate 110. For example, it can be detachably connected to the fork arm base plate 110 by bolt connection. In this embodiment, the supporting fork arm 121 of each set of supporting components 120 is detachably connected to the fork arm base plate 110. By adjusting the relative installation position of the two supporting fork arms 121, the supporting distance between the two supporting fork arms 121 can be adjusted, so that the fork arm assembly 100 can support material rolls 500a of different sizes, thereby improving the versatility of the material roll handling robot. It also has the advantages of simple structure and easy installation and maintenance.

[0042] It should also be noted that if the support distance is not adjusted by detachably connecting the support fork arm 121 to the fork arm base plate 110, but by using a complex drive structure, the entire structure will become complex. More importantly, in practical applications, the application size of the 500a coil is often singular or only a few types in a single application scenario, so there is no need to frequently adjust the distance between the two support fork arms 121. Using a bolted connection, allowing the support fork arm 121 to be detachably connected to the fork arm base plate 110, is sufficient to meet the needs of practical applications, and there is no need to set up a complex drive structure for this purpose. Moreover, using a complex drive structure that is rarely used in practical applications not only increases production costs and causes cost waste, but also increases maintenance difficulty.

[0043] Furthermore, in some embodiments of this application, if the support fork arm 121 and the fork arm base plate 110 are integrally formed, several support parts 120 corresponding to the actual size can be made to accommodate different application sizes of material rolls 500a. If it is necessary to accommodate material rolls 500a of different sizes, only the support parts 120 need to be replaced. Similarly, since the application sizes of material rolls 500a are few, even if the support parts 120 are replaced to accommodate different application sizes of material rolls 500a, the total cost is lower than that of using a complex drive structure.

[0044] In this embodiment, as shown in Figures 1, 3, and 4, Figure 4 is an axonometric view of the lateral movement component in the material handling robot shown in Figure 1; the lateral movement drive structure 220 includes a lateral movement drive motor 221, a lateral movement drive screw 222 arranged along the first direction X, and a lateral movement drive nut 223 sleeved on the lateral movement drive screw 222; the lateral movement drive nut 223 is fixedly connected to the fork arm base plate 110, and the output shaft of the lateral movement drive motor 221 is connected to the lateral movement drive screw 222. The lateral movement drive motor 221 is used to drive the lateral movement drive screw 222 to rotate, so that the lateral movement drive nut 223 drives the fork arm base plate 110 to reciprocate along the first direction X.

[0045] In this embodiment, as shown in Figures 1, 3 and 4, the transverse drive motor 221 drives the transverse drive screw 222 to rotate, so that the transverse drive nut 223 drives the fork arm base plate 110 to move along the first direction X. The advantage of screw drive is that it has high transmission accuracy, so it can more accurately adjust the position of the fork arm assembly 100 in the first direction X.

[0046] Specifically, as shown in Figure 4, the transverse assembly 200 also has a lead screw mounting base 2221, on which both ends of the transverse drive lead screw 222 are mounted; more specifically, rolling bearings (not shown) may be provided between the two ends of the transverse drive lead screw 222 and the lead screw mounting base 2221.

[0047] In some embodiments of this application, as shown in FIG4, the transverse drive structure 220 further includes a synchronous belt 224, the transverse drive motor 221 and the transverse drive screw 222 are arranged side by side at intervals, and the output shaft of the transverse drive motor 221 is parallel to the transverse drive screw 222; the synchronous belt 224 is sleeved on the output shaft of the transverse drive motor 221 and one end of the transverse drive screw 222, and the output shaft of the transverse drive motor 221 drives the transverse drive screw 222 to rotate through the synchronous belt 224; or, the transverse drive structure 220 further includes a coupling, and the output shaft of the transverse drive motor 221 is connected to one end of the transverse drive screw 222 through the coupling.

[0048] In this embodiment, as shown in Figure 4, the synchronous belt 224 allows the output shaft of the transverse drive motor 221 to be on a different straight line from the transverse drive screw 222, reducing the length of the transverse drive structure 220 in the first direction X and making full use of space. The output shaft of the transverse drive motor 221 can also be directly connected to one end of the transverse drive screw 222 via a coupling, eliminating the need for a synchronous belt, resulting in a simple structure and high transmission efficiency.

[0049] In some embodiments of this application, as shown in Figures 1 and 4, the lateral movement assembly 200 further includes a lateral movement guide structure 225, which includes: two guide rails 2251, arranged along the first direction X and fixedly connected to the lateral movement base plate 210; a lateral movement drive structure 220 arranged parallel to the two guide rails 2251, specifically, the lateral movement drive structure 220 may be located between the two guide rails 2251; and a plurality of guide sliders 2252, slidably connected to the guide rails 2251 and fixedly connected to the fork arm base plate 110.

[0050] In this embodiment, as shown in Figures 1 and 4, the guide rail 2251 is arranged along the first direction X, and the guide slider 2252 is fixedly connected to the fork arm base plate 110 and can be slidably connected to the guide rail 2251. Therefore, under the drive of the transverse drive motor 221 and the transverse drive screw 222, the fork arm base plate 110 drives the guide slider 2252 to slide along the guide rail 2251, which can guide the movement of the fork arm base plate 110.

[0051] In this embodiment, as shown in Figures 1 and 4, the guide rail 2251 is provided with limiting members 2253 at both ends along the first direction X. The limiting members 2253 protrude from the top surface of the guide rail 2251 and are used to limit the guide slider 2252. In this embodiment, the limiting members 2253 can limit the movement of the guide slider 2252 in the first direction X, preventing the guide slider 2252 from falling off from both ends of the guide rail 2251 during sliding, thereby improving the reliability of the transverse guide structure 225.

[0052] In some embodiments of this application, as shown in Figures 3 and 5, Figure 5 is an isometric view of the lifting assembly in the material handling robot shown in Figure 1; the lifting assembly 300 includes a dual-output drive module 310 and four lifting platforms 320; two of the four lifting platforms 320, the first lifting platforms 321, are respectively connected to the two output shafts of the dual-output drive module 310; the other two second lifting platforms 322 are respectively connected to the first lifting platforms 321 via drive shafts 330; the lifting platforms 320 are fixedly connected to the mobile chassis 400, and the top of the lifting platform 320 is fixedly connected to the transverse base plate 210. The lifting of the top of the lifting platform 320 drives the transverse assembly 200 to move up and down along the height direction Z.

[0053] In this embodiment, as shown in Figures 3 and 5, the dual-output drive module 310 includes a lifting drive motor 311 and a dual-output shaft reducer 312. The output shaft of the lifting drive motor 311 is connected to the dual-output shaft reducer 312, and the two output shafts of the dual-output shaft reducer are respectively connected to the two first elevators 321. By setting the dual-output shaft reducer 312 and the drive shaft 330, only one lifting drive motor is needed to realize the lifting of four elevators 320, making the structure of the lifting assembly 300 simpler, occupying less space, and ensuring the synchronicity of the operation of the four elevators 320.

[0054] It should be noted that the lifting platform in this embodiment can use standard parts of a screw jack.

[0055] As shown in Figures 5 and 6, Figure 6 is a perspective view of one of the lifting mechanisms in the lifting assembly shown in Figure 5; both the first lifting mechanism 321 and the second lifting mechanism 322 include a lifting housing 3201, a lifting nut 3202, a lifting screw 3203, a screw bevel gear 3204, and a first transmission bevel gear 3205;

[0056] The lifting screw 3203 is arranged along the height direction Z. The lifting housings 3201 of the first lifting machine 321 and the second lifting machine 322 are respectively fixedly connected to the mounting support column 402 on the mobile chassis 400. The lifting screw 3203 is slidably connected to the lifting housing 3201. A bevel gear sleeve 3206 is fitted onto the lifting screw 3203, and a screw bevel gear 3204 is fitted onto the bevel gear sleeve 3206 and fixedly connected to the lifting nut 3202 through the bevel gear sleeve 3206. The first transmission bevel gear 3205 of the first lifting machine 321 is located in the lifting housing 3201 and is connected to one of the reduction gears of the dual output shaft reducer. The output shaft 3121 of the device is connected, and the first transmission bevel gear 3205 meshes with the lead screw bevel gear 3204; the top end of the lifting lead screw 3203 extends out of the outside of the elevator housing 3201 and is fixedly connected to the transverse base plate 210, while the other part is located inside the elevator housing 3201 and is rotatably connected to the lifting nut 3202; the output shaft of the dual output shaft reducer drives the first transmission bevel gear 3205 to rotate, which in turn drives the lead screw bevel gear 3204 meshing with the first transmission bevel gear 3205 to rotate, thereby driving the lifting nut 3202 to rotate, thus realizing that the lifting lead screw 3203 drives the transverse component 200 to move along the height direction Z.

[0057] The first lifting mechanism 321 also has a second transmission bevel gear (not shown in the figure). One end of the second transmission bevel gear meshes with the lead screw bevel gear 3204 of the first lifting mechanism 321, and the other end is fixedly connected to the first transmission bevel gear of the second lifting mechanism 322 through the transmission shaft 330. The first transmission bevel gear of the second lifting mechanism 322 meshes with the lead screw bevel gear of the second lifting mechanism 322. Similarly, the lead screw bevel gear of the second lifting mechanism 322 is sleeved on the bevel gear sleeve 3206 and fixedly connected to the lifting nut 3202 through the bevel gear sleeve 3206. The second transmission bevel gear of the first lifting mechanism 321 drives the first transmission bevel gear of the second lifting mechanism to rotate through the transmission shaft 330, which in turn drives the lead screw bevel gear of the second lifting mechanism to rotate, which in turn drives the lifting nut of the second lifting mechanism to rotate, so as to realize that the transverse moving assembly connected to the lifting lead screw of the second lifting mechanism moves along the height direction Z.

[0058] Specifically, as shown in Figure 6, the elevator housing 3201 is used to accommodate a part of the lifting screw 3203, the lifting nut 3202, the screw bevel gear 3204, and the first transmission bevel gear 3205.

[0059] Specifically, the lifting screw and lifting nut can be ball screws and ball nuts. The mounting support column 402 on the mobile chassis can be a steel pipe structure capable of accommodating the portion of the lifting screw that is not located on the elevator housing.

[0060] More specifically, the top of the lifting screw 3203 is provided with a connecting flange 3207, which can increase the connection area between the lifting screw 3203 and the transverse base plate.

[0061] It should be noted that in some embodiments, the lifting assembly may also include four cylinders (not shown in the figure). The cylinders are fixedly connected to the mobile chassis by mounting support columns 402. The top end of the cylinder telescopic rod is fixedly connected to the transverse base plate. The cylinder telescopic rod reciprocates along the height direction to drive the transverse assembly to reciprocate along the height direction.

[0062] In some embodiments of this application, as shown in Figures 1 and 2, the roll handling robot further includes a dustproof shell 600. The dustproof shell 600 covers the mobile chassis 400 and the lifting assembly 300. The dustproof shell 600 has an opening at its top, through which the lateral movement assembly 200 can extend or retract under the influence of the lifting assembly 300. The dustproof shell 600 provides protection for the mobile chassis 400 and the lifting assembly 300, and also improves the overall appearance of the roll handling robot.

[0063] In this embodiment, as shown in Figures 1 and 2, the coil handling robot also includes a beacon camera 700. The beacon camera 700 is located on the outer side of the supporting fork arm 121 and is used to scan the beacon codes on the machine or buffer rack. By scanning the beacon codes on the machine or buffer rack with the beacon camera 700, information about the coil 500a on the machine or buffer rack can be obtained, as well as the deviation between the supporting fork arm 121 and the machine or buffer rack. The deviation data is transmitted to a remote controller, which controls the lateral movement component 200 or the lifting component 300 to move the supporting fork arm 121 to a suitable position, thereby ensuring that the coil handling robot has high-precision docking capability.

[0064] In some embodiments of this application, as shown in FIG7, FIG7 is an isometric view of another material roll handling robot provided in an embodiment of this application; the material roll handling robot has two sets of support members 120, the two sets of support members 120 are spaced apart along the second direction Y of the fork arm base plate 110, the second direction Y is perpendicular to the first direction X.

[0065] In this embodiment, the two sets of support members 120 can be used to support the heavier material roll 500a and the lighter material shaft 500b respectively, which can improve the handling capacity of the material roll handling robot. Among them, the support fork arm 121 supporting the lighter material shaft 500b can be provided with weight reduction holes 1212. The provision of weight reduction holes 1212 can reduce the weight of the support fork arm 121, thereby reducing the weight of the entire material roll handling robot.

[0066] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A material roll handling robot, characterized in that, A material roll (500a) for handling on a machine or buffer rack includes: a fork arm assembly (100), a traverse assembly (200), a lifting assembly (300), and a mobile chassis (400); the fork arm assembly (100) includes a fork arm base plate (110) and at least one set of support members (120) connected to the fork arm base plate (110), each set of support members (120) includes two support fork arms (121), the two support fork arms (121) are spaced apart along a first direction (X) of the fork arm base plate (110), and the tops of the two support fork arms (121) are used to support both ends of the material roll (500a); the traverse assembly (200) includes a traverse base plate (210) and a top of the traverse base plate (210). The transverse drive structure (220) is used to drive the fork arm base plate (110) to reciprocate in the horizontal direction to adjust the position of the support member (120) in the first direction (X). The lifting assembly (300) is fixedly connected to the bottom of the movable chassis (400) and the top of the transverse base plate (210) to lift or lower the transverse assembly (200). The movable chassis (400) is used to drive the lifting assembly (300), the transverse assembly (200) and the fork arm assembly (100) to move to transport the material roll (500a).

2. The material roll handling robot according to claim 1, characterized in that, The supporting fork arm (121) is detachably connected to the fork arm base plate (110), or the supporting fork arm (121) and the fork arm base plate (110) are integrally formed.

3. The material roll handling robot according to claim 1, characterized in that, The top of the supporting fork arm (121) is provided with a limiting groove (1211), and the two ends of the material roll (500a) overlap the limiting groove (1211).

4. The material roll handling robot according to claim 1, characterized in that, The lateral drive structure (220) includes a lateral drive motor (221), a lateral drive screw (222) arranged along a first direction (X), and a lateral drive nut (223) sleeved on the lateral drive screw (222). The lateral drive nut (223) is fixedly connected to the fork arm base plate (110). The output shaft of the lateral drive motor (221) is connected to the lateral drive screw (222). The lateral drive motor (221) is used to drive the lateral drive screw (222) to rotate, so that the lateral drive nut (223) drives the fork arm base plate (110) to move along the first direction (X).

5. The coil handling robot according to claim 4, characterized in that, The transverse drive structure (220) further includes a synchronous belt (224). The transverse drive motor (221) and the transverse drive screw (222) are arranged side by side at intervals, and the output shaft of the transverse drive motor (221) is parallel to the transverse drive screw (222). The synchronous belt (224) is sleeved on the output shaft of the transverse drive motor (221) and one end of the transverse drive screw (222). The output shaft of the transverse drive motor (221) drives the transverse drive screw (222) to rotate through the synchronous belt (224). Alternatively, the transverse drive structure (220) further includes a coupling, and the output shaft of the transverse drive motor (221) is connected to one end of the transverse drive screw (222) through the coupling.

6. The coil handling robot according to claim 4, characterized in that, The lateral movement assembly (200) further includes a lateral movement guide structure (225), which includes: two guide rails (2251) arranged along the first direction (X) and fixedly connected to the lateral movement base plate (210); the lateral movement drive structure (220) arranged parallel to the two guide rails (2251); and a plurality of guide sliders (2252) slidably connected to the guide rails (2251) and fixedly connected to the fork arm base plate (110).

7. The material roll handling robot according to claim 1, characterized in that, The lifting assembly (300) includes a dual-output drive module (310) and four lifting platforms (320); two of the four lifting platforms (320) are first lifting platforms (321) respectively connected to the two output shafts of the dual-output drive module (310); the other two second lifting platforms (322) are respectively connected to the first lifting platforms (321) via drive shafts (330); the lifting platforms (320) are fixedly connected to the mobile chassis (400), and the top of the lifting platform (320) is fixedly connected to the transverse base plate (210). The lifting of the top of the lifting platform (320) drives the transverse assembly (200) to move up and down along the height direction (Z).

8. The coil handling robot according to claim 7, characterized in that, The dual-output drive module (310) includes a lifting drive motor and a dual-output shaft reducer. The output shaft of the lifting drive motor is connected to the dual-output shaft reducer, and the two output shafts of the dual-output shaft reducer are respectively connected to the two first elevators (321).

9. The material roll handling robot according to any one of claims 1-8, characterized in that, The material roll handling robot also has a beacon camera (700), which is located on the outer side of the supporting fork arm (121) and is used to scan beacon codes on the machine or buffer rack.

10. The material roll handling robot according to any one of claims 1-8, characterized in that, The material roll handling robot has two sets of support members (120), which are spaced apart along the second direction (Y) of the fork arm base plate (110), and the second direction (Y) is perpendicular to the first direction (X).

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