Feeding robot

Abstract

This utility model relates to the field of material roll packaging technology, specifically to a feeding robot, including a frame and a moving component mounted on the frame. The moving component includes a robot and an X-axis drive mechanism. The robot includes a connecting arm, a Y-axis drive mechanism, and a lifting mechanism. The connecting arm is movably mounted on the frame along the X-axis direction via the X-axis drive mechanism. The lifting mechanism is movably mounted on the connecting arm along the Y-axis direction via the Y-axis drive mechanism. The lifting mechanism includes two sets of lifting arms and a Z-axis drive mechanism. The two sets of lifting arms cooperate to clamp the material. The lifting arms are vertically adjustable on the connecting arm along the Z-axis direction via the Z-axis drive mechanism. This utility model solves the problems of low efficiency in material roll transportation and packaging operations and low space utilization in production workshops. It achieves automation of material roll packaging and transportation, improves packaging and transportation accuracy, and avoids rework of defective packaged products and subsequent adjustments to transportation positions.

Description

Technical Field

[0001] This utility model relates to the field of material roll packaging, and in particular to a feeding robot. Background Technology

[0002] In the packaging tape production workshop, the transportation and packaging of tape rolls (master rolls) are required. Currently, the packaging of these rolls is mostly done manually, relying on human judgment to determine if they have reached the target position on the outer packaging. Often, multiple adjustments are needed after reaching the perimeter of the outer packaging to achieve the desired location, resulting in relatively low efficiency. The current method of transporting these rolls to the next process uses forklifts. However, the large size of the rolls, coupled with factors such as obstructing the view and the forklifts' inconsistent positioning accuracy, leads to inaccurate placement. Furthermore, sufficient space must be cleared near the roll placement point in the next process to facilitate its placement. Therefore, this results in low space utilization in the packaging tape production workshop. Utility Model Content

[0003] The main purpose of this utility model is to provide a feeding robot that aims to solve the technical problems of low efficiency in the transportation and packaging of existing material rolls and low space utilization in production workshops.

[0004] To achieve the above objectives, this utility model proposes a feeding robot. Includes the rack and the moving components mounted on the rack; The mobile component includes a robot and an X-axis drive mechanism. The robot includes a connecting arm, a Y-axis drive mechanism, and a lifting mechanism. The connecting arm is movably mounted on the frame along the X-axis direction via the X-axis drive mechanism. The lifting mechanism is movably mounted on the connecting arm along the Y-axis direction via the Y-axis drive mechanism. The lifting mechanism includes two sets of lifting arms and a Z-axis drive mechanism. The two sets of lifting arms work together to clamp materials. The lifting arms are mounted on the connecting arm in a lifting manner along the Z-axis direction via the Z-axis drive mechanism.

[0005] A further improvement of the feeding robot of this utility model is that at least two groups of robots are set up, and the two groups of robots are spaced apart and movably set on the frame; the X-axis drive mechanism is set up correspondingly to the robot.

[0006] A further improvement of the feeding robot of this utility model is that the lifting mechanism also includes a rotary drive mechanism and an air shaft disposed at the free end of the lifting arm. The rotary drive mechanism is connected to the air shaft to drive the air shaft to rotate. Alternatively, the lifting mechanism in a robot located at the beginning of the frame may also include a rotary drive mechanism and an air shaft located at the free end of the lifting arm. The rotary drive mechanism is connected to the air shaft to drive the air shaft to rotate. The lifting mechanism in a robot located at other positions on the frame may also include a spindle located at the free end of the lifting arm.

[0007] A further improvement of the feeding robot of this utility model is that the frame includes multiple columns, two crossbeams and two connecting beams. The two crossbeams are arranged in parallel relative to each other and are fixed on the multiple columns. The two connecting beams are respectively fixed to the two ends of the two crossbeams.

[0008] A further improvement of the feeding robot of this utility model is that the X-axis drive mechanism includes an X-axis drive component, two X-axis racks and two X-axis gears. The two X-axis racks are fixed to the two crossbeams in a one-to-one correspondence, and the two X-axis gears are meshed with the two X-axis racks in a one-to-one correspondence. The X-axis drive component is driven and connected to the two X-axis gears, and the X-axis drive component is mounted on the connecting arm.

[0009] A further improvement of the feeding robot of this utility model is that the Y-axis drive mechanism includes a Y-axis rack, two Y-axis drive components, and two Y-axis gears. The Y-axis rack is fixed to the connecting arm, the two Y-axis gears mesh with the Y-axis rack, and the two Y-axis drive components are driven and connected to the two Y-axis gears. The two Y-axis drive components are respectively installed on the two lifting arms. Alternatively, a centering frame is fixed in the middle of the connecting arm; the Y-axis drive mechanism includes a Y-axis drive component, a synchronous belt, a main synchronous pulley, and a driven synchronous pulley. The Y-axis drive component is mounted on the centering frame and is driven by the main synchronous pulley. The driven synchronous pulley is rotatably mounted on both ends of the connecting arm. The synchronous belt is engaged between the main synchronous pulley and the driven synchronous pulley, and the lifting arm assembly is engaged with the synchronous belt.

[0010] The technical solution of this utility model has the following beneficial effects: This utility model's feeding robot achieves movement along the X, Y, and Z axes via X-axis, Y-axis, and Z-axis drive mechanisms. It places the outer packaging at the bottom of the material roll, uses an air-expansion shaft to tighten the roll, and a rotary drive mechanism rotates the entire roll, wrapping the outer packaging around its circumference to complete the packaging operation. A mandrel then clamps the roll, and the robot transfers it to the next workstation. This automates and standardizes the packaging and transportation of material rolls, improving efficiency and solving the technical problems of low efficiency in transportation and packaging operations and low space utilization in production workshops. This utility model automates the packaging and transportation of material rolls through a feeding robot, improving packaging and transportation accuracy and avoiding rework of defective products and subsequent adjustments to transportation positions. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the overall structure of the feeding robot of this utility model; Figure 2 This is a schematic diagram of the structure of the second connecting arm of the feeding robot of this utility model. Figure 1 ; Figure 3 This is a schematic diagram of the structure of the second connecting arm of the feeding robot of this utility model. Figure 2 ; Figure 4 This is a schematic diagram of the structure of the first connecting arm of the feeding robot of this utility model; Figure 5 This is a schematic diagram of the X-axis drive mechanism of a second embodiment of the feeding robot of this utility model; Figure 6 This is a schematic diagram of the first lifting arm structure of the feeding robot of this utility model; Figure 7 This is a schematic diagram of the connection of the rotary drive mechanism of the feeding robot of this utility model.

[0013] Explanation of icon numbers: 1. Column; 2. Crossbeam; 3. Connecting beam; 4. First connecting arm; 5. Second connecting arm; 6. First lifting arm; 7. Second lifting arm; 8. X-axis drive component; 9. First Y-axis drive component; 10. Second Y-axis drive component; 11. Centering frame; 12. Rotary drive mechanism; 13. Air shaft; 14. Z-axis drive mechanism; 15. Mandrel; 16. X-axis rack; 17. Main synchronous pulley; 18. Synchronous belt; 19. Driven synchronous pulley; 20. X-axis gear; 21. First coupling; 22. Y-axis gear; 23. Y-axis rack; 24. Second coupling; 25. Lead screw; 26. Guide component. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0016] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0017] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0018] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0019] like Figures 1-7 As shown, this utility model proposes a feeding robot, comprising: Includes the rack and the moving components mounted on the rack; The mobile component includes a robot and an X-axis drive mechanism. The robot includes a connecting arm, a Y-axis drive mechanism, and a lifting mechanism. The connecting arm is movably mounted on the frame along the X-axis direction via the X-axis drive mechanism. The lifting mechanism is movably mounted on the connecting arm along the Y-axis direction via the Y-axis drive mechanism. The lifting mechanism includes two sets of lifting arms and a Z-axis drive mechanism. The two sets of lifting arms work together to clamp materials. The lifting arms are mounted on the connecting arm in a lifting manner along the Z-axis direction via the Z-axis drive mechanism.

[0020] Furthermore, at least two groups of robots are provided, with the two groups of robots spaced apart and movably mounted on the frame; the X-axis drive mechanism is correspondingly configured with the robots. For example... Figure 1 As shown, in this embodiment, the two sets of robots specifically include a first connecting arm 4 located at the front of the frame and at least one second connecting arm 5 located at the middle or rear of the frame; the lifting arm includes a first lifting arm 6 and a second lifting arm 7, the first lifting arm 6 is connected to the Y-axis drive mechanism on the first connecting arm 4, and the second lifting arm 7 is connected to the Y-axis drive mechanism on the second connecting arm 5.

[0021] Specifically, such as Figure 7 As shown, the rotary drive mechanism 12 includes a motor, a reducer, and a combined bearing. The motor is driven and connected to the reducer, which is connected to the air shaft via the combined bearing, allowing the air shaft to be rotatably mounted on the lower end of the first or second lifting arm. This invention can be used for the outer packaging and transportation of various material rolls, such as tape rolls, paper rolls, or cloth rolls.

[0022] Preferably, the lifting mechanism further includes a rotary drive mechanism and an air shaft disposed at the free end of the lifting arm. The rotary drive mechanism is connected to the air shaft to drive the air shaft to rotate. Alternatively, the lifting mechanism in the robot located at the starting end of the frame also includes a rotary drive mechanism and an air shaft disposed at the free end of the lifting arm. The rotary drive mechanism is connected to the air shaft to drive the air shaft to rotate. The lifting mechanism in the robot located at other positions on the frame also includes a spindle disposed at the free end of the lifting arm. In this embodiment, the Z-axis drive mechanism 14 inside the first and second lifting arms has the same structure and connection relationship. The Z-axis drive mechanism 14 can use a hydraulic cylinder, a pneumatic cylinder, or a structure with a motor and a lead screw to achieve linear drive. In this embodiment, as shown... Figure 6 As shown, the Z-axis drive mechanism 14 is composed of a motor, a second coupling 24, a lead screw 25, and a guide member 26 to form a lead screw and nut pair structure. The motor drives the lead screw 25 to rotate through the second coupling 24. The guide member 26 is connected to the lead screw 25. The rotation of the lead screw 25 drives the guide member 26 and the rotary drive mechanism 12, air shaft 13, or spindle 15 at the end to rise and fall. The Z-axis drive mechanism 14 can also use gears and racks, synchronous belts, electric cylinders, etc. to achieve lifting and falling.

[0023] Preferably, the frame includes multiple uprights 1, two crossbeams 2, and two connecting beams 3. The two crossbeams 2 are arranged parallel to each other and are fixed to the multiple uprights 1. The two connecting beams 3 are respectively fixed to the two ends of the two crossbeams 2. Each crossbeam 2 is fixed to at least two uprights 1, thereby maintaining the stability of the frame.

[0024] Preferably, the X-axis drive mechanism includes an X-axis drive component 8, two X-axis racks 16, and two X-axis gears 20. The two X-axis racks 16 are fixed to the two crossbeams 2 in a one-to-one correspondence, and the two X-axis gears 20 mesh with the two X-axis racks 16 in a one-to-one correspondence. The X-axis drive component 8 is driven and connected to the two X-axis gears 20. The X-axis drive component 8 is respectively mounted on the first connecting arm 4 or the second connecting arm 5. In this embodiment, the two X-axis racks 16 are mounted on the relatively inner sides of the two crossbeams 2, and the X-axis gears 20 mesh with the X-axis racks 16 on the inner side of the crossbeams 2.

[0025] Example 1, as Figure 1 As shown, there are two X-axis drive components 8, which are respectively installed at both ends of the first connecting arm 4. The two X-axis drive components 8 are connected to the two X-axis gears 20 in a one-to-one correspondence. The X-axis drive components 8 are servo motors, and the output of the servo motors is fixed to the X-axis gears 20.

[0026] Example 2, as Figure 5As shown, there is one X-axis drive unit 8, which is fixed to the middle of the first connecting arm 4. Two first couplings are positioned opposite each other on the X-axis drive unit 8, and these two couplings are respectively connected to two X-axis gears 20. The X-axis drive unit 8 adopts a motor and reducer combination structure. The motor output is connected to the reducer input shaft, and the reducer output shaft is connected to the two first couplings.

[0027] Preferred, such as Figure 4 As shown, the first Y-axis drive mechanism includes a Y-axis rack 23, two first Y-axis drive members 9, and two Y-axis gears 22. The Y-axis rack is fixed to the first connecting arm 4, the two Y-axis gears 22 mesh with the Y-axis rack 23, and the two first Y-axis drive members 9 are driven by the two Y-axis gears 22. The two first Y-axis drive members 9 are respectively mounted on the two first lifting arms 6. The first Y-axis drive mechanism can control the movement of the two first lifting arms 6 on the first connecting arm 4, so that the two sets of first lifting arms 6 can synchronously center and clamp the material roll, and can also move different distances according to the offset of the material roll in the width direction, so as to readjust the centerline of the material roll to the position aligned with the entire conveying centerline.

[0028] Preferably, a centering frame 11 is fixed in the middle of the second connecting arm 5, and the centering frame 11 is located at the centerline of the entire conveying line.

[0029] Preferred, such as Figure 2 As shown, the second Y-axis drive mechanism includes a second Y-axis drive member 10, a synchronous belt 18, a main synchronous pulley 17, and two driven synchronous pulleys 19. The second Y-axis drive member 10 is mounted on the centering frame 11 and is driven by the main synchronous pulley 17. The driven synchronous pulleys 19 are rotatably connected to both ends of the second connecting arm 5. The synchronous belt 18 is engaged between the main synchronous pulley 17 and the two driven synchronous pulleys 19. The second lifting arm assembly is engaged with the synchronous belt 18. In this embodiment, the two second lifting arms 7 are engaged with the synchronous belt 18. The second Y-axis drive member 10 drives the main synchronous pulley 17 to rotate, which in turn drives the synchronous belt 18 and the driven synchronous pulleys 19 to rotate, thereby causing the two second lifting arms 7 to move synchronously closer or further apart, thus clamping the material roll. Both the first Y-axis drive member 9 and the second Y-axis drive member 10 can be motors. The second Y-axis drive component 10 can also be driven by a chain and sprocket structure or a positive and negative screw and nut structure.

[0030] The number of stations on the second connecting arm 5 can be set according to the actual needs of material transport length and packaging process. In this embodiment, there are at least two second connecting arms 5. The first connecting arm 4 is movably installed at the front of the frame, and at least two second connecting arms 5 are movably installed at the middle and rear of the frame. Multi-stage transport of material rolls can be achieved through at least two second connecting arms 5.

[0031] When the feeding robot of this utility model is in use, the first connecting arm 4 is controlled to move along the X-axis direction by the X-axis drive mechanism, so that the first connecting arm 4 moves above the outer packaging. The first lifting arm 6 is controlled to move in the Y-axis direction by the first Y-axis drive mechanism, so that the first lifting arm 6 is synchronously centered and clamps the material roll. It can also move different distances according to the offset of the material roll in the width direction. The height of the air shaft 13 on the first lifting arm 6 is controlled by the Z-axis drive mechanism 14. After the air shaft 13 is extended into the inside of the material roll, the material roll is tightened. The rotation drive mechanism 12 drives the air shaft 13 to rotate, so that the entire material roll is rotated, so that the outer packaging is wrapped around the outer surface of the material roll, completing the installation of the outer packaging. Then the center line of the material roll is readjusted to the position aligned with the center line of the entire conveyor. Since the first connecting arm 4 has centered the material roll, the second connecting arm 5 is directly centered through the second Y-axis drive mechanism and the centering frame 11. After the mandrel 15 extends into the inside of the material roll, the material roll is lifted and then moved to the next corresponding station through the X-axis drive mechanism.

[0032] This utility model's feeding robot, through X-axis, Y-axis, and Z-axis drive mechanisms, enables the robot to move along the X, Y, and Z axes. The outer packaging is placed at the bottom of the material roll, and the roll is tightened by the air shaft 13. A rotary drive mechanism 12 rotates the entire material roll, allowing the outer packaging to wrap around its circumference, completing the packaging operation. The roll is then clamped by a mandrel 15 and transferred to the next workstation by the robot. This automates and standardizes the packaging and transportation of material rolls, improving packaging and transportation efficiency and solving the technical problems of low efficiency in existing material roll transportation and packaging operations, as well as low space utilization in production workshops. This utility model automates material roll packaging and transportation through a feeding robot, improving packaging and transportation accuracy and avoiding rework of defective products and subsequent adjustments to transportation positions.

[0033] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A feeding robot, characterized in that, Includes the rack and the moving components mounted on the rack; The mobile component includes a robot and an X-axis drive mechanism. The robot includes a connecting arm, a Y-axis drive mechanism, and a lifting mechanism. The connecting arm is movably mounted on the frame along the X-axis direction via the X-axis drive mechanism. The lifting mechanism is movably mounted on the connecting arm along the Y-axis direction via the Y-axis drive mechanism. The lifting mechanism includes two sets of lifting arms and a Z-axis drive mechanism (14). The two sets of lifting arms work together to clamp the material. The lifting arms are mounted on the connecting arm in a lifting manner along the Z-axis direction via the Z-axis drive mechanism (14).

2. A material feeding robot according to claim 1, characterized in that The robot is configured in at least two groups, with the two groups of robots spaced apart and movable on the frame; the X-axis drive mechanism is configured corresponding to the robot.

3. A material feeding robot according to claim 2, characterized in that The lifting mechanism also includes a rotary drive mechanism (12) and an air shaft (13) disposed at the free end of the lifting arm. The rotary drive mechanism (12) is connected to the air shaft (13) to drive the air shaft (13) to rotate. Alternatively, the lifting mechanism in the robot located at the beginning of the frame may also include a rotary drive mechanism (12) and an air shaft (13) located at the free end of the lifting arm. The rotary drive mechanism (12) is connected to the air shaft (13) to drive the air shaft (13) to rotate. The lifting mechanism in the robot located at other positions on the frame may also include a spindle (15) located at the free end of the lifting arm.

4. A feeding robot according to any one of claims 1-3, characterized in that, The frame includes multiple columns (1), two crossbeams (2) and two connecting beams (3). The two crossbeams (2) are arranged in parallel relative to each other. The crossbeams (2) are fixed on the multiple columns (1), and the two connecting beams (3) are respectively fixed at both ends of the two crossbeams (2).

5. The material feeding robot of claim 4, wherein, The X-axis drive mechanism includes an X-axis drive component (8), two X-axis racks (16) and two X-axis gears (20). The two X-axis racks (16) are fixed to the two crossbeams (2) in a one-to-one correspondence. The two X-axis gears (20) mesh with the two X-axis racks (16) in a one-to-one correspondence. The X-axis drive component (8) is driven and connected to the two X-axis gears (20). The X-axis drive component (8) is mounted on the connecting arm.

6. The material feeding robot of claim 4, wherein, The Y-axis drive mechanism includes a Y-axis rack, two Y-axis drive components (9), and two Y-axis gears. The Y-axis rack is fixed to the connecting arm, the two Y-axis gears mesh with the Y-axis rack, and the two Y-axis drive components (9) are driven and connected to the two Y-axis gears. The two Y-axis drive components (9) are respectively installed on the two lifting arms. Alternatively, a centering frame (11) is fixed in the middle of the connecting arm; the Y-axis drive mechanism includes a Y-axis drive component (10), a synchronous belt (18), a main synchronous pulley (17), and a driven synchronous pulley (19). The Y-axis drive component (10) is mounted on the centering frame (11), and the Y-axis drive component (10) is driven to the main synchronous pulley (17). The driven synchronous pulley (19) is rotatably mounted on both ends of the connecting arm. The synchronous belt (18) is engaged between the main synchronous pulley (17) and the driven synchronous pulley (19). The lifting arm assembly is engaged with the synchronous belt (18).

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