A roll transfer robot
The roll material transfer robot, which uses a mobile chassis and XYZR four-axis drive components, solves the problem of loading and unloading roll materials in narrow spaces by heavy-duty six-axis robotic arms, and achieves compact and stable transfer of roll materials and space saving.
Patent Information
- Application Number
- CN202522274831.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-10-28
AI Technical Summary
Existing heavy-duty six-axis robotic arms are expensive and bulky, making them unsuitable for loading and unloading coiled materials in confined spaces.
Employing a mobile chassis, XYZR four-axis drive assembly, and a roll transfer mechanism, including a roll buffer mechanism and a roll transfer mechanism, it achieves compact and stable roll transfer, making it suitable for narrow spaces.
It achieves compact and stable transfer of roll materials, saves space, and is suitable for batch roll material loading and unloading needs in narrow spaces.
Smart Images
Figure CN224677425U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of coil material transfer operation robot technology, specifically to a coil material transfer robot. Background Technology
[0002] Coiled materials, such as FPC coils, copper foil coils, and wire coils, are typically handled using heavy-duty six-axis robotic arms to load and unload full or empty coil cores from unwinding or rewinding machines due to their weight. Figure 7 As shown, the core includes a cylinder 111, a core ring 112 extending to both ends of the cylinder 111, and a hook ring portion 113 extending to the outside of the core ring 112. The outer diameter of the cylinder 111 is greater than the outer diameter of the hook ring portion 113 and the outer diameter of the core ring 112.
[0003] However, existing heavy-duty six-axis robotic arms are expensive, bulky, and require a large amount of space, making them unsuitable for use in confined spaces and difficult to meet the needs of loading and unloading large quantities of rolled materials in narrow spaces. Summary of the Invention
[0004] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a roll material transfer robot.
[0005] The objective of this utility model is achieved through the following technical solution: a roll material transfer robot, comprising a mobile chassis and a working unit connected to the top of the mobile chassis. The working unit includes a roll material buffer mechanism connected to the top of the mobile chassis, an XYZR four-axis drive assembly connected to the mobile chassis, and a roll material transfer mechanism fixedly connected to the output end of the XYZR four-axis drive assembly. The XYZR four-axis drive assembly is used to drive the roll material transfer mechanism to move along the XYZR four-axis direction. The roll material buffer mechanism is used to buffer multiple full or empty roll material cores. The roll material transfer mechanism is used to pick up, place, and transfer full or empty roll material cores.
[0006] Preferably, the roll material buffer mechanism includes an inverted L-shaped bracket, a plurality of first roll core support shafts fixedly connected to the side of the inverted L-shaped bracket near the XYZR four-axis drive assembly and spaced apart, and a baffle detachably connected to the end of the first roll core support shaft. The first roll core support shaft is used to store roll cores that are full or empty, and the baffle is used to prevent the roll cores from automatically detaching from the first roll core support shaft.
[0007] Preferably, the baffle protrudes from the top end of the first core support shaft, and the height between the top end of the baffle and the bottom end of the first core support shaft is less than the inner diameter of the core.
[0008] Preferably, the XYZR four-axis drive assembly includes an X-axis linear module connected to the mobile chassis, a Y-axis linear module fixedly connected to the output end of the X-axis linear module, an R-axis rotary unit fixedly connected to the output end of the Y-axis linear module, and a Z-axis linear module fixedly connected to the output end of the R-axis rotary unit. The roll transfer mechanism is fixedly connected to the output end of the Z-axis linear module.
[0009] Preferably, the R-axis rotary unit includes a hollow rotary table fixedly connected to the output end of the Y-axis linear module, and a servo motor fixedly connected to the hollow rotary table. The output end of the servo motor is fixedly connected to the input end of the hollow rotary table, and the output end of the hollow rotary table is fixedly connected to the Z-axis linear module.
[0010] Preferably, the output end of the hollow rotary table is also fixedly connected to a first reinforcing support base, and the first reinforcing support base is fixedly connected to a Z-axis linear module.
[0011] Preferably, the XYZR four-axis drive assembly further includes an X-axis guide rail fixedly connected to the top and bottom surfaces of the roll material buffer mechanism, a first slider slidably connected to the X-axis guide rail, a Y-axis guide rail fixedly connected to the first slider, a second slider slidably connected to the Y-axis guide rail, a fixed plate fixedly connected to the second slider, and a turntable bearing sandwiched between the fixed plate and the Z-axis linear module. The outer ring of the turntable bearing is fixedly connected to the top of the Z-axis linear module, and the inner ring of the turntable bearing is fixedly connected to the bottom of the fixed plate.
[0012] Preferably, the roll transfer mechanism includes a second reinforced support fixedly connected to the output end of the XYZR four-axis drive assembly, a second roll core support shaft fixedly inserted into the second reinforced support, a transverse linear module fixedly connected to the bottom of the second reinforced support, a push-pull plate fixedly connected to the output end of the transverse linear module, and a hook plate fixedly connected to one end of the push-pull plate near the second roll core support shaft. The second roll core support shaft is used to store roll cores that are full or empty, and the hook plate is used to pick up and transfer roll cores that are full or empty.
[0013] Preferably, the top surface of the hook plate is a concave arc surface; the outer diameter of the second core support shaft is smaller than the inner diameter of the core.
[0014] The beneficial effects of this utility model are as follows: The roll material transfer robot of this utility model adopts a mobile chassis and a working unit connected to the top of the mobile chassis. The working unit includes a roll material buffer mechanism connected to the top of the mobile chassis, an XYZR four-axis drive assembly connected to the mobile chassis, and a roll material transfer mechanism fixedly connected to the output end of the XYZR four-axis drive assembly. The XYZR four-axis drive assembly is used to drive the roll material transfer mechanism to move along the XYZR four-axis direction. The roll material buffer mechanism is used to buffer multiple full or empty roll material cores. The roll material transfer mechanism is used to pick up and transfer full or empty roll material cores. When this roll transfer robot picks up and transfers full or empty roll cores from the roll unwinder or roll rewinder, the mobile chassis drives the work unit to move to the side of the roll unwinder or the roll rewinder. The XYZR four-axis drive assembly drives the roll transfer mechanism to move along the XYZR four-axis direction. The roll transfer mechanism takes out the full or empty roll core from the roll unwinder or roll rewinder and transfers it to the roll buffer mechanism. The roll transfer mechanism then takes out the empty or full roll core from the roll buffer mechanism and transfers it to the roll unwinder or roll rewinder. Its structure is compact and highly stable, which is more conducive to saving space volume and can better adapt to narrow spaces. It is suitable for the batch loading and unloading needs of rolls in narrow spaces. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of the transfer core of this utility model; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a partially exploded structural diagram of the present invention; Figure 4 yes Figure 3 Enlarged diagram of A in the middle; Figure 5 This is a schematic diagram of the structure of the XYZR four-axis drive assembly and the roll transfer mechanism described in this utility model; Figure 6 This is a schematic diagram of the structure of the XYZR four-axis drive assembly and the roll transfer mechanism for transferring the roll core described in this utility model; Figure 7 This is a schematic diagram of the structure of the core described in the background art of this utility model.
[0016] The attached figures are labeled as follows: 1. Movable chassis; 2. Coil buffer mechanism; 21. Inverted L-shaped bracket; 22. First core support shaft; 23. Baffle plate; 3. XYZR four-axis drive assembly; 31. X-axis linear module; 32. Y-axis linear module; 33. R-axis rotary unit; 331. Hollow rotary table; 332. Servo motor; 34. Z-axis linear module; 35. X-axis guide rail; 36. First slider; 37. Y-axis guide rail; 38. Second slider; 39. Fixed plate; 310. Turntable bearing; 4. Coil transfer mechanism; 41. Second reinforced support base; 42. Second core support shaft; 43. Transverse linear module; 44. Push-pull plate; 45. Hook plate; 5. First reinforced support base; 6. Z-axis elongated through hole; 7. Screw hole; 111. Cylinder; 112. Core ring; 113. Hook ring part. Detailed Implementation
[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.
[0018] like Figure 1-7 As shown, a roll material transfer robot includes a mobile chassis 1 and a working unit connected to the top of the mobile chassis 1. The working unit includes a roll material buffer mechanism 2 connected to the top of the mobile chassis 1, an XYZR four-axis drive assembly 3 connected to the mobile chassis 1, and a roll material transfer mechanism 4 fixedly connected to the output end of the XYZR four-axis drive assembly 3. The XYZR four-axis drive assembly 3 is used to drive the roll material transfer mechanism 4 to move along the XYZR four-axis direction. The roll material buffer mechanism 2 is used to buffer multiple full or empty roll material cores. The roll material transfer mechanism 4 is used to pick up and transfer full or empty roll material cores.
[0019] When this roll transfer robot picks up and transfers full or empty roll cores from a roll unwinder or roll rewinder, the mobile chassis 1 drives the work unit to move to the side of the roll unwinder or roll rewinder. The XYZR four-axis drive assembly 3 drives the roll transfer mechanism 4 to move along the XYZR four-axis direction. The roll transfer mechanism 4 takes out the full or empty roll core from the roll unwinder or roll rewinder and transfers it to the roll buffer mechanism 2. The roll transfer mechanism 4 then takes out the empty or full roll core from the roll buffer mechanism 2 and transfers it to the roll unwinder or roll rewinder. Its structure is compact and highly stable, which is more conducive to saving space and adapting to narrow spaces, making it suitable for the batch loading and unloading needs of rolls in narrow spaces. It should be noted that the mobile chassis 1 is existing technology and is only used as an application here.
[0020] Furthermore, the roll material buffer mechanism 2 includes an inverted L-shaped bracket 21, multiple first core support shafts 22 fixedly connected to the side of the inverted L-shaped bracket 21 near the XYZR four-axis drive assembly 3 and spaced apart, and baffles 23 detachably connected to the ends of the first core support shafts 22. The first core support shafts 22 are used to store full or empty roll materials, and the baffles 23 are used to prevent the roll materials from automatically detaching from the first core support shafts 22. The inverted L-shaped bracket 21 is generally inverted L-shaped. It uses the first core support shafts 22 to store full or empty roll materials, and after the final material change is completed, it is transferred to the next process for unloading. The baffles 23 intercept the roll materials on the first core support shafts 22 to prevent the roll materials transfer robot from automatically detaching from the first core support shafts 22 during movement.
[0021] Furthermore, the baffle 23 protrudes from the top end of the first core support shaft 22, and the height between the top end of the baffle 23 and the bottom end of the first core support shaft 22 is less than the inner diameter of the core. This ensures that the core can be fed into or removed from the first core support shaft 22, and also prevents the core from automatically detaching from the first core support shaft 22 after it has been fed into it. More preferably, the baffle 23 has a Z-shaped elongated through hole 6, and the end of the first core support shaft 22 has a screw hole 7. A screw can be threaded through the Z-shaped elongated through hole 6 and connected to the screw hole 7 to adjust the distance by which the baffle 23 protrudes from the top end of the first core support shaft 22.
[0022] Furthermore, the XYZR four-axis drive assembly 3 includes an X-axis linear module 31 connected to the mobile chassis 1, a Y-axis linear module 32 fixedly connected to the output end of the X-axis linear module 31, an R-axis rotary unit 33 fixedly connected to the output end of the Y-axis linear module 32, and a Z-axis linear module 34 fixedly connected to the output end of the R-axis rotary unit 33. The roll material transfer mechanism 4 is fixedly connected to the output end of the Z-axis linear module 34, thereby enabling the XYZR four-axis drive assembly 3 to drive the roll material transfer mechanism 4 to move along the XYZR four-axis direction.
[0023] Furthermore, the R-axis rotary unit 33 includes a hollow rotary table 331 fixedly connected to the output end of the Y-axis linear module 32, and a servo motor 332 fixedly connected to the hollow rotary table 331. The output end of the servo motor 332 is fixedly connected to the input end of the hollow rotary table 331, and the output end of the hollow rotary table 331 is fixedly connected to the Z-axis linear module 34.
[0024] Furthermore, the output end of the hollow rotary table 331 is also fixedly connected to a first reinforcing support 5, which is fixedly connected to the Z-axis linear module 34. The first reinforcing support 5 strengthens and improves the connection stability of the Z-axis linear module 34, preventing the Z-axis linear module 34 from becoming loose and affecting the normal use of the roll transfer mechanism 4.
[0025] Furthermore, the XYZR four-axis drive assembly 3 also includes an X-axis guide rail 35 fixedly connected to the top and bottom surfaces of the roll buffer mechanism 2, a first slider 36 slidably connected to the X-axis guide rail 35, a Y-axis guide rail 37 fixedly connected to the first slider 36, a second slider 38 slidably connected to the Y-axis guide rail 37, a fixing plate 39 fixedly connected to the second slider 38, and a turntable bearing 310 sandwiched between the fixing plate 39 and the Z-axis linear module 34. The outer ring of the turntable bearing 310 is fixedly connected to the top of the Z-axis linear module 34, and the inner ring of the turntable bearing 310 is fixedly connected to the bottom of the fixing plate 39. This further improves the connection stability of the Z-axis linear module 34, preventing the Z-axis linear module 34 from loosening and affecting the normal use of the roll transfer mechanism 4, while ensuring the smooth movement of the Z-axis linear module 34 when driven by the XYZR four-axis drive assembly 3.
[0026] Furthermore, the roll material transfer mechanism 4 includes a second reinforced support base 41 fixedly connected to the output end of the XYZR four-axis drive assembly 3, a second core support shaft 42 fixedly inserted into the second reinforced support base 41, a transverse linear module 43 fixedly connected to the bottom of the second reinforced support base 41, a push-pull plate 44 fixedly connected to the output end of the transverse linear module 43, and a hook plate 45 fixedly connected to one end of the push-pull plate 44 near the second core support shaft 42. The second core support shaft 42 is used to store full or empty roll materials, and the hook plate 45 is used to pick up and transfer full or empty roll materials. In actual use, the core includes a cylinder 111, a core ring 112 extending to both ends of the cylinder 111, and a hook ring portion 113 extending to the outside of the core ring 112. The outer diameter of the cylinder 111 is greater than the outer diameter of the hook ring portion 113 and the outer diameter of the core ring 112, so that the hook plate 45 can abut against the outside of the core ring 112 and lift the core with the help of the Z-axis linear module 34. The hook plate 45 can abut against the cylinder 111 and push the core with the help of the transverse linear module 43. The hook plate 45 can abut against the core ring 112 and the hook ring portion 113 and remove the core with the help of the transverse linear module 43.
[0027] When a full or empty roll of core material needs to be transferred from the first core support shaft 22 to the second core support shaft 42, the XYZR four-axis drive assembly 3 drives the roll material transfer mechanism 4, and the transverse linear module 43 drives the push-pull plate 44 to move the hook plate 45, causing the hook plate 45 to abut against the cylinder 111. With the help of the Z-axis linear module 34, the hook plate 45 abuts against the outside of the core ring 112 and lifts the core, thus overcoming the movement restriction of the core by the baffle 23. Then, the transverse linear module 43 uses the hook plate 45 to abut against the core ring 112 and the hooking ring 113 to remove the core and transfer it to the second core support shaft 42. At this time, the hook plate 45 continues to abut against the core ring 112 and the hooking ring 113 to prevent the core from easily detaching from the second core support shaft 42. Furthermore, the transverse linear module 43 is spatially perpendicular to the Z-axis linear module 34.
[0028] Furthermore, the top surface of the hook plate 45 is concave; the outer diameter of the second core support shaft 42 is smaller than the inner diameter of the core. The concave surface of the hook plate 45 is more conducive to the abutment and cooperation between the top surface of the hook plate 45 and the outer bottom surface of the core ring 112, avoiding the core from shifting after the hook plate 45 lifts the core ring 112, which would affect the connection of the first core support shaft 22 or the second core support shaft 42 to the core.
[0029] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this utility model are within the protection scope of this utility model.
Claims
1. A coil transfer robot, comprising a mobile chassis and a work unit connected to the top of the mobile chassis, characterized in that: The work unit includes a roll material buffer mechanism connected to the top of the mobile chassis, an XYZR four-axis drive assembly connected to the mobile chassis, and a roll material transfer mechanism fixedly connected to the output end of the XYZR four-axis drive assembly. The XYZR four-axis drive assembly is used to drive the roll material transfer mechanism to move along the XYZR four-axis direction. The roll material buffer mechanism is used to buffer multiple full or empty roll cores. The roll material transfer mechanism is used to pick up and transfer full or empty roll cores.
2. The roll material transfer robot according to claim 1, characterized in that: The coil buffer mechanism includes an inverted L-shaped bracket, a plurality of first core support shafts fixedly connected to the side of the inverted L-shaped bracket near the XYZR four-axis drive assembly and spaced apart, and a baffle detachably connected to the end of the first core support shaft. The first core support shaft is used to store the core of the coil, whether it is full or empty, and the baffle is used to prevent the core from automatically detaching from the first core support shaft.
3. The roll material transfer robot according to claim 2, characterized in that: The baffle protrudes from the top end of the first core support shaft, and the height between the top end of the baffle and the bottom end of the first core support shaft is less than the inner diameter of the core.
4. The coil transfer robot according to claim 1, characterized in that: The XYZR four-axis drive assembly includes an X-axis linear module connected to the mobile chassis, a Y-axis linear module fixedly connected to the output end of the X-axis linear module, an R-axis rotary unit fixedly connected to the output end of the Y-axis linear module, and a Z-axis linear module fixedly connected to the output end of the R-axis rotary unit. The roll transfer mechanism is fixedly connected to the output end of the Z-axis linear module.
5. A roll material transfer robot according to claim 4, characterized in that: The R-axis rotary unit includes a hollow rotary table fixedly connected to the output end of the Y-axis linear module, and a servo motor fixedly connected to the hollow rotary table. The output end of the servo motor is fixedly connected to the input end of the hollow rotary table, and the output end of the hollow rotary table is fixedly connected to the Z-axis linear module.
6. A coil transfer robot according to claim 5, characterized in that: The output end of the hollow rotary table is also fixedly connected to a first reinforcing support base, which is fixedly connected to a Z-axis linear module.
7. A coil transfer robot according to claim 4, characterized in that: The XYZR four-axis drive assembly also includes an X-axis guide rail fixedly connected to the top and bottom surfaces of the roll material buffer mechanism, a first slider slidably connected to the X-axis guide rail, a Y-axis guide rail fixedly connected to the first slider, a second slider slidably connected to the Y-axis guide rail, a fixed plate fixedly connected to the second slider, and a turntable bearing sandwiched between the fixed plate and the Z-axis linear module. The outer ring of the turntable bearing is fixedly connected to the top of the Z-axis linear module, and the inner ring of the turntable bearing is fixedly connected to the bottom of the fixed plate.
8. A coil transfer robot according to claim 1, characterized in that: The roll transfer mechanism includes a second reinforced support base fixedly connected to the output end of the XYZR four-axis drive assembly, a second roll core support shaft fixedly inserted into the second reinforced support base, a transverse linear module fixedly connected to the bottom of the second reinforced support base, a push-pull plate fixedly connected to the output end of the transverse linear module, and a hook plate fixedly connected to one end of the push-pull plate near the second roll core support shaft. The second roll core support shaft is used to store roll cores that are full or empty, and the hook plate is used to pick up and transfer roll cores that are full or empty.
9. A coil transfer robot according to claim 8, characterized in that: The top surface of the hook plate is concave; the outer diameter of the second core support shaft is smaller than the inner diameter of the core.