CN113979374A - Double-cantilever shaft loading type AGV system - Google Patents
Double-cantilever shaft loading type AGV system Download PDFInfo
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- CN113979374A CN113979374A CN202010729954.1A CN202010729954A CN113979374A CN 113979374 A CN113979374 A CN 113979374A CN 202010729954 A CN202010729954 A CN 202010729954A CN 113979374 A CN113979374 A CN 113979374A
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- 238000013519 translation Methods 0.000 claims abstract description 65
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- 238000009987 spinning Methods 0.000 claims 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 210000001503 joint Anatomy 0.000 description 11
- 238000003825 pressing Methods 0.000 description 7
- 238000004804 winding Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 239000002699 waste material Substances 0.000 description 5
- 239000011888 foil Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 2
- 230000020347 spindle assembly Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to the technical field of AGV, and particularly relates to a double-cantilever shaft loading type AGV system. The automatic guided vehicle comprises an AGV, a translation mechanism, a rotating mechanism, a lifting mechanism, a pushing mechanism, a secondary shaft assembly and a main shaft assembly, wherein the translation mechanism is arranged on the AGV and has a degree of freedom of moving along the direction X, Y; the lifting mechanism is rotatably arranged on the translation mechanism and has the freedom degree of moving along the Z direction; the rotating mechanism is arranged on the translation mechanism and connected with the lifting mechanism, and is used for driving the lifting mechanism to rotate around the Z axis; the main shaft assembly is arranged on the lifting mechanism along the horizontal direction, and the auxiliary shaft assembly is connected with the main shaft assembly in parallel through the connecting frame assembly and can move along the axial direction relative to the main shaft assembly. The invention avoids the uncertainty of manual operation, improves the stability of pre-adjustment, ensures the rapid beat production and transportation of the workshop pole piece, and has good effect when being popularized in the workshop.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to a double-cantilever shaft loading type AGV system.
Background
In recent years, the development of domestic new energy markets is faster and faster, and the requirement of each new energy battery factory on the automation degree of a production line is higher and higher. At present, the applications of coating cold pressing AGV and die cutting storage AGV in the industry are very mature, but the AGV cases used for the cold pressing pre-cutting machine are few. In the traditional production process, a buffer station is generally arranged beside a machine table, and after an AGV conveys and butts a material to the buffer station, the material is manually lifted to the machine table by using a mechanical assistance arm. This process has the following problems: in high-beat production, the frequency of using a mechanical assistance arm by a worker is high, and the labor intensity of the worker is high; the required production workshop area is large, and the field is required to be large enough during the operation of the mechanical power-assisted arm so that the logistics are smooth; a cache stand and a cargo space detection sensor for automatic butt joint are required to be arranged at the side of the machine table, so that the cost is increased; the buffer stand and the mechanical power-assisted arm need extra time and cost for maintenance; empty rolls and full rolls require different AGVs to be transported.
Based on the problems, a double-cantilever-shaft AGV system is urgently needed at present, so that the artificial potential risk is avoided, and the automatic transfer of materials is realized.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a double-cantilever axle loading type AGV system to avoid human potential risks, so as to implement automatic material transfer.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-cantilever shaft loading type AGV system comprises an AGV, a translation mechanism, a rotating mechanism, a lifting mechanism, a pushing mechanism, a counter shaft assembly and a main shaft assembly;
the translation mechanism is arranged on the AGV and has the freedom degree of moving along the direction X, Y;
the lifting mechanism is rotatably arranged on the translation mechanism and has a degree of freedom of moving along the Z direction;
the rotating mechanism is arranged on the translation mechanism and connected with the lifting mechanism, and the rotating mechanism is used for driving the lifting mechanism to rotate around a Z axis;
the main shaft assembly is arranged on the lifting mechanism along the horizontal direction, and the auxiliary shaft assembly is connected with the main shaft assembly in parallel through the connecting frame assembly and can move along the axial direction relative to the main shaft assembly.
The translation mechanism comprises an X-direction translation bottom plate, an X-direction slide rail, a Y-direction translation bottom plate, a Y-direction slide rail, an installation bottom plate, a Y-direction driving mechanism and an X-direction driving mechanism, wherein the installation bottom plate is arranged on the AGV car, the Y-direction slide rail is arranged on the installation bottom plate, and the Y-direction translation bottom plate is connected with the Y-direction slide rail in a sliding manner;
the Y-direction driving mechanism is arranged on the AGV and is connected with the Y-direction translation bottom plate; the Y-direction driving mechanism is used for driving the Y-direction translation bottom plate to move along the Y-direction sliding rail;
the X-direction sliding rail is arranged on the Y-direction translation bottom plate, and the X-direction translation bottom plate is connected with the X-direction sliding rail in a sliding manner;
the X-direction driving mechanism is arranged on the Y-direction translation bottom plate and is connected with the X-direction translation bottom plate; the X-direction driving mechanism is used for driving the X-direction translation bottom plate to move along the X-direction sliding rail;
the lifting mechanism is arranged on the X-direction translation bottom plate.
The rotating mechanism comprises a self-rotating rack and a rotating driving mechanism, wherein the self-rotating rack is arranged on the X-direction translation bottom plate and is of an arc structure; the rotary driving mechanism is arranged on the lifting mechanism;
the rotary driving mechanism comprises a rotary driving motor and a driving gear arranged at the output end of the rotary driving motor, and the driving gear is meshed with the self-rotating rack; the rotary driving motor drives the driving gear to rotate, so that the lifting mechanism is driven to rotate relative to the X-direction translation bottom plate.
The lifting mechanism comprises a lifting frame, a lifting sliding plate, a lifting sliding rail and a lifting driving mechanism, wherein the lifting frame is arranged on the translation mechanism, the lifting sliding rail is arranged on the lifting frame along the vertical direction, and the lifting sliding plate is connected with the lifting sliding rail in a sliding manner; the lifting driving mechanism is arranged on the lifting frame and is in sliding connection with the lifting sliding plate; the lifting driving mechanism is used for driving the lifting sliding plate to move along the lifting sliding plate.
The spindle assembly comprises a rotary shaft body, a pushing mechanism, a lifting pin assembly and an end cover, wherein the rotary shaft body is horizontally arranged, and the head end of the rotary shaft body is connected with the lifting mechanism; the rotary shaft body is of a hollow structure, and the tail end of the rotary shaft body is provided with an end cover;
the lifting pin assembly is arranged in the rotating shaft body and is positioned at the tail end of the rotating shaft body, and the lifting pin assembly is used for axially limiting materials sleeved on the rotating shaft body;
the pushing mechanism is arranged on the rotating shaft body and used for pushing the material on the rotating shaft body;
the auxiliary shaft assembly and the main shaft assembly are identical in structure.
The lifting pin component comprises a driving seat, a linear driving mechanism, a turning push rod, a turning pin and a turning pin fixing seat, wherein the turning pin fixing seat is arranged at the tail end of the turning shaft body, the inner side end of the turning pin is hinged to the turning pin fixing seat, and the outer side end of the turning pin is provided with a limiting hook;
the linear driving mechanism is arranged on the driving seat and can move along the axial direction; the output end of the linear driving mechanism is connected with the overturning push rod, the pushing end surface of the overturning push rod is an inclined surface, and the inclined surface is in contact with the overturning pin; the overturning push rod moves forwards under the driving of the linear driving mechanism, so that the overturning pin is pushed to overturn upwards.
And a bearing is arranged at the bottom of the overturning pin.
A plurality of rollers are axially arranged on the outer surface of the rotary shaft body.
The pushing mechanism comprises a sliding base, a driving gear, a pushing guide rail, a pushing block, a pushing rack and a pushing motor, wherein the pushing guide rail and the pushing rack are axially arranged on the rotating shaft body; the pushing block is elastically connected to the sliding base and used for pushing the materials on the rotating shaft body.
The connecting frame assembly comprises a connecting frame, an auxiliary shaft driving assembly, an auxiliary shaft driving guide rail and an auxiliary shaft mounting plate, wherein the connecting frame is sleeved on the main shaft assembly; the auxiliary shaft driving guide rail is arranged on the connecting frame and is parallel to the main shaft assembly; the auxiliary shaft mounting plate is connected with the auxiliary shaft driving guide rail in a sliding mode, the auxiliary shaft driving assembly is arranged on the connecting frame and connected with the auxiliary shaft mounting plate, and the auxiliary shaft driving assembly is used for driving the auxiliary shaft mounting plate to slide along the auxiliary shaft driving guide rail; the auxiliary shaft assembly is arranged on the auxiliary shaft mounting plate.
The invention has the advantages and beneficial effects that:
1. the automatic pole piece and winding drum conveying system is combined with an AGV system, so that the automatic conveying of pole pieces and winding drums or other roll-shaped materials of the cold pressing, pre-slitting and die cutting and slitting integrated machine is realized.
2. According to the invention, part of the operation process is changed from manual operation to automatic operation of equipment, so that the uncertainty of manual operation is avoided, and the stability of pre-adjustment is improved. Because stability and precision improve, equipment response time is short moreover, has guaranteed the fast beat production and the transportation of workshop pole piece, and this equipment promotes in the workshop, and is respond well.
Drawings
FIG. 1 is a schematic diagram of a double cantilever axle loading AGV system according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural view of a translation mechanism according to the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a cross-sectional view B-B of FIG. 4;
FIG. 6 is a top view of FIG. 3;
FIG. 7 is a schematic view of a lifting mechanism according to the present invention;
FIG. 8 is a cross-sectional view C-C of FIG. 7;
FIG. 9 is a left side view of FIG. 7;
FIG. 10 is an enlarged view taken at I in FIG. 8;
FIG. 11 is a schematic view showing the structure of a driving shaft in the present invention;
FIG. 12 is a schematic view showing an internal structure of a driving shaft in the present invention;
FIG. 13 is a schematic view of the pushing mechanism of the present invention;
FIG. 14 is a schematic structural view of the lift pin assembly of the present invention;
FIG. 15 is a cross-sectional view E-E of FIG. 14;
FIG. 16 is a schematic view of the installation of the lay shaft assembly of the present invention;
fig. 17 is a view in the direction C of fig. 16.
In the figure: 1 is an AGV body, 2 is a translation mechanism, 201 is an X-direction translation bottom plate, 202 is an X-direction slide rail, 203 is a Y-direction translation bottom plate, 204 is a Y-direction slide rail, 205 is a mounting bottom plate, 206 is a drag chain, 207 is a Y-direction driving mechanism, 208 is a Y-direction connecting block, 209 is a connecting rib plate, 210 is an X-axis side baffle, 211 is a self-rotating rack, 212 is a Y-axis end baffle, 213 is an X-direction driving mechanism, 214 is an X-direction connecting block, 216 is a Y detecting sheet, 217 is a Y switch bracket, 218 is a Y-axis side baffle, 219 is an X-axis end baffle, 220 is a stop pin, 221 is a rotation detecting block, 222 is a lead pipe I, 223 is a lead plate, 224 is a lead pipe II, 3 is a lifting mechanism, 301 is a lifting frame, 302 is a lifting slide plate, 303 is a lifting lead screw, 304 is a lifting slide rail, 305 is a lower cushion, 306 is a Z-axis connecting block, 307 is a rotation switch bracket, 309 is an upper cushion, 310 is a lifting driving motor, 311 is a screw nut seat, 312 is a Z-direction switch bracket, 313 is a rotation driving mechanism, 314 is a driving gear, 315 is a driving gear end cover, 316 is an idle gear assembly, 317 is a screw gear, 318 is a gear box, 319 is a buffer pad bracket, 4 is a countershaft assembly, 5 is a main shaft assembly, 501 is a connecting shaft sleeve, 502 is a pushing part detecting body, 503 is a pushing switch, 504 is a rotation shaft body, 505 is a roller, 506 is a pushing mechanism, 5061 is a sliding base, 5062 is a driving gear, 5063 is a pushing guide rail, 5064 is a pushing block, 5065 is a pushing rack, 507 is a pushing mechanism block, 508 is a lifting pin assembly, 5081 is a driving seat, 5082 is an electric push rod, 5083 is a microswitch, 5084 is a stop pin, 5085 is a turning push rod, 5086 is a torsion spring, 5087 is a hinge shaft, 5088 is a bearing, 5089 is a turning pin, 50810 is a camera, 50811 is a reflection switch, 50 50812 is a turning pin fixing seat, 50813 is a connecting shaft, 50814 is a tension spring, 509 is a distance measuring switch bracket, 510 is an end cover, 6 is a connecting frame, 7 is an auxiliary shaft driving component, 701 is an auxiliary shaft driving motor, 702 is an auxiliary shaft driving gear, 703 is an auxiliary shaft driving lead screw gear, 704 is an auxiliary shaft driving lead screw, 8 is an auxiliary shaft driving guide rail, 9 is an auxiliary shaft mounting plate, 10 is an auxiliary shaft connecting block, 11 is an auxiliary shaft sliding block, and 12 is an auxiliary shaft baffle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the double-cantilever-shaft loading AGV system provided by the present invention includes an AGV car 1, a translation mechanism 2, a rotation mechanism, a lifting mechanism 3, a pushing mechanism 4, a secondary shaft assembly 4 and a primary shaft assembly 5, wherein the translation mechanism 2 is disposed on the AGV car 1 and has a degree of freedom of movement along direction X, Y; the lifting mechanism 3 is rotatably arranged on the translation mechanism 2 and has a degree of freedom of movement along the Z direction; the rotating mechanism is arranged on the translation mechanism 2 and connected with the lifting mechanism 3, and is used for driving the lifting mechanism 3 to rotate around the Z axis; the main shaft assembly 5 is arranged on the lifting mechanism 3 along the horizontal direction, and the auxiliary shaft assembly 4 is connected with the main shaft assembly 5 in parallel through a connecting frame assembly and can move along the axial direction relative to the main shaft assembly 5.
In the embodiment of the invention, as shown in fig. 3-6, the translation mechanism 2 includes an X-direction translation bottom plate 201, an X-direction slide rail 202, a Y-direction translation bottom plate 203, a Y-direction slide rail 204, a mounting bottom plate 205, a Y-direction driving mechanism 207 and an X-direction driving mechanism 213, wherein the mounting bottom plate 205 is arranged on the AGV 1, the Y-direction slide rail 204 is arranged on the mounting bottom plate 205, two ends of the Y-direction slide rail 204 are provided with Y-axis end baffles 212, the outer side of the Y-direction slide rail 204 is provided with Y-axis side baffles 218, and the Y-direction translation bottom plate 203 is connected with the Y-direction slide rail 204 in a sliding manner; the Y-direction driving mechanism 207 is arranged on the AGV car 1 and is connected with the Y-direction translation bottom plate 203; the Y-direction driving mechanism 207 is used for driving the Y-direction translation bottom plate 203 to move along the Y-direction slide rail 204; the X-direction sliding rail 202 is arranged on the Y-direction translation bottom plate 203, and the X-direction translation bottom plate 201 is connected with the X-direction sliding rail 202 in a sliding manner; the X-direction driving mechanism 213 is disposed on the Y-direction translation base plate 203 and connected to the X-direction translation base plate 201; the X-direction driving mechanism 213 is used for driving the X-direction translation bottom plate 201 to move along the X-direction slide rail 202; the lifting mechanism 3 is rotatably disposed on the X-direction translation base plate 201.
Specifically, the Y-direction driving mechanism 207 and the X-direction driving mechanism 213 both adopt a screw nut mechanism, and the layers are coupled by a linear guide pair to ensure stable and smooth sliding during the push-pull movement.
In the embodiment of the present invention, as shown in fig. 6 and 8, the rotation mechanism includes a spin rack 211 and a rotation driving mechanism 313, wherein the spin rack 211 is disposed on the X-direction translation base plate 201 and has an arc structure; the rotation driving mechanism 313 is arranged on the lifting mechanism 3; specifically, the rotation driving mechanism 313 includes a rotation driving motor and a driving gear provided at an output end of the rotation driving motor, and the driving gear is engaged with the spin rack 211; the rotary driving motor drives the driving gear to rotate, so as to drive the lifting mechanism 3 to rotate relative to the X-direction translation bottom plate 201.
In the embodiment of the present invention, as shown in fig. 7-9, the lifting mechanism 3 includes a lifting frame 301, a lifting sliding plate 302, a lifting sliding rail 304 and a lifting driving mechanism, wherein the lifting frame 301 is disposed on the translation mechanism 2, the lifting sliding rail 304 is disposed on the lifting frame 301 along the vertical direction, and the lifting sliding plate 302 is slidably connected to the lifting sliding rail 304; the lifting driving mechanism is arranged on the lifting frame 301 and is connected with the lifting sliding plate 302 in a sliding manner; the lifting driving mechanism is used for driving the lifting sliding plate 302 to move along the lifting sliding plate 302.
Specifically, as shown in fig. 7 to 10, the lifting driving mechanism includes a lifting screw 303, a Z-axis connecting block 306, a lifting driving motor 310, a screw nut seat 311, a driving gear 314, a driving gear end cover 315, an idler gear assembly 316, a screw gear 317, and a gear box 318, wherein the lifting screw 303 is disposed on the lifting frame 301 along the vertical direction, and the upper end portion is provided with the screw gear 317; the lifting driving motor 310 is arranged at the upper end of the lifting frame 301, a driving gear 314 is arranged on an output shaft, a driving gear end cover 315 is arranged outside the driving gear 314, and the driving gear 314 is meshed with the driving gear 314 through an idler gear assembly 316. The gear box 318 covers the driving gear 314, the idle gear assembly 316 and the lead screw gear 317, and is fixedly connected with the lifting frame 301. The screw nut seat 311 is connected with the lifting screw 303 through a nut, and the screw nut seat 311 is connected with the lifting sliding plate 302 through a Z-axis connecting block 306.
Further, the upper and lower ends of the lifting frame 301 are respectively provided with an upper cushion 309 and a lower cushion 305 through cushion brackets 319, and the upper and lower ends of the lifting frame 301 are further provided with an upper limit switch and a lower limit switch through a Z-direction switch bracket 312.
In an embodiment of the present invention, as shown in fig. 11-12, the spindle assembly 5 includes a rotating shaft 504, a pushing mechanism 506, a lift pin assembly 508 and an end cover 510, wherein the rotating shaft 504 is horizontally disposed, and the head end is connected to the lifting mechanism 3; the rotating shaft 504 is a hollow structure, and the end is provided with an end cover 510; the lifter pin assembly 508 is disposed in the rotating shaft 504 and located at the end of the rotating shaft 504, and the lifter pin assembly 508 is used for axially limiting the material sleeved on the rotating shaft 504; the pushing mechanism 506 is disposed on the rotating shaft 504 and used for pushing the material on the rotating shaft 504.
Further, a plurality of rollers 505 are axially provided on the outer surface of the rotating shaft body 504 to reduce frictional resistance between the material and the rotating shaft body 504.
In the embodiment of the present invention, as shown in fig. 14 to 15, the lift pin assembly 508 includes a driving seat 5081, a linear driving mechanism, a turning push rod 5085, a turning pin 5089 and a turning pin fixing seat 50812, wherein the turning pin fixing seat 50812 is disposed at the end of the turning shaft 504, the inner end of the turning pin 5089 is hinged to the turning pin fixing seat 50812, and the outer end is provided with a limit hook; the linear driving mechanism is arranged on the driving seat 5081 and can move along the axial direction; the output end of the linear driving mechanism is connected with a turnover push rod 5085, the pushing end surface of the turnover push rod 5085 is an inclined surface, and the inclined surface is in contact with a turnover pin 5089; the flip push rod 5085 is moved forward by the driving of the linear driving mechanism, thereby pushing the flip pin 5089 to flip upward.
Further, the bottom of the roll-over pin 5089 is provided with a bearing 5088, and the bearing 5088 is in contact with the inclined surface of the roll-over push rod 5085 to reduce frictional resistance.
Specifically, the linear driving mechanism adopts an electric push rod 5082, the end of the electric push rod 5082 is connected with a connecting shaft 50813, two ends of the connecting shaft 50813 are inserted into strip-shaped holes formed in two sides of a driving seat 5081, and simultaneously two ends of the connecting shaft 50813 are connected with the driving seat 5081 through a tension spring 50814. When the flip pin 5089 flips a positional difference with the material, the positional difference can be compensated for by movement of the power push rod 5082.
The main shaft assembly 5 ensures strength and rigidity by means of a structure, and the maximum deformation amount is not more than 1mm when bearing. The gear and rack are driven by the motor, and the pushing mechanism 3 connected through the linear guide rail can ensure that the materials are clamped and do not shake in the running process of the AGV.
In the embodiment of the present invention, the secondary shaft assembly 4 and the primary shaft assembly 5 have the same structure, and are not described herein again.
In the embodiment of the present invention, as shown in fig. 12 to 13, the pushing mechanism includes a sliding base 5061, a driving gear 5062, a pushing guide 5063, a pushing block 5064, a pushing rack 5065 and a pushing motor, wherein the pushing guide 5063 and the pushing rack 5065 are axially disposed on the rotating shaft 504, the sliding base 5061 is slidably connected to the pushing guide 5063, the pushing motor is disposed on the sliding base 5061, and the output end of the pushing motor is connected to the driving gear 5062, and the driving gear 5062 is engaged with the driving gear 5062; the pushing block 5064 is elastically connected to the sliding base 5061 and pushes the material on the rotating shaft 504.
Further, as shown in fig. 11, a pushing part detecting body 502 is connected to the slide base 5061, a plurality of pushing switches 503 are provided in the axial direction on the rotating shaft 504, and the pushing part detecting body 502 and the pushing switches 503 are engaged to detect the position of the material on the rotating shaft 504. As shown in fig. 12, a pushing mechanism stopper 507 is provided near the distal end of the rotating shaft body 504, and the pushing mechanism stopper 507 serves to limit the maximum stroke of the pushing mechanism 506.
In the embodiment of the present invention, as shown in fig. 16-17, the connecting frame assembly includes a connecting frame 6, a secondary shaft driving assembly 7, a secondary shaft driving guide rail 8 and a secondary shaft mounting plate 9, wherein the connecting frame 6 is sleeved on the primary shaft assembly 5; the auxiliary shaft driving guide rail 8 is arranged on the connecting frame 6 and is parallel to the main shaft assembly 5, and an auxiliary shaft baffle plate 12 is arranged at the end part of the auxiliary shaft driving guide rail 8; the auxiliary shaft mounting plate 9 is connected with the auxiliary shaft driving guide rail 8 in a sliding mode through an auxiliary shaft sliding block 11, the auxiliary shaft driving assembly 7 is arranged on the connecting frame 6 and connected with the auxiliary shaft mounting plate 9, and the auxiliary shaft driving assembly 7 is used for driving the auxiliary shaft mounting plate 9 to slide along the auxiliary shaft driving guide rail 8; the countershaft assembly 4 is disposed on a countershaft mounting plate 9.
Specifically, the countershaft driving assembly 7 includes a countershaft driving motor 701, a countershaft driving gear 702, a countershaft driving lead screw gear 703 and a countershaft driving lead screw 704, wherein the countershaft driving lead screw 704 is rotatably disposed on the connecting frame 6 and parallel to the countershaft driving guide rail 8, the countershaft driving lead screw 704 is connected to a countershaft connecting block 10 through a nut, and the countershaft connecting block 10 is connected to a countershaft mounting plate 9. The auxiliary shaft driving motor 701 drives the auxiliary shaft driving screw 704 to rotate through gear transmission, so as to drive the auxiliary shaft assembly 4 to do linear motion relative to the connecting frame 6.
The specific working process of the invention is as follows:
1. the AGV receives a system instruction to take a foil (copper foil/aluminum foil) from a cold-pressing pre-divided lower material position, and then automatically gives a cold-pressing pre-divided lower material position overhead winding drum; and driving away from the docking station after the loading task is finished.
The AGV drives into the machine platform and parks in a preset parking space;
the AGV is installed and adjusted to a preset X, Y, Z position, and the auxiliary shaft assembly 4 is retreated to a retreat point;
correcting the compensation amount in the X, Y, Z direction through a calibrated Laser pointer, and extending the machine platform out of the butt joint fixture after alignment; after the butt joint is in place, the suspension arm shaft stop pin falls down, the butt joint clamp pushes the material roll to the AGV suspension arm shaft, the lifting pin rises after the butt joint clamp is in place, the clamp returns to the machine table, the pushing shaft clamps the material, and each shaft resets.
The AGV advances half a station to align the countershaft assembly 4 with the machine docking shaft.
The AGV is equipped to adjust the secondary axle to a preset X, Y, Z position and calculate the adjustment compensation angle from the data offset through front-to-back navigation.
Correcting the compensation amount in the X, Y, Z direction through a calibrated Laser pointer, and extending the machine platform out of the butt joint fixture after alignment; after the butt joint is in place, the cantilever shaft stop pin falls down, the butt joint clamp pulls the empty coil back to the machine table, and after the butt joint is in place, each shaft resets. This process keeps the signals interacting throughout.
2. The AGV receives a system instruction to transfer a foil (copper foil/aluminum foil) from a cold pressing pre-dividing lower material level to a feeding material level of the die cutting and slitting integrated machine, an empty winding drum with a tail material at the feeding material level is taken down, and then a material roll is fed to the feeding material level; and driving away from the docking station after the transfer task is completed.
3. AGV transports empty reel with tailing to waste room, takes away a clean empty reel
4. The AGV sends the waste materials to a waste material room through a vehicle-mounted roller way machine, and then takes away an empty waste material box.
The automatic transport system is used for automatically transporting pole pieces and winding drums or other roll-shaped materials of the first compatible cold-pressing pre-slitting and die-cutting slitting integrated machine for the outlet, and the AGV is the most important component in the whole system. The system requires that the AGV lifting mechanism is accurate in butt joint (+ -2 mm), high in speed, heavy in load (1000kg), high in stability, strong in compatibility and high in multifunctional integration, the AGV can be in butt joint with production equipment, automatic storage, storage and automatic transfer of pole pieces are achieved, meanwhile, the empty and full waste material boxes and winding drums can be taken, placed and transferred, and the design difficulty is very high. The AGV body adopts two rudder drive wheels, can realize omnidirectional movement, and lifting mechanism adopts multiaxis parallel motion, and XYZ linear direction main motion axle all adopts the motion mode of ball and linear guide collocation, is provided power by servo motor, guarantees the accuracy nature of motion.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A double-cantilever shaft loading type AGV system is characterized by comprising an AGV (1), a translation mechanism (2), a rotating mechanism, a lifting mechanism (3), a pushing mechanism (4), a secondary shaft assembly (4) and a main shaft assembly (5);
the translation mechanism (2) is arranged on the AGV (1) and has the freedom degree of moving along the direction X, Y;
the lifting mechanism (3) is rotatably arranged on the translation mechanism (2) and has a degree of freedom of movement along the Z direction;
the rotating mechanism is arranged on the translation mechanism (2) and connected with the lifting mechanism (3), and is used for driving the lifting mechanism (3) to rotate around a Z axis;
the main shaft assembly (5) is arranged on the lifting mechanism (3) along the horizontal direction, and the auxiliary shaft assembly (4) is connected with the main shaft assembly (5) in parallel through a connecting frame assembly and can move axially relative to the main shaft assembly (5).
2. The double-cantilever-shaft loading type AGV system according to claim 1, wherein the translation mechanism (2) comprises an X-direction translation bottom plate (201), an X-direction slide rail (202), a Y-direction translation bottom plate (203), a Y-direction slide rail (204), a mounting bottom plate (205), a Y-direction driving mechanism (207) and an X-direction driving mechanism (213), wherein the mounting bottom plate (205) is arranged on the AGV car (1), the Y-direction slide rail (204) is arranged on the mounting bottom plate (205), and the Y-direction translation bottom plate (203) is connected with the Y-direction slide rail (204) in a sliding manner;
the Y-direction driving mechanism (207) is arranged on the AGV (1) and is connected with the Y-direction translation bottom plate (203); the Y-direction driving mechanism (207) is used for driving the Y-direction translation bottom plate (203) to move along a Y-direction sliding rail (204);
the X-direction sliding rail (202) is arranged on the Y-direction translation bottom plate (203), and the X-direction translation bottom plate (201) is connected with the X-direction sliding rail (202) in a sliding manner;
the X-direction driving mechanism (213) is arranged on the Y-direction translation bottom plate (203) and is connected with the X-direction translation bottom plate (201); the X-direction driving mechanism (213) is used for driving the X-direction translation bottom plate (201) to move along the X-direction slide rail (202);
the lifting mechanism (3) is arranged on the X-direction translation bottom plate (201).
3. The double-cantilever-shaft loaded AGV system according to claim 2, wherein the rotating mechanism comprises a spinning rack (211) and a rotating drive mechanism (313), wherein the spinning rack (211) is disposed on the X-direction translation floor (201) and has an arc-shaped structure; the rotary driving mechanism (313) is arranged on the lifting mechanism (3);
the rotary driving mechanism (313) comprises a rotary driving motor and a driving gear arranged at the output end of the rotary driving motor, and the driving gear is meshed with the spinning rack (211); the rotary driving motor drives the driving gear to rotate, so that the lifting mechanism (3) is driven to rotate relative to the X-direction translation bottom plate (201).
4. The AGV system according to claim 1, wherein the lifting mechanism (3) comprises a lifting frame (301), a lifting slide (302), a lifting slide (304), and a lifting driving mechanism, wherein the lifting frame (301) is disposed on the translation mechanism (2), the lifting slide (304) is disposed on the lifting frame (301) along a vertical direction, and the lifting slide (302) is slidably connected to the lifting slide (304); the lifting driving mechanism is arranged on the lifting frame (301) and is connected with the lifting sliding plate (302) in a sliding manner; the lifting driving mechanism is used for driving the lifting sliding plate (302) to move along the lifting sliding plate (302).
5. The double cantilever axle loaded AGV system according to claim 1, wherein the main shaft assembly (5) comprises a turning shaft body (504), a pushing mechanism (506), a lift pin assembly (508) and an end cover (510), wherein the turning shaft body (504) is horizontally arranged and the head end is connected to the lifting mechanism (3); the rotary shaft body (504) is of a hollow structure, and the tail end of the rotary shaft body is provided with an end cover (510);
the lifting pin assembly (508) is arranged in the rotary shaft body (504) and is positioned at the tail end of the rotary shaft body (504), and the lifting pin assembly (508) is used for axially limiting materials sleeved on the rotary shaft body (504);
the pushing mechanism (506) is arranged on the rotating shaft body (504) and used for pushing the materials on the rotating shaft body (504);
the auxiliary shaft assembly (4) and the main shaft assembly (5) are identical in structure.
6. The double-cantilever-shaft loaded AGV system according to claim 5, wherein the lift pin assembly (508) includes a driving seat (5081), a linear driving mechanism, a tilting push rod (5085), a tilting pin (5089), and a tilting pin fixing seat (50812), wherein the tilting pin fixing seat (50812) is provided at the end of the tilting shaft body (504), the inner end of the tilting pin (5089) is hinged to the tilting pin fixing seat (50812), and the outer end is provided with a limit hook;
the linear driving mechanism is arranged on the driving seat (5081) and can move along the axial direction; the output end of the linear driving mechanism is connected with a turnover push rod (5085), the pushing end surface of the turnover push rod (5085) is an inclined surface, and the inclined surface is in contact with the turnover pin (5089); the overturning push rod (5085) moves forwards through the driving of the linear driving mechanism, so that the overturning pin (5089) is pushed to overturn upwards.
7. The double cantilevered shaft loaded AGV system of claim 6, wherein the bottom of said flip pin (5089) is provided with a bearing (5088).
8. The AGV system of claim 5 wherein said rotatable shaft (504) has a plurality of rollers (505) axially disposed on an outer surface thereof.
9. The double-cantilever-shaft loading type AGV system according to claim 5, wherein the pushing mechanism comprises a sliding base (5061), a driving gear (5062), a pushing guide rail (5063), a pushing block (5064), a pushing rack (5065) and a pushing motor, wherein the pushing guide rail (5063) and the pushing rack (5065) are axially arranged on the rotating shaft body (504), the sliding base (5061) is slidably connected with the pushing guide rail (5063), the pushing motor is arranged on the sliding base (5061), an output end of the pushing motor is connected with the driving gear (5062), and the driving gear (5062) is engaged with the driving gear (5062); the push block (5064) is elastically connected to the sliding base (5061) and used for pushing the materials on the rotating shaft body (504).
10. The double cantilever axle load AGV system of claim 1, wherein the connection frame assembly comprises a connection frame (6), a secondary axle drive assembly (7), a secondary axle drive guide rail (8) and a secondary axle mounting plate (9), wherein the connection frame (6) is sleeved on the primary axle assembly (5); the auxiliary shaft driving guide rail (8) is arranged on the connecting frame (6) and is parallel to the main shaft assembly (5); the auxiliary shaft mounting plate (9) is connected with the auxiliary shaft driving guide rail (8) in a sliding mode, the auxiliary shaft driving assembly (7) is arranged on the connecting frame (6) and is connected with the auxiliary shaft mounting plate (9), and the auxiliary shaft driving assembly (7) is used for driving the auxiliary shaft mounting plate (9) to slide along the auxiliary shaft driving guide rail (8); the auxiliary shaft assembly (4) is arranged on the auxiliary shaft mounting plate (9).
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| CN211035082U (en) * | 2019-08-28 | 2020-07-17 | 华晓精密工业(苏州)有限公司 | Cantilever lifting AGV |
| CN212503852U (en) * | 2020-07-27 | 2021-02-09 | 沈阳新松机器人自动化股份有限公司 | Double-cantilever shaft loading type AGV system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5688098A (en) * | 1996-01-04 | 1997-11-18 | Theno; Mark H. | Roll transfer system |
| CN104525774A (en) * | 2014-12-08 | 2015-04-22 | 深圳市吉阳自动化科技有限公司 | Pole piece conveying and deviation rectification device |
| CN208292580U (en) * | 2018-05-24 | 2018-12-28 | 福建中科兰剑智能装备科技有限公司 | A kind of AGV vehicle applying to small-sized foil volume |
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| CN113979374B (en) | 2024-01-23 |
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