CN113979374B - Double-cantilever-shaft material-carrying type AGV system - Google Patents
Double-cantilever-shaft material-carrying type AGV system Download PDFInfo
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- CN113979374B CN113979374B CN202010729954.1A CN202010729954A CN113979374B CN 113979374 B CN113979374 B CN 113979374B CN 202010729954 A CN202010729954 A CN 202010729954A CN 113979374 B CN113979374 B CN 113979374B
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- 230000007246 mechanism Effects 0.000 claims abstract description 155
- 238000013519 translation Methods 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 34
- 230000007306 turnover Effects 0.000 claims description 28
- 230000009977 dual effect Effects 0.000 claims description 11
- 230000020347 spindle assembly Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000012546 transfer Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 9
- 238000003825 pressing Methods 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000002699 waste material Substances 0.000 description 5
- 239000011888 foil Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 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
- 230000000903 blocking effect Effects 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction 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
- 230000004044 response Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transmission Devices (AREA)
Abstract
The invention belongs to the technical field of AGVs, and particularly relates to a double-cantilever-shaft loading type AGV system. The automatic feeding device comprises an AGV, a translation mechanism, a rotation mechanism, a lifting mechanism, a pushing mechanism, a secondary shaft assembly and a primary shaft assembly, wherein the translation mechanism is arranged on the AGV and has a degree of freedom of moving along the X, Y direction; the lifting mechanism is rotatably arranged on the translation mechanism and has the freedom degree of movement 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 uncertainty of manual operation, improves stability of pre-adjustment, ensures fast beat production and transfer of pole pieces in workshops, and has good effect when being popularized in workshops.
Description
Technical Field
The invention belongs to the technical field of AGVs, and particularly relates to a double-cantilever-shaft loading type AGV system.
Background
In recent years, the development of the domestic new energy market is faster and faster, and the requirement of each new energy battery factory on the automation degree of the production line is higher and higher. The application of the cold-pressing AGV and the die-cutting storage AGV in the industry is very mature, and the AGV for the cold-pressing pre-cutting machine has few cases. In the traditional production process, a buffer station is generally arranged beside a machine table, and after an AGV conveys and butts up the material to the buffer station, the material is lifted onto the machine table manually by using a mechanical booster arm. This process has the following problems: under the production of high beats, the frequency of using mechanical force-assisting arms by workers is high, and the labor intensity of the workers is high; the required production workshop area is large, and the required field is large enough when the mechanical booster arm works, so that the logistics is smooth; the machine side is required to be provided with a cache stand and a goods space detection sensor for automatic butt joint, so that the cost is increased; the buffer rack and the mechanical booster arm need additional time and cost for maintenance; empty rolls and full rolls require different AGVs for transport.
Based on the problems, a double-cantilever-shaft AGV system is urgently needed at present, and the artificial potential risk is avoided, so that automatic transfer of materials is realized.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a double-cantilever-shaft material-carrying AGV system so as to avoid the potential risk of people and realize automatic material transfer.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a double-cantilever-shaft material-carrying type AGV system comprises an AGV vehicle, a translation mechanism, a rotation mechanism, a lifting mechanism, a pushing mechanism, a secondary shaft assembly and a primary shaft assembly;
the translation mechanism is arranged on the AGV and has a degree of freedom of moving along the X, Y direction;
the lifting mechanism is rotatably arranged on the translation mechanism and has the freedom degree of movement 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 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 translation mechanism comprises an X-direction translation bottom plate, an X-direction sliding rail, a Y-direction translation bottom plate, a Y-direction sliding rail, a mounting bottom plate, a Y-direction driving mechanism and an X-direction driving mechanism, wherein the mounting bottom plate is arranged on the AGV, the Y-direction sliding rail is arranged on the mounting bottom plate, and the Y-direction translation bottom plate is in sliding connection with the Y-direction sliding rail;
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 in sliding connection with the X-direction sliding rail;
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 spin rack and a rotating driving mechanism, wherein the spin rack is arranged on the X-direction translation bottom plate and is of an arc-shaped structure; the rotary driving mechanism is arranged on the lifting mechanism;
the rotary driving mechanism comprises a rotary driving motor and a driving gear III arranged at the output end of the rotary driving motor, and the driving gear III is meshed with the spin rack; and the rotary driving motor drives the driving gear III 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 slide plate, a lifting slide rail and a lifting driving mechanism, wherein the lifting frame is arranged on the translation mechanism, the lifting slide rail is arranged on the lifting frame along the vertical direction, and the lifting slide plate is in sliding connection with the lifting slide rail; the lifting driving mechanism is arranged on the lifting frame and is in sliding connection with the lifting slide plate; the lifting driving mechanism is used for driving the lifting sliding plate to move along the lifting sliding rail.
The main shaft 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 rotary shaft body and positioned at the tail end of the rotary shaft body, and is used for axially limiting materials sleeved on the rotary shaft body;
the pushing mechanism is arranged on the rotary shaft body and used for pushing materials on the rotary shaft body;
the auxiliary shaft assembly is identical in structure with the main shaft assembly.
The lifting pin assembly comprises a driving seat, a linear driving mechanism, a turnover push rod, a turnover pin and a turnover pin fixing seat, wherein the turnover pin fixing seat is arranged at the tail end of the rotary shaft body, the inner side end of the turnover pin is hinged to the turnover pin fixing seat, and the outer side end of the turnover 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 contacted with the overturning pin; the overturning push rod is driven by the linear driving mechanism to move forwards, so that the overturning pin is pushed to overturn upwards.
The bottom of the overturning pin is provided with a bearing.
The outer surface of the rotary shaft body is axially provided with a plurality of rollers.
The pushing mechanism comprises a sliding base, a driving gear II, 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 rotary shaft body, the sliding base is in sliding connection with the pushing guide rail, the pushing motor is arranged on the sliding base, the output end of the pushing motor is connected with the driving gear II, and the driving gear II is meshed with the pushing rack; the pushing block is elastically connected to the sliding base and used for pushing the materials on the rotary shaft body.
The connecting frame assembly comprises a connecting frame, a countershaft driving assembly, a countershaft driving guide rail and a countershaft 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 driving assembly is arranged on the connecting frame and connected with the auxiliary shaft mounting plate, and 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 transportation device is combined with an AGV system, so that automatic transportation of the cold-pressing pre-cutting, die-cutting and slitting integrated machine pole pieces and winding drums or other roll materials is realized.
2. The invention changes the manual operation process into the automatic operation of the equipment, avoids the uncertainty of manual operation and improves the stability of pre-adjustment. Because stability and precision are improved, equipment response time is short in addition, fast beat production and transportation of workshop pole pieces are guaranteed, and the equipment is popularized in workshops and is good in effect.
Drawings
FIG. 1 is a schematic diagram of a dual cantilever axle loading AGV system according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic 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 of C-C of FIG. 7;
FIG. 9 is a left side view of FIG. 7;
FIG. 10 is an enlarged view of the portion I of FIG. 8;
FIG. 11 is a schematic view of the structure of the drive shaft of the present invention;
FIG. 12 is a schematic view showing the internal structure of the drive shaft according to the present invention;
FIG. 13 is a schematic view of a pushing mechanism according to the present invention;
FIG. 14 is a schematic view of a lift pin assembly according to the present invention;
FIG. 15 is a sectional E-E view of FIG. 14;
FIG. 16 is a schematic view of the installation of the countershaft assembly of the present invention;
fig. 17 is a view in the C-direction of fig. 16.
In the figure: 1 is AGV body, 2 is translation mechanism, 201 is X-direction translation bottom plate, 202 is X-direction slide rail, 203 is Y-direction translation bottom plate, 204 is Y-direction slide rail, 205 is mounting bottom plate, 206 is tow chain, 207 is Y-direction driving mechanism, 208 is Y-direction connecting block, 209 is connecting rib plate, 210 is X-axis side baffle, 211 is spin rack, 212 is Y-axis end baffle, 213 is X-direction driving mechanism, 214 is X-direction connecting block, 216 is Y-direction detecting piece, 217 is Y-switch bracket, 218 is Y-axis side baffle, 219 is X-axis end baffle, 220 is stop pin, 221 is rotation detecting block, 222 is lead tube I, 223 is lead tube, 224 is lead tube II, 3 is lifting mechanism, 301 is lifting bracket, 302 is lifting slide plate, 303 is lifting screw, 304 is lifting slide rail, 305 is lower buffer pad, 306 is Z-axis connecting block, 307 is rotary switch bracket, 309 is upper buffer pad, 310 is lifting driving motor, 311 is a screw nut seat, 312 is a Z-direction switch bracket, 313 is a rotary driving mechanism, 314 is a driving gear I, 315 is a driving gear end cover, 316 is an idler gear component, 317 is a screw gear, 318 is a gear box, 319 is a buffer pad bracket, 4 is a countershaft component, 5 is a main shaft component, 501 is a connecting shaft sleeve, 502 is a pushing part detecting body, 503 is a pushing switch, 504 is a rotating shaft body, 505 is a roller, 506 is a pushing mechanism, 5061 is a sliding base, 5062 is a driving gear II, 5063 is a pushing guide rail, 5064 is a pushing block, 5065 is a pushing rack, 507 is a pushing mechanism stop block, 508 is a lifting pin component, 5081 is a driving base, 5082 is an electric push rod, 5083 is a micro switch, 5084 is a stop pin, 5085 is a turnover push rod, 5086 is a torsion spring, 5087 is a hinge shaft, 5088 is a bearing, 5089 is a turnover pin, 50810 is a camera, 50811 is a reflection switch, 50812 is a turnover pin fixing seat, 50813 is a connecting shaft, 50814 is a tension spring, 509 is a range switch bracket, 510 is an end cover, 6 is a connecting frame, 7 is a countershaft driving assembly, 701 is a countershaft driving motor, 702 is a countershaft driving gear, 703 is a countershaft driving screw gear, 704 is a countershaft driving screw, 8 is a countershaft driving guide rail, 9 is a countershaft mounting plate, 10 is a countershaft connecting block, 11 is a countershaft slider, and 12 is a countershaft 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 dual cantilever axle loading type AGV system provided by the invention comprises an AGV 1, a translation mechanism 2, a rotation mechanism, a lifting mechanism 3, a pushing mechanism, a secondary shaft assembly 4 and a primary shaft assembly 5, wherein the translation mechanism 2 is arranged on the AGV 1 and has a degree of freedom of moving along the X, Y direction; the lifting mechanism 3 is rotatably arranged on the translation mechanism 2 and has the freedom of moving along the Z direction; the rotating mechanism is arranged on the translation mechanism 2 and connected with the lifting mechanism 3, and the rotating mechanism 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 the connecting frame assembly and can move along the axial direction relative to the main shaft assembly 5; the pushing mechanism is arranged on the main shaft assembly 5 and is used for pushing materials.
In the embodiment of the invention, as shown in fig. 3-6, 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, 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 a Y-axis side baffle 218, and the Y-direction translation bottom plate 203 is in sliding connection with the Y-direction slide rail 204; 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 the 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 in sliding connection with the X-direction sliding rail 202; the X-direction driving mechanism 213 is disposed on the Y-direction translation base 203 and connected to the X-direction translation base 201; the X-direction driving mechanism 213 is used for driving the X-direction translation bottom plate 201 to move along the X-direction sliding rail 202; the lifting mechanism 3 is rotatably provided on the X-direction translation chassis 201.
Specifically, the Y-direction driving mechanism 207 and the X-direction driving mechanism 213 are both screw-and-nut mechanisms, and the layers are connected by a linear guide rail pair to ensure stable and smooth sliding during 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 201 and has an arc structure; the rotation driving mechanism 313 is arranged on the lifting mechanism 3; specifically, the rotary driving mechanism 313 includes a rotary driving motor and a driving gear iii provided at an output end of the rotary driving motor, the driving gear iii being engaged with the spin rack 211; the rotation driving motor drives the driving gear III to rotate, so that the lifting mechanism 3 is driven to rotate relative to the X-direction translation bottom plate 201.
In the embodiment of the invention, as shown in fig. 7-9, the lifting mechanism 3 comprises a lifting frame 301, a lifting slide plate 302, a lifting slide rail 304 and a lifting driving mechanism, wherein the lifting frame 301 is arranged on the translation mechanism 2, the lifting slide rail 304 is arranged on the lifting frame 301 along the vertical direction, and the lifting slide plate 302 is in sliding connection with the lifting slide rail 304; the lifting driving mechanism is arranged on the lifting frame 301 and is in sliding connection with the lifting slide plate 302; the lifting driving mechanism is used for driving the lifting sliding plate 302 to move along the lifting sliding rail 304.
Specifically, as shown in fig. 7-10, the lifting driving mechanism comprises a lifting screw 303, a Z-axis connection block 306, a lifting driving motor 310, a screw nut seat 311, a driving gear i 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 arranged on the lifting frame 301 along the vertical direction, and the screw gear 317 is arranged at the upper end part; the lifting driving motor 310 is arranged at the upper end of the lifting frame 301, a driving gear I314 is arranged on the output shaft, a driving gear end cover 315 is arranged on the outer side of the driving gear I314, and the driving gear I314 is meshed with the lead screw gear through an idler gear assembly 316. The gear box 318 covers the outer sides of the driving gear I314, the idler 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 to the lifting screw 303 through a screw nut, and the screw nut seat 311 is connected to the lifting slide plate 302 through the Z-axis connection 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 also provided with an upper limit switch and a lower limit switch through a Z-direction switch bracket 312.
In the embodiment of the present invention, as shown in fig. 11-12, the spindle assembly 5 includes a rotary shaft body 504, a pushing mechanism 506, a lifting pin assembly 508 and an end cover 510, wherein the rotary shaft body 504 is horizontally arranged, and the head end is connected with 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 disposed in the rotary shaft body 504 and is located at the end of the rotary shaft body 504, and the lifting pin assembly 508 is used for axially limiting the material sleeved on the rotary shaft body 504; the pushing mechanism 506 is disposed on the rotating shaft 504, and is used for pushing the material on the rotating shaft 504.
Further, a plurality of rollers 505 are provided on the outer surface of the rotating shaft body 504 in the axial direction so as to reduce frictional resistance between the material and the rotating shaft body 504.
In the embodiment of the invention, as shown in fig. 14-15, the lifting pin assembly 508 comprises a driving seat 5081, a linear driving mechanism, a turnover push rod 5085, a turnover pin 5089 and a turnover pin fixing seat 50812, wherein the turnover pin fixing seat 50812 is arranged at the tail end of the rotary shaft body 504, the inner side end of the turnover pin 5089 is hinged on the turnover pin fixing seat 50812, and the outer side 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 contacted with a turnover pin 5089; the flipping push rod 5085 is moved forward by the drive of the linear drive mechanism, thereby pushing the flipping pin 5089 to flip upward.
Further, the bottom of the flipping pin 5089 is provided with a bearing 5088, and the bearing 5088 contacts with the inclined surface of the flipping push rod 5085 to reduce friction resistance.
Specifically, the linear driving mechanism adopts an electric push rod 5082, the end part 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 arranged on two sides of the driving seat 5081, and two ends of the connecting shaft 50813 are connected with the driving seat 5081 through a tension spring 50814. When the inverting pin 5089 inverts to have a position difference with the material, the position difference can be compensated by the movement of the electric push rod 5082.
The spindle assembly 5 is structurally guaranteed to be strong and rigid, and the maximum deformation is not more than 1mm when the spindle assembly is loaded. The motor drives the gear rack to drive, and the pushing mechanism 3 connected through the linear guide rail can ensure that the clamping material does not shake in the running process of the AGV.
In the embodiment of the present invention, the auxiliary shaft assembly 4 has the same structure as the main shaft assembly 5, and will not be described herein.
In the embodiment of the invention, as shown in fig. 12-13, the pushing mechanism comprises a sliding base 5061, a driving gear ii 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 a rotary shaft body 504, the sliding base 5061 is in sliding connection with the pushing guide rail 5063, the pushing motor is arranged on the sliding base 5061, an output end is connected with a driving gear ii 5062, and the driving gear ii 5062 is meshed with the pushing rack 5065; the pushing block 5064 is elastically connected to the sliding base 5061 and is used for pushing the material on the rotating shaft body 504.
Further, as shown in fig. 11, a pushing part detecting body 502 is connected to the slide base 5061, and a plurality of pushing switches 503 are axially provided on the rotary shaft body 504, and the pushing part detecting body 502 and the pushing switches 503 cooperate to detect the position of the material on the rotary shaft body 504. As shown in fig. 12, a pushing mechanism stopper 507 is provided near the end of the rotary shaft body 504, and the pushing mechanism stopper 507 is used to limit the maximum stroke of the pushing mechanism 506.
In the embodiment of the invention, as shown in fig. 16-17, the connecting frame assembly comprises 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 12 is arranged at the end part of the auxiliary shaft driving guide rail 8; the auxiliary shaft mounting plate 9 is in sliding connection with the auxiliary shaft driving guide rail 8 through an auxiliary shaft sliding block 11, 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 countershaft assembly 4 is provided on a countershaft mounting plate 9.
Specifically, the auxiliary shaft driving assembly 7 includes an auxiliary shaft driving motor 701, an auxiliary shaft driving gear 702, an auxiliary shaft driving screw gear 703, and an auxiliary shaft driving screw 704, wherein the auxiliary shaft driving screw 704 is rotatably provided on the connection frame 6 and is parallel to the auxiliary shaft driving guide rail 8, the auxiliary shaft driving screw 704 is connected with the auxiliary shaft connection block 10 through a screw, and the auxiliary shaft connection block 10 is connected with the auxiliary shaft 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 procedure of the invention is as follows:
1. the AGV receives a system command to pre-cut foil (copper foil/aluminum foil) material from a cold-pressing pre-cutting material position to take materials, and then automatically pre-cut the material position to an upper winding drum; and after finishing the feeding task, driving away from the docking station.
The AGV drives into the machine table and parks in a preset parking space;
the AGV is uploaded and adjusted to a preset X, Y, Z position, and the auxiliary shaft assembly 4 retreats to a retreating point;
correcting the compensation quantity in the X, Y, Z direction through a calibrated Laser pointer, and extending the butt-joint clamp from the machine after alignment; after the material is in place, the cantilever shaft blocking pin falls down, the butt joint clamp pushes the material roll to the AGV cantilever shaft, the lifting pin rises after the material roll is in place, the clamp returns to the machine table, the pushing shaft clamps the material, and each shaft resets.
The AGV advances a half station to align the layshaft assembly 4 to the machine counter shaft.
The AGV upper assembly adjusts the auxiliary shaft to a preset X, Y, Z position, and calculates an adjustment compensation angle through data deviation of front and back navigation.
Correcting the compensation quantity in the X, Y, Z direction through a calibrated Laser pointer, and extending the butt-joint clamp from the machine after alignment; after the butt joint is in place, the cantilever shaft blocking pin falls down, the butt joint clamp pulls the empty coil back to the machine table, and after the butt joint clamp is in place, each shaft is reset. The process maintains signal interaction throughout.
2. The AGV receives a system instruction to transfer foil (copper foil/aluminum foil) from cold pressing pre-cutting material level to a material level of a die cutting and slitting integrated machine, firstly taking down a material level with a tailing empty reel, and then loading a material roll to the material level; and after the transfer task is completed, the vehicle drives away from the docking station.
3. AGVs transport the empty rolls with tails to the waste room and take a clean empty roll
4. The AGV sends the waste to the waste room through the vehicle-mounted roller machine, and then an empty waste box is taken away.
The invention is used for the automatic transportation of the first compatible cold-pressing pre-cutting, die-cutting and slitting integrated machine pole pieces and reels or other roll materials of an outlet, and the AGV is the most important component part in the whole system. The system requires the AGV lifting mechanism to be accurately butted (+ -2 mm), has high speed and heavy load (1000 kg), has high stability and strong compatibility, has extremely high multifunctional integration, can be butted with production equipment by the AGV, realizes automatic warehousing, storage and automatic transportation of pole pieces, can realize taking, placing and transportation of empty and full waste boxes and reels, and has great design difficulty. The AGV body adopts the double rudder driving wheels, so that omnidirectional movement can be realized, the lifting mechanism adopts multi-shaft parallel movement, the main movement shafts in the XYZ linear direction all adopt the movement mode of matching the ball screw with the linear guide rail, and the servo motor provides power to ensure the movement accuracy.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The double-cantilever-shaft loading type AGV system is characterized by comprising an AGV (1), a translation mechanism (2), a rotation mechanism, a lifting mechanism (3), a pushing mechanism, a countershaft assembly (4) and a main shaft assembly (5);
the translation mechanism (2) is arranged on the AGV (1) and has the freedom degree of movement along the X, Y direction;
the lifting mechanism (3) is rotatably arranged on the translation mechanism (2) and has the freedom degree of movement along the Z direction;
the rotating mechanism is arranged on the translation mechanism (2) and connected with the lifting mechanism (3), and the rotating mechanism 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 along the axial direction relative to the main shaft assembly (5);
the pushing mechanism is arranged on the main shaft assembly (5) and used for pushing materials;
the connecting frame assembly comprises a connecting frame (6), a countershaft driving assembly (7), a countershaft driving guide rail (8) and a countershaft mounting plate (9), wherein the connecting frame (6) is sleeved on the main 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); the auxiliary shaft mounting plate (9) is in sliding connection with the auxiliary shaft driving guide rail (8), 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).
2. The dual cantilever axle 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 disposed on the AGV car (1), the Y-direction slide rail (204) is disposed on the mounting bottom plate (205), and the Y-direction translation bottom plate (203) is slidably connected with the Y-direction slide rail (204);
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 the 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 in sliding connection with the X-direction sliding rail (202);
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 sliding rail (202);
the lifting mechanism (3) is arranged on the X-direction translation bottom plate (201).
3. The dual cantilever axle loading AGV system according to claim 2, wherein the rotation mechanism comprises a spin rack (211) and a rotation drive mechanism (313), wherein the spin rack (211) is disposed on the X-direction translation floor (201) and is of an arcuate configuration; 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 III arranged at the output end of the rotary driving motor, and the driving gear III is meshed with the spin rack (211); the rotary driving motor drives the driving gear III to rotate, so that the lifting mechanism (3) is driven to rotate relative to the X-direction translation bottom plate (201).
4. The dual cantilever axle loading type AGV system according to claim 1, wherein the lifting mechanism (3) comprises a lifting frame (301), a lifting slide plate (302), a lifting slide rail (304) and a lifting driving mechanism, wherein the lifting frame (301) is arranged on the translation mechanism (2), the lifting slide rail (304) is arranged on the lifting frame (301) along the vertical direction, and the lifting slide plate (302) is in sliding connection with the lifting slide rail (304); the lifting driving mechanism is arranged on the lifting frame (301) and is in sliding connection with the lifting sliding plate (302); the lifting driving mechanism is used for driving the lifting sliding plate (302) to move along the lifting sliding rail (304).
5. The dual cantilever axle loading AGV system according to claim 1, wherein the spindle assembly (5) comprises a swivel axle body (504), a pushing mechanism (506), a lift pin assembly (508) and an end cap (510), wherein the swivel axle body (504) is horizontally arranged and the head end is connected with the lifting mechanism (3); the rotary shaft body (504) is of a hollow structure, and an end cover (510) is arranged at the tail end of the rotary shaft body;
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 rotary shaft body (504) and is used for pushing materials on the rotary shaft body (504);
the auxiliary shaft assembly (4) is identical to the main shaft assembly (5) in structure.
6. The dual cantilever axle loading AGV system of claim 5, wherein the lift pin assembly (508) comprises a drive seat (5081), a linear drive mechanism, a turnover pushrod (5085), a turnover pin (5089) and a turnover pin holder (50812), wherein the turnover pin holder (50812) is disposed at the end of the swivel axle body (504), the inner end of the turnover pin (5089) is hinged on the turnover pin holder (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 contacted with the turnover pin (5089); the flipping push rod (5085) is driven by the linear driving mechanism to move forward, so that the flipping pin (5089) is pushed to flip upwards.
7. The dual cantilever axle load AGV system of claim 6 wherein the bottom of the roll over pin (5089) is provided with a bearing (5088).
8. The dual cantilever axle loading AGV system according to claim 5, wherein a plurality of rollers (505) are axially disposed on an outer surface of the swivel axle (504).
9. The dual cantilever axle loading AGV system of claim 5, wherein the pushing mechanism (506) comprises a sliding base (5061), a driving gear ii (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 disposed on the rotating shaft body (504), the sliding base (5061) is slidably connected with the pushing guide rail (5063), the pushing motor is disposed on the sliding base (5061), and the output end is connected with the driving gear ii (5062), and the driving gear ii (5062) is meshed with the pushing rack (5065); the pushing block (5064) is elastically connected to the sliding base (5061) and is used for pushing the material on the rotary shaft body (504).
10. The dual cantilever axle loading type AGV system according to claim 1, wherein the auxiliary shaft driving assembly (7) comprises an auxiliary shaft driving motor (701) and an auxiliary shaft driving screw (704), wherein the auxiliary shaft driving screw (704) is rotatably arranged on the connecting frame (6) and is parallel to the auxiliary shaft driving guide rail (8), the auxiliary shaft driving screw (704) is connected with an auxiliary shaft connecting block (10) through a screw nut, and the auxiliary shaft connecting block (10) is connected with the auxiliary shaft mounting plate (9); the auxiliary shaft driving motor (701) drives the auxiliary shaft driving screw rod (704) to rotate through gear transmission, so that the auxiliary shaft assembly (4) is driven to do linear motion relative to the connecting frame (6).
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| CN202010729954.1A CN113979374B (en) | 2020-07-27 | 2020-07-27 | Double-cantilever-shaft material-carrying type AGV system |
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| CN202010729954.1A CN113979374B (en) | 2020-07-27 | 2020-07-27 | Double-cantilever-shaft material-carrying type AGV system |
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| CN113979374B true CN113979374B (en) | 2024-01-23 |
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| CN208631372U (en) * | 2018-07-09 | 2019-03-22 | 湖南驰众机器人有限公司 | A kind of pole volume automatic charging AGV |
| 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 |
| CN109081025A (en) * | 2018-07-09 | 2018-12-25 | 湖南驰众机器人有限公司 | A kind of automatic loading/unloading AGV |
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| CN113979374A (en) | 2022-01-28 |
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