CN107522026B

CN107522026B - AGV trolley for loading, unloading, transporting and placing wire coils

Info

Publication number: CN107522026B
Application number: CN201710905092.1A
Authority: CN
Inventors: 朱兵; 王志强; 于国喧
Original assignee: Shanghai Hailing Intelligent Elevator Technology Co ltd
Current assignee: Shanghai Hailing Intelligent Elevator Technology Co ltd
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2022-11-15
Anticipated expiration: 2037-09-29
Also published as: CN107522026A

Abstract

The invention relates to an AGV trolley for loading, unloading, transporting and placing a wire coil, which is provided with a shell frame system, a chassis system and a power supply system, wherein the shell frame system is provided with a shell body and an internal frame; the device also comprises a tray, a turntable motor, a supporting and rotating system of a turntable shaft and a fork turning system with a driving and reversing mechanism, a lifting mechanism, a turning mechanism and a tooth fork mechanism; the tray is fixed on the top of the shell, the turntable is arranged on the tray, the turntable motor is fixed below the tray, a rotating shaft of the turntable motor is connected with one end of the turntable shaft, and the other end of the turntable shaft penetrates through the tray to be connected with the turntable and can drive the turntable to rotate on the tray through the driving of the turntable motor; the turnover fork system is arranged on one side of the shell frame system, can extend out of or return into the shell frame system through the advancing and retreating mechanism, enables the turnover mechanism and the tooth fork mechanism to move up and down through the lifting mechanism, and enables the tooth fork mechanism to turn over between a horizontal state and a vertical state through the turnover mechanism, so that the wire coil taking and placing, transportation and other works are completed.

Description

AGV trolley for loading, unloading, transporting and placing wire coils

Technical Field

The invention relates to an AGV (automatic guided vehicle), in particular to an AGV for loading, unloading, transporting and placing a wire coil, and belongs to the technical field of warehouse logistics automation.

Background

The AGV trolley is a transport vehicle which can run along a specified guide path and has safety protection and various transfer functions, and has the characteristics of high automation degree, safety, flexibility and the like, so that the AGV trolley becomes one of the best solutions for automatic storage material handling and automatic assembly lines at present.

The AGV generally includes a vehicle body, a driving device, a universal wheel and a directional wheel arranged at the bottom of the vehicle body, a navigation device and a safety component arranged on the vehicle body, and a power supply system for providing energy for the AGV; the driving device comprises a driving motor positioned in the vehicle body and a driving wheel positioned at the bottom of the vehicle body, and is electrically connected with the navigation device and drives the vehicle body to run through a navigation result of the navigation device; the safety assembly is mainly used for protecting the AGV trolley and peripheral equipment.

In cable production and processing enterprises, loading, unloading, transporting, placing, classifying and the like of cables are a simple, repeated and messy process with high labor intensity; the cables are slender products and are usually placed in whole bundles, and once the cables are not placed well, the cables are knotted, so that the subsequent production, processing and detection are influenced, and the production efficiency of enterprises and the quality of the products are directly influenced; meanwhile, personnel and cables are easily damaged due to the rolling of the cable reel and the like. Therefore, the wire coil is well assembled, disassembled, transported and placed, and the management of the wire coil is improved, so that the wire coil is an important subject of enterprise management and enterprise development.

Along with the rapid development of electric power industry in recent years, a large amount of cables especially need the storage, deposit, however, traditional mode of depositing is not only the place low-usage, and the cable discharges untidy, is unfavorable for quick delivery, and is extremely inconsistent with the rapid development of domestic intensification storage and modernized logistics distribution center, so, how to reform over the cable storage, guarantee that its storage place high-usage, the orderly easy delivery of storage structure send, become the cable storage field problem of awaiting the solution of pressing to watch.

At present, many enterprises adopt intensive goods shelves to manage and store wire coils, but corresponding loading, unloading, transporting and placing equipment does not exist, and in the process of wire coil storage and transportation, the traditional method and tools are continuously used, and special equipment is lacked, so that the labor intensity of workers is increased, the safety of personnel and wire coils cannot be guaranteed, and the production efficiency is seriously influenced.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides the AGV trolley for loading, unloading, transporting and placing the wire coil, so that the wire coil is automatically taken from a machine table and then transported and placed without manual operation, and the purposes of reducing the labor intensity of workers, improving the production efficiency and ensuring the product quality and safety are achieved.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a AGV dolly that is used for drum loading and unloading, transportation, puts, including the chassis system that has the shell frame system of outer casing and inside frame, bears the shell frame system, install and do on the frame the AGV provides the electrical power generating system of the energy, its characterized in that:

the fork turning device also comprises a supporting and rotating system and a fork turning system;

the supporting and rotating system comprises a tray, a rotating disc motor and a rotating disc shaft, wherein the tray is fixed at the top of the shell, the rotating disc is arranged on the tray, the rotating disc motor is fixed below the tray, a rotating shaft of the rotating disc motor is connected with one end of the rotating disc shaft, the other end of the rotating disc shaft penetrates through the tray to be connected with the rotating disc, and the rotating disc can be driven to rotate on the tray through the driving of the rotating disc motor;

the fork turning system is arranged on one side of the shell frame system and comprises a driving and reversing mechanism, a lifting mechanism, a turnover mechanism and a tooth fork mechanism;

the advancing and retreating mechanism comprises an advancing and retreating bracket, an advancing and retreating frame and an advancing and retreating screw rod, the advancing and retreating bracket is fixed on the frame, the advancing and retreating frame is connected to the advancing and retreating bracket and is connected with the lifting mechanism, the advancing and retreating screw rod is arranged in the advancing and retreating frame, and the advancing and retreating frame can advance or retreat by taking the advancing and retreating bracket as a boundary through the movement of the advancing and retreating screw rod so as to drive the lifting mechanism and the turnover mechanism thereof as well as the tooth fork mechanism to extend out of or retreat into the shell frame system;

the lifting mechanism comprises a lifting frame and a lifting screw rod, one side of the lifting frame is connected with the advancing and retreating mechanism and can extend out of or retreat from the shell frame system under the pushing of the advancing and retreating mechanism, the other side of the lifting frame is connected with the turnover mechanism, the lifting screw rod is arranged on the lifting frame, the turnover mechanism can be lifted along the lifting frame through the lifting screw rod and drives the tooth fork mechanism to turn over between a horizontal state and a vertical state;

the turnover mechanism comprises a bracket assembly and a turnover assembly, wherein the bracket assembly is fixedly connected with a lifting nut seat and is in sliding connection with a lifting side arm and the turnover assembly;

the tooth fork mechanism comprises a turnover disc and two tooth forks, the tooth forks are vertically arranged on the turnover disc, the turnover disc is fixedly connected with the turnover mechanism, and the turnover disc and the tooth forks on the turnover disc can be mutually turned over between a horizontal state and a vertical state along with the turnover mechanism.

The tray is provided with a U-shaped notch, and the turntable is also provided with at least one U-shaped notch which is the same as the tray;

preferably, the number of the U-shaped notches of the turntable is 3;

the supporting and rotating system also comprises a top wheel and a turntable gasket, wherein the top wheel and the turntable gasket are both arranged on the surface of a turntable between the tray and the turntable, and the turntable shaft is connected with the turntable through the turntable gasket and drives the turntable to rotate on the tray through the top wheel;

the top wheel comprises a top wheel seat, a top wheel bolt, a top wheel nut, a top wheel gasket and a top wheel bearing, the top wheel bearing is fixed on the top wheel seat through the top wheel bolt, the top wheel nut and the top wheel gasket, and the top wheel is fixed on the rotary disc surface through the top wheel seat;

the tray is also provided with an annular tray track, and the top wheel can rotate on the tray track;

the turntable motor is also provided with an L-shaped speed reducer and is fixed below the tray through the L-shaped speed reducer, the input shaft of the L-shaped speed reducer is connected with the rotating shaft of the turntable motor, and the output shaft of the L-shaped speed reducer is connected with the turntable shaft;

the tray sensor comprises a tray sensing seat arranged at the edge of the tray and a tray sensing head arranged on the tray sensing seat, and the tray sensing head is positioned on the central line of the U-shaped notch of the tray and is vertical to the central line.

The advancing and retreating bracket comprises a translation seat connected with the frame and rotary seats vertically arranged on two sides of the translation seat;

the advancing and retreating support further comprises an advancing and retreating slider seat, an advancing and retreating slider seat bearing and an advancing and retreating slider seat bolt, the advancing and retreating slider seat is arranged on the rotating seat through the advancing and retreating slider seat bearing and the advancing and retreating slider seat bolt, and the connecting span plate is connected with the advancing and retreating slider seat through the end head, then connected with the rotating seat and connected with the frame side plate through the advancing and retreating slider seat in a sliding manner;

the advancing and retreating frame is formed by enclosing a frame connecting plate, a frame side plate and a frame shaft plate;

the advancing and retreating frame further comprises an advancing and retreating slide rail and an advancing and retreating slide block, the advancing and retreating slide rail is arranged on a side plate of the frame, the advancing and retreating slide block is arranged on an advancing and retreating slide block seat and is in sliding connection with the advancing and retreating slide rail, the connecting straddle is firstly connected with the advancing and retreating slide block seat through an end head, then is respectively connected with the rotating seat and the advancing and retreating slide block, and is also in sliding connection with the side plate of the frame through the advancing and retreating slide block;

the advancing and retreating screw comprises an advancing and retreating screw, an advancing and retreating nut seat, a connecting span plate and an advancing and retreating motor, wherein two ends of the advancing and retreating screw are respectively connected with the frame connecting plate and the frame shaft plate;

the advance and retreat screw rod also comprises an advance and retreat motor seat, the advance and retreat motor seat is arranged on the connecting span plate, and the advance and retreat motor is arranged on the connecting span plate through the advance and retreat motor seat;

the advance and retreat screw rod further comprises an advance and retreat transmission mechanism and an advance and retreat motor locking plate, the advance and retreat transmission mechanism comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, the driving wheel of the advance and retreat transmission mechanism is connected with a rotation shaft of the advance and retreat motor, the driven wheel of the advance and retreat transmission mechanism is connected with an advance and retreat nut seat, the advance and retreat motor drives an advance and retreat nut to rotate through the advance and retreat transmission mechanism, and the advance and retreat motor locking plate is arranged on a panel of the advance and retreat motor seat between the advance and retreat transmission mechanism and the advance and retreat motor seat;

the driving and reversing transmission mechanism is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are in rotary connection through a belt;

the advancing and retreating mechanism further comprises an advancing and retreating pipeline assembly;

the advance and retreat pipeline assembly comprises an advance and retreat support chain, an advance and retreat bracket and an advance and retreat support plate, wherein the advance and retreat bracket is arranged at the end of the side plate of the frame close to the shaft plate of the frame, the advance and retreat support plate is arranged on the connecting span plate, and two ends of the advance and retreat support chain are respectively fixed on the advance and retreat bracket and the advance and retreat support plate;

the driving and reversing mechanism further comprises a transfer component;

the transfer assembly comprises a transfer shaft, a transfer bush, a transfer shaft sleeve, a transfer clamp plate, a transfer bottom plate, a transfer shaft plate and an angle correcting rod, wherein the transfer shaft is arranged in the transfer shaft sleeve through the transfer bush, two ends of the transfer shaft are arranged between the transfer clamp plate and the transfer bottom plate, the transfer clamp plate and the transfer bottom plate are respectively fixed on the frame shaft plate, the transfer shaft sleeve is fixed on the transfer shaft plate, two sides of the transfer shaft plate are respectively fixedly connected with the lifting mechanism and are movably connected with the frame shaft plate through the angle correcting rod fixed on the transfer shaft plate;

the two angle correcting rods are respectively fixed on the middle rotating shaft plates on two sides of the middle rotating shaft sleeve and movably connected with the frame shaft plate through holes penetrating through the frame shaft plate;

the advancing and retreating mechanism further comprises an advancing and retreating sensor;

the advancing and retreating sensor comprises an advancing and retreating sensing piece and an advancing and retreating sensing head, wherein the advancing and retreating sensing piece is installed on the advancing and retreating slider seat, and the advancing and retreating sensing head is installed on the side plate of the frame.

The lifting frame comprises a lifting bottom plate, lifting side arms, a front connecting plate, a rear connecting plate and a lifting upper cover, wherein the lifting side arms are vertically arranged on two sides of the lifting bottom plate, fixedly connected with the driving and reversing mechanism and slidably connected with the turnover mechanism, the front connecting plate and the rear connecting plate are respectively clamped and fixed on the upper parts of the lifting side arms, and the lifting upper cover is arranged between the front connecting plate and the rear connecting plate and fixed on the rear connecting plate;

the lifting frame also comprises a lifting rod seat comprising a bearing, the lifting rod seat is arranged in the center of the lifting bottom plate, and one end of the lifting screw is arranged on the lifting bottom plate through the lifting rod seat;

the lifting frame further comprises a bottom plate stop block, and the bottom plate stop block is arranged on the lifting bottom plate and is positioned around the lifting screw;

the lifting screw comprises a lifting screw rod, a lifting nut seat and a lifting motor, the lifting screw rod is arranged in the lifting frame, two ends of the lifting screw rod are respectively arranged on the lifting bottom plate and the lifting upper cover, the lifting nut is fixed on the lifting nut seat and sleeved in the lifting screw rod to be in threaded connection with the lifting screw rod, meanwhile, the lifting nut seat is fixedly connected with the turnover mechanism, the lifting motor is arranged on the lifting bottom plate and is in rotating connection with the lifting screw rod, the lifting screw rod can be driven to rotate by the rotation of the lifting motor, the lifting nut can do ascending or descending motion along the lifting screw rod by the rotation of the lifting screw rod to further drive the turnover mechanism to ascend or descend, and the turnover mechanism is further enabled to drive the tooth fork mechanism to be switched and turned over between a horizontal state and a vertical state;

the lifting mechanism also comprises a lifting wheel set, the lifting wheel set comprises a lifting wheel seat and lifting wheels, the lifting wheel seat is arranged on two sides of the lifting bottom plate, and the lifting wheels are arranged at the bottom of the lifting wheel seat;

the lifting wheels are universal wheels;

the lifting mechanism also comprises a lifting speed reducer unit, the lifting speed reducer unit comprises a lifting speed reducer, a lifting speed reducer base and a lifting speed reducer locking plate, the lifting speed reducer is installed on the lifting speed reducer base, the lifting speed reducer base is installed on a lifting bottom plate, a lifting motor is installed on the lifting bottom plate through connection with the lifting speed reducer, and the lifting speed reducer locking plate is installed at the bottom of the lifting speed reducer base;

the lifting mechanism also comprises a lifting transmission unit, the lifting transmission unit is arranged below the lifting speed reducer locking plate and comprises a lifting driving wheel and a lifting driven wheel, the lifting driving wheel is rotationally connected with the lifting driven wheel, the lifting driving wheel is connected with a lifting motor or the lifting motor through a lifting speed reducer, and the lifting driven wheel is connected with a lifting screw rod;

the lifting transmission unit is a belt transmission machine, and a lifting driving wheel and a lifting driven wheel of the belt transmission machine are in transmission connection through a belt;

the lifting transmission unit also comprises a lifting transmission protective cover which is arranged below the lifting bottom plate and completely covers the lifting transmission unit;

the lifting mechanism further comprises a lifting sliding assembly;

the lifting sliding assembly comprises an inner lifting rail, an inner lifting block, an outer lifting rail, an outer lifting block, a lifting stop block, a lifting buffer block and a lifting slide seat, wherein the inner lifting block and the outer lifting rail can slide on the inner lifting rail;

the lifting mechanism also comprises a lifting support plate and a lifting drag chain, the lifting support plate is arranged on one lifting side arm, and two ends of the lifting drag chain are respectively fixed on the lifting support plate and a lifting slide seat positioned on the same side of the lifting support plate;

the lifting mechanism also comprises a lifting sensing piece and a lifting sensor, the lifting sensing piece is arranged on one side of the lifting nut seat, and the lifting sensor is arranged on a lifting side arm corresponding to one side of the lifting sensing piece;

the lifting mechanism further comprises an L-shaped supporting seat, a supporting nut, a supporting bolt and a supporting stop block, the L-shaped supporting seat is installed on one side, facing the advancing and retreating mechanism, of the upper end face of the lifting side arm, the supporting bolt is fixed on the L-shaped supporting seat through the supporting nut, and the supporting stop block is arranged on the supporting bolt.

The bracket assembly comprises a J-shaped bracket, a lifting guide rod, a hook block rod, an L-shaped hook block, a hook block seat and a connecting bolt which are horizontally arranged, the end head of the J-shaped bracket is fixedly connected with a lifting nut seat, the end side of the J-shaped bracket is in sliding connection with a lifting side arm or the end side of the J-shaped bracket through an inner lifting block and the inner wall of the lifting side arm provided with an inner lifting rail, the lifting guide rod is fixedly arranged at the tail end of the J-shaped bracket and is in sliding connection with a turnover assembly, the hook block rod penetrates through the middle part of the J-shaped bracket body, the end part of the hook block rod is connected with a bearing through a bolt, the bottom of the L-shaped hook block is provided with a bearing and is movably connected onto the hook block seat through the bearing, and the hook block seat and the outer side of the lifting side arm or the hook block seat are connected with an outer lifting block through a lifting slide seat and are in sliding connection with the outer wall of the lifting side arm provided with an outer lifting rail;

the subassembly that overturns includes spiral arm branch, spiral arm pole seat, upset spiral arm, spiral arm branch suit is in spiral arm pole seat, spiral arm pole seat set up on the lift guide arm and with prong mechanism fixed connection, the upset spiral arm on open and to have a branch rod hole, lift groove, slip even hole, branch rod hole, lift groove, slip even hole are the T font and arrange, wherein: the support rod hole and the lifting and rotating groove are arranged in a straight line and positioned on the T-shaped head, the sliding connecting hole is positioned at the tail end of the T-shaped head, the support rod hole is used for inserting the end head of the support rod of the swing arm, the lifting and rotating groove is used for inserting the end head of the lifting and rotating guide rod and can enable the end head to slide back and forth along the lifting and rotating groove, and the sliding connecting hole is used for being in sliding connection with the lifting side arm;

the turning assembly also comprises two support rod bushings and two support rod springs, the support rod bushings are arranged in the swing arm rod seat and are sleeved at two ends of the swing arm support rod, the support rod springs are arranged outside the support rod bushings and are also sleeved at the end heads of the swing arm support rods, and the end heads of the swing arm support rods are provided with the sleeved support rod bushings and the sleeved support rod springs which are inserted into the support rod holes and connected with the turning swing arms;

the turning rotary arm is T-shaped, a support rod hole and a lifting rotary groove of the turning rotary arm are arranged on a T-shaped head in a line mode, a sliding connecting hole is arranged at the tail end of the T-shaped head, bearings are further arranged in the lifting rotary groove and the sliding connecting hole, and the end head of the lifting rotary rod is inserted into the bearing in the lifting rotary groove, connected with the bearing through a bolt, inserted into the lifting rotary groove and slides back and forth in the lifting rotary groove;

the connecting bolt is connected with the lifting side arm in a sliding way through a sliding connecting hole bearing or the connecting bolt is connected with the lifting slide seat through the sliding connecting hole bearing and then connected with the outer lifting block and the lifting side arm connected with the outer lifting rail in a sliding way;

the overturning swing arm also comprises a bottom hole formed in the side wall below the lifting groove and an abutting bearing, and the abutting bearing is arranged below the bottom hole through a bolt and a gasket;

the turning component further comprises a rotary arm support block, and the rotary arm support block is fixed on a lifting sliding seat below the turning rotary arm.

The shape and size of the turnover disc are complementary with the U-shaped gap of the tray;

the fork is L-shaped, is fixedly connected with the tilting disk through a connecting section of the fork, and a working section of the fork extending out of one side of the tilting disk is at a right angle with the tilting disk;

the tooth fork mechanism further comprises a photoelectric sensor, the photoelectric sensor is arranged at the tooth end of the tooth fork, and the detection end of the photoelectric sensor faces the outer side of the turnover plate.

The anti-collision device comprises a shell, a front cover, an anti-collision sensing adhesive tape, a display lamp box and a WIFI box, wherein the shell is a cube with a concave cross section, the inner concave surface is the front surface of the shell, the upper parts of two outer side surfaces are respectively provided with a maintenance door and an operation panel, the lower parts of the maintenance door and the operation panel are provided with an access door, the maintenance door is provided with an emergency stop button and a buzzer, the operation panel is also provided with an emergency stop button, an operation key and a human-computer interface panel, the back surface of the shell is provided with a rear maintenance door, the bottom of the rear maintenance door is provided with a rear door connecting rod, the two concave sides of the shell are provided with concave maintenance doors, the front side of the concave maintenance door is provided with a front cover, the front cover is provided with an access window, the lower part of the front cover can turn over along the bottom line of the access window, the bottom of the outer side surface of the shell is also provided with the anti-collision sensing adhesive tape, the inner wall of the shell is provided with the display lamp box and the WIFI box, the antenna related to the WIFI box, the bottom of the inner wall is provided with the anti-collision sensor and the electronic tag (RFID for short), and the battery guide seats are also arranged at the bottoms of the two side surfaces;

the display lamp box comprises a diffusion plate, a lamp box bottom plate and an LED lamp bar, the diffusion plate and the lamp box bottom plate are folded to wrap the LED lamp bar, and the display lamp box is fixed on the inner wall of the shell through the lamp box bottom plate;

the frame is a frame structure body and comprises a frame main body and a frame bottom plate, the frame main body is used for connecting the chassis system with the fork turning system and installing the power supply system, and the frame bottom plate is used for connecting the chassis system with the shell.

The chassis system comprises a power mechanism, a guide mechanism and four movable wheels, wherein the power mechanism is arranged on the frame, the guide mechanism is arranged on the frame on two sides of the power mechanism, and the four movable wheels are respectively arranged on the periphery of the bottom of the frame;

the power mechanism comprises a power assembly and a suspension assembly;

the power assembly comprises a power box arranged on the frame, a power wheel shaft in the power box, two power wheels arranged outside the power box and connected with the power wheel shaft, and a power motor in the power box and driving the power wheel shaft to rotate, wherein the power motor comprises a motor, a speed reducer combined with the motor, and a shaft center cover for connecting the speed reducer with the power wheel shaft and then sealing the wheel shaft, and magnetic navigation sensors are respectively arranged on two end faces of the power box;

the suspension assembly is arranged on the power box and comprises a suspension shaft seat, a suspension bottom plate, a suspension pressing plate and a suspension top plate;

the suspension shaft seat is arranged at the bottom of the suspension bottom plate, a suspension rotating shaft connected with the power box is arranged in the suspension shaft seat, the suspension rotating shaft is connected with a suspension bearing in the suspension shaft seat, a suspension shaft cover connected with the suspension rotating shaft is arranged on the suspension bearing, and a spring bolt is arranged on the suspension shaft cover;

the suspension bottom plate is a rectangular plate with two sides bent upwards and a circular hole in the center, a spring fixing block is arranged at the upper part of the suspension bottom plate, a spring support with one end fixed through a nut and the other end connected with one end of an extension spring is inserted in the spring fixing block, the other end of the extension spring is fixed on a spring bolt, suspension springs are further arranged at four corners of the suspension bottom plate, sliding grooves are further formed in bending surfaces of two sides of the suspension bottom plate, and suspension pull rods are arranged in the sliding grooves;

the suspension pressing plate covers the suspension bottom plate, a spring pull column and a suspension lead screw are arranged on the suspension pressing plate, the spring pull column penetrates through the suspension pressing plate and is inserted into the suspension spring, the suspension lead screw comprises a suspension nut, a suspension screw and a suspension shaft seat internally comprising a bearing, the suspension nut is fixed on the suspension pressing plate and is in threaded connection with the suspension screw, the suspension shaft seat is fixed at the bottom of the suspension pressing plate, and the suspension screw is in rotary connection with the bearing in the suspension shaft seat and penetrates through the bearing to enter the suspension top plate;

the suspension top plate covers the suspension pressing plate, a suspension transmission mechanism and a suspension motor installed through a motor base are installed on the suspension top plate, the suspension transmission mechanism comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, a shaft of the suspension motor is connected with the driving wheel of the suspension transmission mechanism, and the driven wheel of the suspension transmission mechanism is connected with the suspension screw;

the suspension transmission mechanism is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are connected through a belt;

the belt transmission machine also comprises a tensioning assembly, the tensioning assembly consists of a bolt and a bearing connected in series in the bolt, the tensioning assembly is fixed beside the belt transmission machine through a nut and a gasket, and the bearing of the tensioning assembly is attached to the belt;

the suspension transmission mechanism also comprises a protective cover which is fixed on the suspension top plate and covers the whole suspension transmission mechanism;

power unit still surveys the subassembly including the location, and the location is surveyed the subassembly and is surveyed piece, positioning sensor including the location, the location survey the frame and install on hanging the clamp plate, piece, positioning sensor are surveyed in the location and install on the location surveys the frame, be used for the direction location of AGV dolly.

The guide mechanism comprises a guide base, a guide screw rod, a guide wheel column and a guide wheel group;

the guide base comprises a guide base plate and a guide pressure plate below the guide base plate;

the guide screw comprises a guide screw rod, a guide nut, a guide shaft seat and a guide motor, the guide nut is arranged on the guide pressing plate, the guide shaft seat is arranged on the guide base plate and internally provided with a bearing and fixed by the nut, the guide screw rod sequentially penetrates through the guide nut to be in threaded connection with the guide nut, the bearing in the guide shaft seat is in rotational connection with the guide base plate and finally penetrates out of the guide base plate, the guide motor is arranged on the guide base plate and is in transmission connection with the guide screw rod, and the guide screw rod can drive the guide base plate to move up and down above the guide pressing plate through the drive of the guide motor;

the guide wheel column comprises a guide column sleeve, a guide column cover and a guide wheel column, wherein the guide column sleeve is arranged on the guide base plate, the guide wheel column is inserted into the guide column sleeve, one end of the guide wheel column is connected with the guide wheel column cover, and the other end of the guide wheel column penetrates out of the guide base plate;

the guide wheel set comprises a wheel set shaft seat, a wheel set fixing block, a wheel set spring, a floating guide wheel seat, a guide wheel fixing seat, a U-shaped guide wheel frame, a guide wheel and a wheel frame shaft, wherein the wheel set shaft seat is provided with a shaft hole in the horizontal direction, bearings and gaskets are arranged on two sides of the shaft hole and are integrally installed below two sides of a guide base plate, one end of the wheel set fixing block is installed on a guide pressing plate, the other end of the wheel set spring is arranged below the shaft hole of the wheel set fixing block, the shaft hole is formed in the middle of the floating guide wheel seat, the bearings and the gaskets are respectively installed on two sides of the floating guide wheel fixing seat through bolts, a shaft socket is formed in the middle of the U-shaped guide wheel frame connecting plate, the bearing and the gaskets are respectively installed on two sides of the connecting plate, one end of the U-shaped guide wheel frame connecting plate is movably connected with the guide wheel, the other end of the U-shaped guide wheel frame connecting plate is connected to the wheel through the wheel frame shaft hole penetrating into the shaft seat in the shaft hole of the wheel set shaft hole, the floating guide wheel seat is respectively clamped between the upper side and the lower side of the shaft socket of the U-shaped guide wheel frame connecting plate, and the guide wheel fixing seat, and the guide wheel post penetrates through the shaft hole of the shaft hole below the wheel;

the guide mechanism also comprises a guide transmission assembly, the guide transmission assembly comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, and the driving wheel and the driven wheel are both arranged on the guide base plate and are respectively connected with a guide motor shaft and a guide screw;

the guide transmission assembly also comprises a guide transmission protective cover, and the guide transmission protective cover is arranged on the guide base plate and covers the whole guide transmission assembly;

the guide transmission assembly is a belt transmission machine, and a driving wheel and a driven wheel of the guide transmission assembly are connected through a belt;

the guide mechanism further comprises a guide sensing assembly, wherein the guide sensing assembly comprises a guide sensing column arranged on the guide substrate, a guide sensor mounting plate arranged on the guide sensing column, a guide sensing head arranged on the guide sensor mounting plate, and a guide sensing sheet arranged on the guide wheel column cover.

The power supply system comprises a charging mechanism, an inversion component and a battery component, wherein the inversion component and the battery component are respectively installed on the frame, the charging mechanism is installed on one side of the inversion component and can obtain alternating current electric energy from an external power grid to charge the battery component, and direct current in the battery component is changed into alternating current through the inversion component and then is used as a working power supply of each system of the AGV trolley;

the charging mechanism comprises a charging lock plate, a charging rod, a charging gasket, a charging spring, an insulating insulator and a charging sliding block, wherein the charging lock plate is U-shaped, the charging rod penetrates out of the charging lock plate downwards, and then the charging rod sequentially penetrates into the charging gasket, the charging spring and the insulating insulator and is locked on the charging sliding block;

the charging slide block is made of a copper plate;

the inversion assembly comprises an inversion locking plate, an inverter and an inversion bracket, the inversion locking plate is arranged on the frame, the inverter is arranged on one side of the inversion locking plate, and the inversion bracket is arranged at two ends of the inversion locking plate, is positioned on the other side of the inverter and is connected with the charging locking plate;

the battery assembly comprises a battery seat, a battery pack and a battery panel, the battery seat is arranged on the frame, the battery pack is arranged on the battery seat and is respectively and electrically connected with the charging mechanism and the inversion assembly, and the battery panel is arranged on one side of the battery seat and is matched with the outer shell;

the battery assembly also comprises a battery roller and a roller bolt, wherein the battery roller is arranged on the bottom of the battery seat through the roller bolt, and the battery assembly can be pulled out or retracted from the frame from the outer shell through the battery roller;

the power supply system further comprises an electric disc frame, the electric disc frame is of an I-shaped structure formed by three electric disc flat plates and is installed on the frame, and the inversion locking plate is installed on the frame through the electric disc frame.

Compared with the prior art, the invention has the beneficial effects and remarkable progress that:

1) According to the AGV trolley, the tooth fork mechanism can be turned over between a horizontal state and a vertical state through the AGV trolley comprising the shell frame system, the chassis system, the power supply system, the supporting system and the fork turning system, so that the wire coil taking and placing, transportation and other work can be completed, manual operation is not needed, the wire coil is automatically taken and placed from a machine table and then is transported and placed, and therefore the labor intensity of workers can be reduced, the production efficiency is improved, and the product quality and safety are guaranteed;

2) The invention has novel design, compact structure, simple and reliable operation and great popularization and application value.

Drawings

FIG. 1 is a schematic perspective exploded view of an AGV trolley for loading, unloading, transporting and placing a wire coil provided by the present invention;

FIG. 2 is a schematic perspective exploded view of an AGV chassis system for wire coil loading, transporting and placing according to the present invention;

FIG. 3 is a schematic perspective exploded view of a AGV chassis system display lamp box for wire coil loading, unloading, transporting and placing according to the present invention;

FIG. 4 is a schematic perspective exploded view of a power mechanism of an AGV chassis system for wire coil loading, unloading, transporting and placing according to the present invention;

FIG. 5 is a schematic perspective exploded view of a AGV chassis system guiding mechanism for loading, unloading, transporting and placing a wire coil according to the present invention;

FIG. 6 is a schematic perspective exploded view of a charging mechanism of an AGV power supply system for loading, unloading, transporting and placing wire coils according to the present invention;

FIG. 7 is a schematic perspective exploded view of an inverter assembly of an AGV power supply system for wire coil loading, unloading, transporting and placing according to the present invention;

FIG. 8 is a schematic perspective exploded view of a AGV power supply system battery assembly for wire coil loading, unloading, transporting and placing according to the present invention;

FIG. 9 is a schematic perspective exploded view of an AGV trolley supporting and turning system for wire coil loading, unloading, transporting and placing according to the present invention:

FIG. 10 is a schematic perspective exploded view of an AGV top wheel for loading, unloading, transporting and placing a wire coil according to the present invention;

FIG. 11 is a schematic perspective view of an AGV pallet sensor for loading, unloading, transporting and placing a wire coil according to the present invention;

FIG. 12 is an enlarged schematic view of the tray sensor mounting position of an AGV for wire coil loading, unloading, transporting and placing according to the present invention;

FIG. 13 is a schematic perspective exploded view of an AGV trolley fork turning system for loading, unloading, transporting and placing wire coils according to the present invention;

FIG. 14 is a schematic perspective exploded view of the AGV turning fork system advancing and retreating mechanism for loading, transporting and positioning the wire coil provided by the present invention;

FIG. 15 is a schematic perspective exploded view of an AGV turning fork system lifting mechanism for loading, unloading, transporting and placing wire coils according to the present invention;

FIG. 16 is a schematic perspective exploded view of an AGV turning fork system turning mechanism for loading, unloading, transporting and placing wire coils, provided by the invention;

FIG. 17 is a schematic perspective exploded view of a fork turning mechanism of an AGV for loading, unloading, transporting and placing a wire coil;

FIG. 18 is a schematic view of a connection relationship between a turnover mechanism and a fork mechanism in an AGV trolley fork turning system for loading, unloading, transporting and placing wire coils provided by the invention;

FIG. 19 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a fork mechanism of the AGV trolley turning fork system for loading, unloading, transporting and placing a wire coil provided by the invention in an original state;

FIG. 20 is a schematic view of the connection relationship between the lifting mechanism, the turnover mechanism and the tooth fork mechanism of the AGV for loading, unloading, transporting and placing the wire coil, after the turnover swing arm is removed when the turnover fork system of the AGV provided by the invention is in the original state;

FIG. 21 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a tooth fork mechanism of the AGV trolley turnover fork system for loading, unloading, transporting and placing a wire coil provided by the invention in a turnover state;

FIG. 22 is a schematic view of the connection relationship among the lifting mechanism, the turnover mechanism and the fork mechanism of the AGV trolley for loading, transporting and placing the wire coil, after the turnover arm is removed when the turnover fork system is in a turnover state.

In the figure:

1-a cage system;

11-shell, 111-maintenance door, 1111-emergency stop button, 1112-buzzer, 112-operation board, 1121-operation key, 1122-man-machine interface board, 113-access door, 114-operation concave maintenance door, 115-rear maintenance door, 1151-rear door connecting rod, 116-front cover, 1161-access window, 117-anti-collision sensing rubber strip, 118-display lamp box, 1181-diffusion board, 1182-lamp box bottom board, 1183-lamp strip, 1191-WIFI machine box, 1192-antenna, 1193-anti-collision sensor, 1194-electronic tag, 1195-battery guide seat; 12-internal frame, 121-frame body, 122-frame floor;

2-chassis system:

21-power mechanism, 2111-power box, 2112-power wheel shaft, 2113-power wheel, 2114-power motor, 2115-magnetic navigation sensor, 2121-suspension shaft seat A, 2122-suspension rotating shaft, 2123-suspension bearing, 2124-suspension shaft cover, 2125-spring bolt, 2131-suspension bottom plate, 2132-spring fixing block, 2133-tension spring, 2134-spring support, 2135-suspension spring, 2136-suspension pull rod, 2141-suspension press plate, 2142-spring pull column, 2143-suspension screw, 2144-suspension screw, 2145-suspension shaft seat B, 2151-suspension top plate, 2152-suspension transmission mechanism, 2153-suspension motor, 2154-tensioning assembly, 2155-protective cover, 2161-positioning detection frame, 2162-positioning detection sheet, 2163-positioning sensor; 22-a guide mechanism, 2211-a guide base plate, 2212-a guide pressure plate, 2221-a guide screw, 2222-a guide nut, 2223-a guide shaft seat, 2224-a guide motor, 2225-a guide transmission component, 2226-a guide transmission protective cover, 2231-a guide column sleeve, 2232-a guide column cover, 2233-a guide wheel column, 2241-a wheel group shaft seat, 2242-a wheel group fixing block, 2243-a wheel group spring, 2244-a guide wheel floating seat, 2245-a guide wheel fixing seat, 2246-U-shaped guide wheel frame, 2247-a guide wheel, 248-a wheel frame shaft, 2251-a guide sensing column, 2252-a guide sensor mounting plate, 2253-a guide sensing head and 2254-a guide sheet; 23-a movable wheel;

3-power supply system: 31-charging mechanism, 311-charging lock plate, 312-charging rod, 313-charging gasket, 314-charging spring, 315-insulator, 316-charging slide block;

32-inversion component, 321-inversion locking plate, 322-inverter, 323-inversion bracket;

33-battery assembly, 331-battery holder, 33-2 battery pack, 333-battery panel, 334-battery roller, 335-roller bolt;

34-an electric plate rack;

4-carrying and rotating system:

41-pallet, 411-annular pallet track;

42-a turntable;

43-a turntable motor;

44-a turntable shaft;

45-top wheel, 451-top wheel seat, 452-top wheel bolt, 453-top wheel nut, 454-top wheel gasket, 455-top wheel bearing;

46-a turntable pad;

47-L type speed reducer;

48-tray sensor, 481-tray sensing seat, 482-tray sensing head;

5-a fork turning system;

51-advancing and retreating mechanism, 5111-translation seat, 5112-rotation seat, 5113-advancing and retreating slide block seat, 5114-advancing and retreating slide block seat bearing, 5115-advancing and retreating slide block seat bolt, 5121-frame connecting plate, 5122-frame side plate, 5123-frame shaft plate, 5124-advancing and retreating slide rail, 5125-advancing and retreating slide block, 5131-advancing and retreating screw rod, 5132-advancing and retreating nut, 5133-advancing and retreating nut seat, 5134-connecting span plate, 5135-advancing and retreating motor, 5136-advancing and retreating motor seat, 5137-advancing and retreating transmission mechanism, 5138-advancing and retreating motor locking plate, 5141-advancing and retreating support chain, 5142-advancing and retreating bracket, 5143-advancing and retreating supporting plate, 5151-middle rotating shaft, 5152-middle rotating bush, 5153-middle rotating shaft sleeve, 5154-middle rotating clamping plate, 5155-middle rotating bottom plate, 5156-rotating shaft plate, angle guide rod-5157, 5161-advancing and retreating sensing plate and 5162-advancing and retreating head;

52-lifting mechanism, 5211-lifting bottom plate, 5212-lifting side arm, 5213-front connecting plate, 5214-rear connecting plate, 5215-lifting upper cover, 5216-lifting rod seat, 5217-bottom plate stop block, 5221-lifting screw, 5222-lifting nut, 5223-lifting nut seat, 5224-lifting motor, 5231-lifting wheel seat, 2532-lifting wheel, 5241-lifting reducer, 5242-lifting reducer seat, 5243-lifting reducer locking plate, 5251-lifting driving wheel, 5252-lifting driven wheel, 5253-lifting transmission protective cover, 5261-inner lifting rail, 5262-inner lifting block, 5263-outer lifting rail, 5264-outer lifting block, 5265-lifting rotation stop block, 5266-lifting buffer rotation block, 5267-lifting slide seat, 5271-lifting support plate, 5272-lifting drag chain, 5281-lifting sensing piece, 5282-lifting sensor, 5291-L-shaped support seat, 5292-lifting support nut, 5293-support block, 5293-lifting support block;

53-turnover mechanism, 5311-J shaped bracket, 5312-lifting guide rod, 5313-hook block rod, 5314-L shaped hook block, 5315-hook block seat, 5316-guide rod bolt, 5321-rotating arm support rod, 5322-rotating arm rod seat, 5323-support rod bush, 5324-support rod spring, 533-turnover rotating arm, 5331-support rod hole, 5332-lifting groove, 5333-sliding connecting hole, 5334-bottom hole, 5335-abutting bearing, 534-rotating arm supporting device,

54-tooth fork mechanism, 541-turning disc, 542-L-shaped tooth fork and 543-photoelectric sensor.

Specific technical scheme

The technical scheme provided by the invention is further explained in detail by combining the drawings and the description and the embodiment of the drawings.

Examples

As shown in fig. 1, a schematic three-dimensional exploded structure diagram of an AGV cart for wire coil loading, unloading, transporting and placing according to the present invention is shown:

an AGV trolley for wire coil handling, transporting, and placing, comprising: the AGV comprises a shell frame system 1 with a shell body 11 and an internal frame 12, a chassis system 2 for bearing the shell frame system 1, and a power supply system 3 which is arranged on the frame 12 and provides energy for the AGV; further comprising: a supporting and rotating system 4 and a fork turning system 5.

The chassis system 2 comprises a power mechanism 21, a guide mechanism 22 and four movable wheels 23, wherein the power mechanism 21 is installed on the frame 12, the guide mechanism 22 is installed on the frame 12 on two sides of the power mechanism 21, and the four movable wheels 23 are respectively installed on the periphery of the bottom of the frame 12.

The power supply system 3 comprises a charging mechanism 31, an inverter assembly 32 and a battery assembly 33; wherein: contravariant subassembly 32, battery pack 33 are installed respectively on frame 12, and charging mechanism 31 installs in contravariant subassembly 32 below, and charging mechanism 31 obtains alternating current power from the outside electric wire netting and charges battery pack 33, and simultaneously, the direct current in the battery pack 33 is regarded as after the contravariant subassembly 32 becomes the alternating current the working power supply of each system of AGV dolly.

The fork turning system 5 is arranged on one side of the shell frame system 1 and comprises a driving and reversing mechanism 51, a lifting mechanism 52, a turning mechanism 53 and a fork mechanism 54, wherein the driving and reversing mechanism 51 can extend out of or retract into the shell frame system 1, the lifting mechanism 52 can enable the turning mechanism 53 and the fork mechanism 54 to move up and down, and the turning mechanism 53 can enable the fork mechanism 54 to turn between a horizontal state and a vertical state.

As shown in fig. 2, the schematic three-dimensional exploded structure of the AGV carriage housing system for wire coil loading, unloading, transporting and placing according to the present invention is as follows:

the shell 11 is a cube with a concave cross section, the concave surface is the front surface of the shell 11, the upper parts of the two outer side surfaces are respectively provided with a maintenance door 111 and an operation panel 112, the maintenance door 111 and the lower part of the operation panel 112 are provided with an access door 113, the maintenance door 111 is provided with an emergency stop button 1111 and a buzzer 1112, the operation panel 112 is also provided with an emergency stop button 1111, an operation key 1121 and a man-machine interface panel 1122, the back surface of the shell 11 is provided with a back maintenance door 115, the bottom of the maintenance door 115 is provided with a back door connecting rod 1151, the concave two sides of the shell 11 are provided with concave maintenance doors 114, the concave front side is provided with a front cover 116, the front cover 116 is provided with an access window 1161 and the lower part of the front cover 116 can turn over along the bottom line of the access window 1161, the bottom of the outer side surface of the shell 11 is further provided with an anti-collision sensing adhesive tape 117, the inner wall of the shell 11 is provided with a display lamp box 118 and a WIFI machine box 1191, an antenna 1192 related to the WIFI machine box 1191 is arranged at one corner of the top of the shell 11, the bottom of the inner wall is provided with an anti-collision sensor 1193 and an electronic tag 1194, and battery guide seats 5 are arranged at the bottom of the two side surfaces of the shell 11.

The frame 12 is a frame structure and includes a frame main body 121 and a frame bottom plate 122, the frame main body 121 is used for connecting the chassis system 2 and the fork turning system 5 and installing the power supply system 3, and the frame bottom plate 122 is used for connecting the chassis system 2 and the housing 11.

As shown in fig. 3, the schematic three-dimensional exploded structure of the AGV carriage shell frame system display light box for wire coil loading, unloading, transporting and placing provided by the invention is as follows:

the display lamp box 118 includes a diffusion plate 1181, a lamp box bottom plate 1182 and an LED lamp strip 1183, the diffusion plate 1181 and the lamp box bottom plate 1182 are involutory to wrap the LED lamp strip 1183 therein, and the display lamp box 118 is fixed on the inner wall of the housing 11 through the lamp box bottom plate 1182.

As shown in fig. 4, a schematic three-dimensional exploded structure diagram of a power mechanism of an AGV chassis system for wire coil loading, unloading, transporting and placing according to the present invention is shown:

the power mechanism 21 comprises a power assembly and a suspension assembly.

The power assembly comprises a power box 2111 arranged on the frame 12, a power wheel shaft 2112 in the power box 2111, two power wheels 2113 arranged on the outer side of the power box 2111 and connected with the power wheel shaft 2112, and a power motor 2114 driving the power wheel shaft 2112 to rotate in the power box 2111, wherein the power motor 2114 comprises a motor, a speed reducer combined with the motor and a shaft center cover connecting the speed reducer with the power wheel 2113 and then sealing the wheel shaft, and magnetic navigation sensors 2115 are further arranged on two end faces of the power box 2111 respectively.

The suspension assembly is arranged on the power box 2111 and comprises a suspension shaft seat 2121, a suspension bottom plate 2131, a suspension pressing plate 2141 and a suspension top plate 2151.

The suspension shaft seat A2121 is arranged at the bottom of the suspension bottom plate 2131, a suspension rotating shaft 2122 connected with the power box 2111 is arranged in the suspension shaft seat A2121, the suspension rotating shaft 2122 is connected with a suspension bearing 2123 in the suspension shaft seat A2121, a suspension shaft cover 2124 connected with the suspension rotating shaft 2122 is arranged on the suspension bearing 2123, and a spring bolt 2125 is arranged on the suspension shaft cover 2124;

the suspension bottom plate 2131 is a rectangular plate with two upward bent sides and a circular hole in the center, a spring fixing block 2132 is arranged on the upper portion of the suspension bottom plate 2131, a spring strut 2134 with one end fixed through a nut and the other end connected with one end of an extension spring 2133 is inserted into the spring fixing block 2132, the other end of the extension spring 2133 is fixed on a spring bolt 2125, suspension springs 2135 are further arranged at four corners of the suspension bottom plate 2131, sliding grooves are further formed in bent surfaces of two sides of the suspension bottom plate 2131, and suspension pull rods 2136 are arranged in the sliding grooves;

the suspension pressing plate 2141 covers the suspension bottom plate 2131, the suspension pressing plate 2141 is provided with a spring pull column 2142 and a suspension lead screw, the spring pull column 2142 penetrates through the suspension pressing plate 2141 and is inserted into the suspension spring 2135, the suspension lead screw comprises a suspension nut 2143, a suspension screw 2144 and a suspension shaft seat B2145 with a bearing inside, the suspension nut 2143 is fixed on the suspension pressing plate 2141 and is in threaded connection with the suspension screw 2144, the suspension shaft seat B2145 is fixed at the bottom of the suspension pressing plate 2141, the suspension screw 2144 is in rotational connection with the bearing in the suspension shaft seat B2145 and penetrates through the bearing to enter the suspension top plate 2151;

the suspended top plate 2151 covers the suspended pressing plate 2141, a suspended transmission mechanism 2152 and a suspended motor 2153 mounted through a motor base are mounted on the suspended top plate 2151, the suspended transmission mechanism 2152 comprises a driving wheel and a driven wheel, a crankshaft of the suspended motor 2153 is connected with the driving wheel of the suspended transmission mechanism 2152, and the driven wheel of the suspended transmission mechanism 2152 is connected with a suspended screw 2144.

In this embodiment, the suspension transmission mechanism 2152 is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are connected through a belt.

The belt transmission machine further comprises a tensioning assembly 2154, the tensioning assembly 2154 is composed of a bolt and a bearing connected in series in the bolt, the tensioning assembly 2154 is fixed beside the belt transmission machine through a nut and a gasket, and the bearing of the tensioning assembly is attached to a belt.

The suspension transmission mechanism 2152 further comprises a protective cover 2155, the protective cover 2155 is fixed on the suspension top plate 2151, and the whole suspension transmission mechanism 2152 is covered.

Power unit 21 still include the location and survey the subassembly, the location is surveyed the subassembly and is included location detection frame 2161, location detection piece 2162, positioning sensor 2163, location detection frame 2161 is installed on hanging clamp plate 2141, location detection piece 2162, positioning sensor 2163 are installed on location detection frame 2161, be used for the direction location of AGV dolly.

As shown in fig. 5, the schematic perspective exploded structural diagram of the guiding mechanism of the AGV chassis system for wire coil loading, unloading, transporting and placing provided by the invention is as follows:

the guiding mechanism 22 includes a guiding base, a guiding screw, a guiding wheel column, and a guiding wheel set.

Wherein: the pilot base includes a pilot base plate 2211 and a pilot pressure plate 2212 therebelow.

The pilot screw comprises a pilot screw 2221, a pilot nut 2222, a pilot shaft seat 2223 and a pilot motor 2224, the pilot nut 2222 is mounted on the pilot pressing plate 2212, the pilot shaft seat 2223 is mounted on the pilot base plate 2211 and internally provided with a bearing and fixed by a nut, the pilot screw 2221 sequentially penetrates through the pilot nut 2222 to be in threaded connection with the pilot screw, the bearing in the pilot shaft seat 2223 is in rotational connection with the pilot base plate 2211 and finally penetrates out of the pilot base plate 2211, the pilot motor 2224 is mounted on the pilot base plate 2211 and is in transmission connection with the pilot screw 2221, and the pilot screw 2221 can drive the pilot base plate 2211 to move up and down above the pilot pressing plate 2212 through the drive of the pilot motor 2224.

The guide wheel column comprises a guide column sleeve 2231, a guide column cover 2232 and a guide wheel column 2233, wherein the guide column sleeve 2231 is installed on the guide base plate 2211, the guide wheel column 2233 is inserted into the guide column sleeve 2231, and one end of the guide wheel column is connected with the guide column cover 2232 while the other end of the guide wheel column penetrates through the guide base plate 2211.

The guide wheel set comprises a wheel set shaft seat 2241, a wheel set fixing block 2242, a wheel set spring 2243, a floating guide wheel seat 2244, a guide wheel fixing seat 2245, a U-shaped guide wheel frame 2246, a guide wheel 2247 and a wheel frame shaft 2248, wherein the wheel set shaft seat 2241 is provided with a shaft hole in the horizontal direction, bearings and gaskets are arranged on two sides of the shaft hole and are integrally arranged below two sides of the guide base plate 2211, one end of the wheel set fixing block 2242 is arranged on the guide pressure plate 2212, the other end of the wheel set fixing block 2242 is provided with a shaft hole, the wheel set spring 2243 is arranged below the shaft hole of the wheel set fixing block 2242, the middle of the floating guide wheel seat 2244 is provided with a shaft hole, and two sides of the floating guide wheel seat 2244 are respectively provided with the bearings and the gaskets through bolts, there are shaft sockets and both sides to install bearing and gasket through the bolt respectively in the middle of guide pulley fixing base 2245, U-shaped guide pulley frame 2246 comprises the splint of even board and even board both sides in the middle, one end swing joint guide pulley 2247 and the other end are connected on wheelset axle 2241 through the wheel frame axle 2248 of interlude in splint and wheelset axle 2241 shaft hole between the two splint of U-shaped guide pulley frame 2246, unsteady guide pulley seat 2244 and guide pulley fixing base 2245 centre gripping respectively in the upper and lower both sides of the even board of U-shaped guide pulley frame 2246, guide pulley post 2233 passes through wheelset fixed block 2242 shaft hole, wheelset spring 2243 below wheelset fixed block 2242 shaft hole, the shaft hole in the middle of unsteady guide pulley seat 2244 inserts in the shaft socket in the middle of guide pulley fixing base 2245.

The guiding mechanism 22 further comprises a guiding transmission assembly 2225, the guiding transmission assembly 2225 comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, the driving wheel and the driven wheel are both mounted on the guiding base plate 2211 and are respectively connected with a shaft of the guiding motor 2224 and the guiding screw 2221.

The pilot transmission assembly 2225 further includes a pilot transmission protective cover 2226, and the pilot transmission protective cover 2226 is mounted on the pilot base plate 2211 and covers the whole pilot transmission assembly 2225.

In this embodiment, the guiding transmission assembly 2225 is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are connected by a belt.

In addition, the pilot mechanism 22 further includes a pilot sensing assembly, which includes a pilot sensing column 2251 mounted on the pilot substrate 2211, a pilot sensor mounting plate 2252 mounted on the pilot sensing column 2251, a pilot sensing head 2253 mounted on the pilot sensor mounting plate 2252, and a pilot sensing strip 2254 mounted on the pilot column cover 2232.

As shown in fig. 6, the schematic three-dimensional exploded structural diagram of the AGV power supply system charging mechanism for wire coil loading, unloading, transporting and placing provided by the invention is as follows:

the charging mechanism 31 includes a charging lock plate 311, a charging rod 312, a charging pad 313, a charging spring 314, an insulator 315, and a charging slider 316, the charging lock plate 311 is U-shaped, the charging rod 312 passes through the charging lock plate 311 downward, and then the charging rod 312 sequentially passes through the charging pad 313, the charging spring 314, and the insulator 315 and is locked on the charging slider 316.

The charging slider 316 is made of a copper plate.

As shown in fig. 7, the schematic diagram of the three-dimensional exploded structure of the AGV power supply system inverter assembly for wire coil loading, unloading, transporting and placing provided by the invention is as follows:

the inversion assembly 32 comprises an inversion locking plate 321, an inverter 322 and an inversion bracket 323, wherein the inversion locking plate 321 is installed on the frame 12, the inverter 322 is installed at one side of the inversion locking plate 321, and the inversion bracket 323 is installed at two ends of the inversion locking plate 321, is located at the other side of the inverter 322 and is connected with the charging locking plate 311.

FIG. 8 is a schematic perspective exploded view of a AGV power supply system battery assembly for wire coil loading, transporting and placing according to the present invention:

the battery assembly 33 includes a battery seat 331, a battery pack 332, and a battery panel 333, wherein the battery seat 331 is disposed on the frame 12, the battery pack 332 is disposed on the battery seat 331 and electrically connected to the charging mechanism 31 and the inverter assembly 32, respectively, and the battery panel 333 is mounted on one side of the battery seat 331 and matched with the outer casing 11.

In addition, the battery assembly 33 further includes a battery roller 334 and a roller bolt 335, the battery roller 334 is mounted on the bottom of the battery seat 331 through the roller bolt 335, and the battery assembly 33 can be pulled out or retracted from the frame 12 from the outer case 11 through the battery roller 334.

The power supply system 3 further includes an electric disc rack 34, the electric disc rack 34 is an i-shaped structure formed by 3 electric disc flat plates and is mounted on the frame 12, and the inverter lock plate 321 is mounted on the frame 12 through the electric disc rack 34.

As shown in fig. 9, a schematic three-dimensional exploded structure diagram of an AGV cart supporting and rotating system for wire coil loading, unloading, transporting and placing provided by the invention is as follows:

the supporting and rotating system 4 comprises a tray 41, a rotating disc 42, a rotating disc motor 43 and a rotating disc shaft 44, wherein the tray 41 is fixed at the top of the shell 11, the rotating disc 42 is arranged on the tray 41, the rotating disc motor 43 is fixed below the tray 41, a rotating shaft of the rotating disc motor 43 is connected with one end of the rotating disc shaft 44, the other end of the rotating disc shaft 44 penetrates through the tray 41 to be connected with the rotating disc 42, and the rotating disc 42 can be driven to rotate on the tray 41 through the driving of the rotating disc motor 43.

Wherein the tray 41 has a U-shaped notch, and the turntable has at least one U-shaped notch identical to the tray, in this embodiment, three U-shaped notches are provided.

The supporting and rotating system 4 further comprises a top wheel 45 and a rotating disc gasket 46, the top wheel 45 and the rotating disc gasket 46 are both installed on the surface of the rotating disc 42 between the tray 41 and the rotating disc 42, and the rotating disc shaft 44 is connected with the rotating disc 42 through the rotating disc gasket 46 and drives the rotating disc 42 to rotate on the tray 41 through the top wheel 45.

FIG. 10 is a schematic view of a three-dimensional exploded structure of an AGV top wheel for loading, unloading, transporting and placing a wire coil, according to the present invention:

the top wheel 45 comprises a top wheel seat 451, a top wheel bolt 452, a top wheel nut 453, a top wheel gasket 454 and a top wheel bearing 455, wherein the top wheel bearing 455 is fixed on the top wheel seat 451 through the top wheel bolt 452, the top wheel nut 453 and the top wheel gasket 454, and the top wheel 45 is fixed on the surface of the rotary table 42 through the top wheel seat 451.

Wherein: the tray 41 is further provided with an annular tray rail 411, and the top wheels 45 can roll on the tray rail 411.

An L-shaped speed reducer 47 is further mounted on the turntable motor 43, the turntable motor 43 is fixed below the tray 41 through the L-shaped speed reducer 47, an input shaft of the L-shaped speed reducer 47 is connected with a rotating shaft of the turntable motor 43, and an output shaft of the L-shaped speed reducer 47 is connected with the turntable shaft 44.

In addition, the tray transfer system 4 includes a tray sensor 48.

FIG. 11 is a schematic diagram showing a three-dimensional structure of a tray sensor of an AGV for loading, unloading, transporting and placing a wire coil, according to the present invention:

the tray sensor 48 includes a tray sensor seat 481 installed at an edge of the tray 41 and a tray sensor head 482 installed on the tray sensor seat 481.

FIG. 12 is an enlarged schematic view of the tray sensor mounting position of an AGV for loading, unloading, transporting and placing on a wire coil according to the present invention:

the tray sensing head 482 is positioned on the center line of the U-shaped notch of the tray 41 and is perpendicular to the center line.

FIG. 13 is a schematic perspective exploded view of an AGV turning fork system for loading, unloading, transporting and placing wire coils according to the present invention;

referring to fig. 13 and as shown in fig. 14, the schematic exploded perspective view of the advancing and retreating mechanism of the AGV cart fork turning system for wire coil loading, transporting and arranging according to the present invention is shown:

the advancing and retreating mechanism 51 comprises an advancing and retreating bracket, an advancing and retreating frame and an advancing and retreating screw rod, the advancing and retreating bracket is fixed on the frame 12, the advancing and retreating frame is connected on the advancing and retreating bracket and is connected with the lifting mechanism 52, the advancing and retreating screw rod is arranged in the advancing and retreating frame, the advancing and retreating frame can advance or retreat by taking the advancing and retreating bracket as a boundary through the movement of the advancing and retreating screw rod, and then the lifting mechanism 52, the turnover mechanism 53 and the tooth fork mechanism 54 are driven to extend out of or retreat into the shell frame system 1.

The advancing and retreating bracket comprises a translation seat 5111 connected with the frame 12 and a rotating seat 5112 vertically installed at two sides of the translation seat 5111.

The advancing and retreating bracket further comprises an advancing and retreating slider seat 5113, an advancing and retreating slider seat bearing 5114 and an advancing and retreating slider seat bolt 5115, the advancing and retreating slider seat 5113 is mounted on the rotating seat 5112 through the advancing and retreating slider seat bearing 5114 and the advancing and retreating slider seat bolt 5115, and the connecting cross plate 5134 is firstly connected with the advancing and retreating slider seat 5113 through the end head, then connected with the rotating seat 5112 and is in sliding connection with the frame side plate 5122 through the advancing and retreating slider seat 5113.

The advancing and retreating frame is formed by enclosing a frame connecting plate 5121, a frame side plate 5122 and a frame shaft plate 5123.

The advancing and retreating frame further comprises an advancing and retreating slide rail 5124 and an advancing and retreating slider 5125, the advancing and retreating slide rail 5124 is mounted on the frame side plate 5122, the advancing and retreating slider 5125 is mounted on the advancing and retreating slider seat 5113 and is in sliding connection with the advancing and retreating slide rail 5124, the connecting cross plate 5134 is firstly connected with the advancing and retreating slider seat 5113 through the end head, then is respectively connected with the rotating seat 5112 and the advancing and retreating slider 5125 and is in sliding connection with the frame side plate 5122 through the advancing and retreating slider 5125.

The advance and retreat screw rod comprises an advance and retreat screw rod 5131, an advance and retreat nut 5132, an advance and retreat nut seat 5133, a connecting span plate 5134 and an advance and retreat motor 5135, wherein two ends of the advance and retreat screw rod 5131 are respectively connected with the frame connecting plate 5121 and the frame shaft plate 5123, the advance and retreat nut 5132 is sleeved on the advance and retreat screw rod 5131, is in threaded connection with the advance and retreat screw rod 5131 and is arranged on the advance and retreat nut seat 5133 through a bearing, the connecting span plate 5134 is fixedly connected with the advance and retreat nut seat 5133, one side of the end head of the connecting span plate is in sliding connection with the frame side plate 5122, the other side of the end head of the connecting span plate is connected with the rotating seat 5112, the advance and retreat motor 5135 is arranged on the connecting span plate 5134 and is in transmission connection with the advance and retreat nut 5132, and retreat motor 5135 can drive the advance and retreat nut 5131 and retreat nut 5132 to drive the advance and retreat frame to take the advance and retreat frame as the origin and retreat frame and also take the advance and retreat frame as the origin to advance and retreat frame.

Wherein: the advance-retract screw further comprises an advance-retract motor mount 5136, the advance-retract motor mount 5136 is mounted on the connection span plate 5134, and the advance-retract motor 5135 is mounted on the connection span plate 5134 through the advance-retract motor mount 5136.

The advance and retreat lead screw further comprises an advance and retreat transmission mechanism 5137 and an advance and retreat motor locking plate 5138, the advance and retreat transmission mechanism 5137 comprises a driving wheel and a driven wheel, the driving wheel is rotationally connected with the driven wheel, the driving wheel of the advance and retreat transmission mechanism 5137 is rotationally connected with a rotation shaft of the advance and retreat motor 5135, the driven wheel of the advance and retreat transmission mechanism 5137 is connected with an advance and retreat nut 5133, the advance and retreat motor 5135 drives an advance and retreat nut 5132 to rotate through the advance and retreat transmission mechanism 5137, and the advance and retreat motor locking plate 5138 is installed on a panel of an advance and retreat motor 5136 between the advance and retreat transmission mechanism 5137 and the advance and retreat motor 5136.

In this embodiment, the forward/backward transmission mechanism 5137 is a belt transmission machine, and the driving wheel and the driven wheel of the belt transmission machine are rotatably connected through a belt.

The advancing and retreating mechanism 51 further comprises an advancing and retreating pipeline assembly, the advancing and retreating pipeline assembly comprises an advancing and retreating support chain 5141, an advancing and retreating bracket 5142 and an advancing and retreating supporting plate 5143, the advancing and retreating bracket 5142 is installed at the end, close to the frame shaft plate 5123, of the frame side plate 5122, the advancing and retreating supporting plate 5143 is installed on the connecting span plate 5134, and two ends of the advancing and retreating support chain 5141 are respectively fixed on the advancing and retreating bracket 5142 and the advancing and retreating supporting plate 5143.

The advancing and retreating mechanism 51 further comprises a transfer assembly, the transfer assembly comprises a transfer shaft 5151, a transfer bush 5152, a transfer shaft sleeve 5153, a transfer clamp 5154, a transfer base plate 5155, a transfer shaft plate 5156 and an angle guide rod 5157, the transfer shaft 5151 is installed in the transfer shaft sleeve 5153 through the transfer bush 5152, two ends of the transfer shaft 5151 are arranged between the transfer clamp 5154 and the transfer base plate 5155, the transfer clamp 5154 and the transfer base plate 5155 are respectively fixed on the frame shaft plate 5123, the transfer shaft sleeve 5153 is fixed on the transfer shaft plate 5156, and two sides of the transfer shaft plate 5156 are respectively fixedly connected with the lifting mechanism 52 and movably connected with the frame shaft plate 5123 through the angle guide rod 5157 fixed thereon.

Two angle guiding rods 5157 are respectively fixed on the middle rotating shaft plates 5156 at two sides of the middle rotating shaft sleeve 5153, and movably connected with the frame shaft plate 5123 by passing through a through hole on the frame shaft plate 5123.

The advancing-retreating mechanism 51 further comprises an advancing-retreating sensor which comprises an advancing-retreating sensing piece 5161 and an advancing-retreating sensing head 5162, wherein the advancing-retreating sensing piece 5161 is mounted on the advancing-retreating slider seat 5113, and the advancing-retreating sensing head 5162 is mounted on the frame side plate 5122.

Fig. 13 is a schematic perspective exploded view of the lifting mechanism of the AGV cart fork turning system for wire coil loading, transporting and placing according to the present invention as shown in fig. 15:

the lifting mechanism 52 comprises a lifting frame and a lifting screw rod, one side of the lifting frame is connected with the advancing and retreating mechanism 51 and can extend out of or retreat from the shell frame system 1 under the pushing of the advancing and retreating mechanism 51, the other side of the lifting frame is connected with the turnover mechanism 53, the lifting screw rod is installed on the lifting frame, the turnover mechanism 53 can lift along the lifting frame through the lifting screw rod and the turnover mechanism 53 drives the tooth fork mechanism 54 to turn over between a horizontal state and a vertical state.

The lifting frame comprises a lifting bottom plate 5211, lifting side arms 5212, a front connecting plate 5213, a rear connecting plate 5214 and a lifting upper cover 5215, the lifting side arms 5212 are vertically arranged on two sides of the lifting bottom plate 5211, fixedly connected with the driving and reversing mechanism 51 and slidably connected with the turnover mechanism 53, the front connecting plate 5213 and the rear connecting plate 5214 are respectively clamped and fixed on the upper parts of the lifting side arms 5212, and the lifting upper cover 5215 is arranged between the front connecting plate 5213 and the rear connecting plate 5214 and fixed on the rear connecting plate 5214.

The lifting frame further comprises a lifting rod base 5216 comprising a bearing, the lifting rod base 5216 is installed at the center of the lifting bottom plate 5211, and one end of the lifting screw 5221 is installed on the lifting bottom plate 5211 through the lifting rod base 5216.

The lifting frame further comprises a bottom plate stop block 5217, and the bottom plate stop block 5217 is installed on the lifting bottom plate 5211 and is located around the lifting screw 5221.

The lifting screw comprises a lifting screw 5221, a lifting nut 5222, a lifting nut seat 5223 and a lifting motor 5224, the lifting screw 5221 is arranged in the lifting frame, two ends of the lifting screw 5221 are respectively arranged on the lifting bottom plate 5211 and the lifting upper cover 5215, the lifting nut 5222 is fixed on the lifting nut seat 5223 and is sleeved in the lifting screw 5221 to be in threaded connection with the lifting screw 5221, the lifting nut seat 5223 is fixedly connected with the turnover mechanism 53, the lifting motor 5224 is arranged on the lifting bottom plate 5211 to be in rotational connection with the lifting screw 5221, the lifting screw 5221 can be driven to rotate by the rotation of the lifting motor 5224, and the lifting nut 5222 can be lifted or lowered along the lifting screw 5221 by the rotation of the lifting screw 5221 to further drive the turnover mechanism 53 to ascend or descend and further drive the tooth fork mechanism 54 to turn between a horizontal state and a vertical state.

The lifting mechanism 52 further comprises a lifting wheel set, the lifting wheel set comprises a lifting wheel seat 5231 and lifting wheels 2532, the lifting wheel seat 5231 is mounted on two sides of the lifting bottom plate 5211, and the lifting wheels 2532 are mounted at the bottom of the lifting wheel seat 5231.

In this embodiment, the lifting wheels 2532 are universal wheels.

In addition, the lifting mechanism 52 further includes a lifting speed reducer unit, which includes a lifting speed reducer 5241, a lifting speed reducer base 5242 and a lifting speed reducer locking plate 5243, the lifting speed reducer 5241 is mounted on the lifting speed reducer base 5242, the lifting speed reducer base 5242 is mounted on the lifting base 5211, the lifting motor 5224 is mounted on the lifting base 5211 by being connected with the lifting speed reducer 5241, and the lifting speed reducer locking plate 5243 is mounted at the bottom of the lifting speed reducer base 5242.

The lifting mechanism 52 further comprises a lifting transmission unit which is arranged below the lifting speed reducer locking plate 5243 and comprises a lifting driving wheel 5251 and a lifting driven wheel 5252, the lifting driving wheel 5251 is rotationally connected with the lifting driven wheel 5252, the lifting driving wheel 5251 is connected with a lifting motor 5224 or is connected with the lifting motor 5224 through a lifting speed reducer 5241, and the lifting driven wheel 5252 is connected with a lifting screw 5221.

In this embodiment, the lifting transmission unit is a belt transmission machine, and a lifting driving wheel 5251 of the belt transmission machine is connected with a lifting driven wheel 5252 through belt transmission.

The lifting transmission unit further comprises a lifting transmission protective cover 5253, and the lifting transmission protective cover 5253 is arranged below the lifting bottom plate 5211 and completely covers the lifting transmission unit.

The lifting mechanism 52 further comprises a lifting sliding assembly, the lifting sliding assembly comprises an inner lifting rail 5261, an inner lifting block 5262, an outer lifting rail 5263, an outer lifting block 5264, a lifting stop block 5265, a lifting buffer block 5266 and a lifting slide base 5267, the inner lifting rail 5261 and the outer lifting rail 5263 are respectively arranged on two sides of the lifting side arm 5212, the inner lifting block 5262 is fixedly connected with the turnover mechanism 53, the outer lifting block 5264 is fixed on the lifting slide base 5267, the lifting slide base 5267 is fixedly connected with the turnover mechanism 53, the lifting stop block 5265 is fixedly arranged at the top end of the lifting side arm 5212 and is positioned on one side of the outer lifting rail 5263, the lifting buffer block 5266 is arranged below the lifting stop block 5265, the lifting side arm 5212 is connected with the turnover mechanism 53 fixedly connected with the inner lifting block 5262 through the inner lifting rail 5261, the lifting side arm 5212 is connected with the lifting slide base 5267 through the outer lifting rail 5263, and the lifting slide base 5264 is fixedly connected with the lifting slide base 5253, and the lifting slide base 5253 is connected with the turnover mechanism 5267

The lifting mechanism 52 further comprises a lifting support plate 5271 and a lifting drag chain 5272, wherein the lifting support plate 5271 is mounted on a lifting side arm 5212, and two ends of the lifting drag chain 5272 are respectively fixed on the lifting support plate 5271 and a lifting slide 5267 located on the same side of the lifting support plate 5271.

The elevating mechanism 52 further includes an elevating sensor piece 5281 and an elevating sensor 5282, the elevating sensor piece 5281 is mounted on one side of the elevating nut base 5223, and the elevating sensor 5282 is mounted on the elevating side arm 5212 corresponding to one side of the elevating sensor piece 5281.

The lifting mechanism 52 further comprises an L-shaped support seat 5291, a support nut 5292, a support bolt 5293 and a support stop block 5294, the L-shaped support seat 5291 is mounted on the upper end of the lifting side arm 5212 facing the advancing and retreating mechanism 51, the support bolt 5293 is fixed on the L-shaped support seat 5291 through the support nut 5292, the support stop block 5294 is arranged on the support bolt 5293 for the pillow of the arm rod seat 5322 and the weight of the wire coil borne by the tooth fork mechanism 54 is dispersed.

Fig. 13 is a schematic perspective exploded view of a turnover mechanism of an AGV trolley turnover fork system for wire coil loading, unloading, transporting and placing, provided by the invention as shown in fig. 16:

the turnover mechanism 53 includes a bracket assembly and a turnover assembly, the bracket assembly is fixedly connected with the lifting nut seat 5223 and is slidably connected with the lifting side arm 5212 and the turnover assembly, the turnover assembly is fixedly connected with the fork mechanism 54, the bracket assembly drives the turnover assembly to lift along with the lifting of the lifting mechanism 52, and the bracket assembly slides with the turnover assembly under the driving of the lifting mechanism 52 to change the relative position so that the turnover assembly drives the fork mechanism 54 to turn over between a horizontal state and a vertical state.

The bracket assembly comprises a J-shaped bracket 5311, a lifting guide rod 5312, a hook rod 5313, an L-shaped hook 5314, a hook seat 5315 and a connecting bolt 5316 which are horizontally arranged, wherein the end of the J-shaped bracket 5311 is fixedly connected with a lifting nut seat 5223, the end side of the J-shaped bracket 5311 is in sliding connection with a lifting side arm 5212 or the end side of the J-shaped bracket 5212 through an inner lifting block 5262 and the inner wall of the lifting side arm 5212 provided with an inner lifting rail 5261, the lifting guide rod 5312 is fixedly arranged at the tail end of the J-shaped bracket 5311 and is in sliding connection with a turning assembly, the hook rod 5313 penetrates through the middle of the J-shaped bracket 5311, the end part of the hook rod is connected with a bearing through a bolt, the bottom of the L-shaped hook 5314 is provided with a bearing and is movably connected to the hook seat 5315 through a bearing, the hook seat 5315 is connected with the outer side of the lifting side arm 5212 or the hook seat 5315 through a lifting slide 5267, and is connected with an outer lifting block 5264 and the outer wall of the lifting side arm 5212 provided with an outer lifting rail 5263.

The turning component comprises a swing arm support rod 5321, a swing arm rod seat 5322 and a turning swing arm 533, wherein the swing arm support rod 5321 is sleeved in the swing arm rod seat 5322, the swing arm rod seat 5322 is arranged on the lifting transduction rod 5312 and is fixedly connected with the tooth fork mechanism 54, the turning swing arm 533 is provided with a support rod hole 5331, a lifting groove 5332 and a sliding connecting hole 5333, the support rod hole 5331, the lifting groove 5332 and the sliding connecting hole 5333 are arranged in a T shape, and the turning swing arm 5321, the sliding connecting hole 5333 are arranged in a T shape, wherein: the support rod hole 5331 and the lifting groove 5332 are arranged in a straight line on the head of the T, the sliding connecting hole 5333 is arranged at the tail end of the T, the support rod hole 5331 is used for inserting the end of the rotating arm support rod 5321, the lifting groove 5332 is used for inserting the end of the lifting guide rod 5312 and enabling the lifting guide rod to slide back and forth along the lifting groove 5332, and the sliding connecting hole 5333 is used for being connected with the lifting side arm 5212 in a sliding mode.

The turning assembly further comprises a support rod bushing 5323 and a support rod spring 5324, the support rod bushing 5323 is arranged in the swing arm rod seat 5322 and sleeved at two ends of the swing arm support rod 5321, the support rod spring 5324 is arranged outside the support rod bushing 5323 and also sleeved at the end head of the swing arm support rod 5321, and the end head of the swing arm support rod 5321 is connected with the turning swing arm 533 by inserting the sleeved support rod bushing 5323 and the support rod spring 5324 into the support rod hole 5331.

The turning arm 533 is T-shaped, and the support rod hole 5331 and the lifting groove 5332 are arranged in a straight line on the head of the T, and the sliding connecting hole 5333 is arranged at the end of the T, and bearings are further arranged in the lifting groove 5332 and the sliding connecting hole 5333.

The end of the lifting guide bar 5312 is inserted into the bearing in the lifting groove 5332, connected with the bearing by a bolt, inserted into the lifting groove 5332, and slid back and forth in the lifting groove 5332.

The connecting bolt 5316 is slidably connected with the lifting side arm 5212 through a sliding connecting hole 5333 bearing or the connecting bolt 5316 is connected with the lifting slide 5267 through a sliding connecting hole 5333 bearing and then connected with the outer lifting block 5264 and the lifting side arm 5212 connected with the outer lifting rail 5263.

The turning arm 533 further includes a bottom hole 5334 formed in a side wall below the lifting groove 5332, and an abutting bearing 5335, where the abutting bearing 5335 is installed below the bottom hole 5334 through a bolt and a gasket, so as to avoid abrasion of components of the turning mechanism 53 when the forked gear 54 is adjusted left and right.

The turning assembly further comprises a turning arm support block 534, and the turning arm support block 534 is fixed on a lifting slide 5267 below the T-shaped end of the turning arm 533 and is used for supporting the turning arm 533.

Fig. 17 shows a three-dimensional exploded structural diagram of a fork mechanism of an AGV cart fork turning system for wire coil handling, transportation and placement according to fig. 13, and fig. 18 shows a structural diagram of a connection relationship between a turning mechanism and a fork mechanism in an AGV cart fork turning system for wire coil handling, transportation and placement according to the present invention:

the tooth fork mechanism 54 includes a turning plate 541 and two tooth forks 542, the tooth forks 542 are vertically installed on the turning plate 541, the turning plate 541 is fixedly connected with the turnover mechanism 53, in this embodiment, the turning plate 541 is fixedly connected with the swing arm lever seat 5322, and the turning plate 541 and the tooth forks 542 thereon can turn over each other along with the turnover mechanism 53 between a horizontal state and a vertical state.

Wherein: the tray 541 has a shape and size complementary to the U-shaped notch of the tray 41.

The tooth fork 542 is L-shaped, and the tooth fork 542 is fixedly connected with the turnover 541 through a connecting section of the tooth fork 542, and a working section of the tooth fork, which extends out of one side of the turnover 541, is at a right angle with the turnover 541.

The fork mechanism 54 further includes a photoelectric sensor 543, the photoelectric sensor 543 is mounted at the tooth end of the fork 542, and the detection end of the photoelectric sensor 543 faces the outer side of the turnover 541.

Fig. 19 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a fork mechanism of an AGV car for wire coil loading, transporting and placing when the AGV car fork turning system provided by the present invention is in an original state, and fig. 20 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a fork mechanism of an AGV car for wire coil loading, transporting and placing after a turnover swing arm is removed when the AGV car fork turning system provided by the present invention is in an original state:

the tooth fork mechanism 54 is fixedly connected with the turnover mechanism 53 through the turnover disk 541, in this embodiment, the turnover disk 541 is fixedly connected with the rotating arm rod seat 5322 of the turnover mechanism 53 and is mounted on the turnover mechanism 53, the turnover mechanism 53 is mounted on the lifting mechanism 52 through the fixed connection of the J-shaped bracket 5311 and the lifting nut seat 5223 and the sliding connection of the lifting side arm 5212, the lifting transduction rod 5312 fixed at the tail end of the J-shaped bracket 5311 can slide back and forth in the lifting groove 5332 of the turnover rotating arm 533, the lifting mechanism 52 drives the lifting screw 5221 to rotate through the rotation of the lifting motor 5224, and the rotation of the lifting screw 5221 enables the lifting nut 5222 to move up or down along the lifting screw 5221 so as to drive the turnover mechanism 53 to ascend or descend;

when the lifting nut 5222 reaches its highest position, the turnover mechanism 53 connected with the lifting nut 5222 and the fork mechanism 54 connected with the turnover mechanism 53 also reach their highest positions, i.e. the lifting mechanism, the turnover mechanism and the fork mechanism in the AGV trolley fork turnover system provided by the present invention are in their original states, at this time:

the tilting tray 541 is in a horizontal position and at the same height as the tray 41 of the supporting and rotating system 4, the tooth fork 542 is in a vertical position, the lifting and guiding rod 5312 slides to the position of the a point of the lifting and rotating groove 5332, the rotating arm rod seat 5322 rests on the supporting and stopping block 5294 on the L-shaped supporting seat 5291, and the hook rod 5313 penetrating through the middle of the frame body of the J-shaped bracket 5311 is positioned at the top end of the L-shaped hook 5314, so that the hook of the L-shaped hook 5314 can hook the lifting and stopping block 5265, and the lifting and sliding seat 5267 and the connected outer lifting and lowering block 5264 can not slide due to the movement of the tilting mechanism 53 and the gravity center shift of the wire coil on the tilting tray 541.

Fig. 21 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a fork mechanism of an AGV trolley turning fork system for wire coil loading, transporting and placing in a turning state, and fig. 22 is a schematic view of a connection relationship structure of a lifting mechanism, a turnover mechanism and a fork mechanism of an AGV trolley turning fork system for wire coil loading, transporting and placing in a turning state after a turning arm is removed:

when the lifting nut 5222 starts to descend, the J-shaped bracket 5311 connected with the lifting nut 5222 also starts to descend, so as to drive the lifting guide rod 5312 to descend, so that the turnover arm 533 is laterally turned over to make the position of the lifting groove 5332 adapt to the instant position of the lifting guide rod 5312, which is represented by the fact that the end of the lifting guide rod 5312 slides from the point a to the point B of the lifting groove 5332, and as a result, the turnover mechanism 53 drives the tooth fork mechanism 54 to operate from the original state that the turnover plate 541 is in the horizontal position to the turnover state in the vertical position;

when the lifting nut 5222 continues to descend, the turnover mechanism 53 drives the fork mechanism 54 to turn over continuously until the turnover panel 541 turns over from the horizontal position to the vertical position completely, and at this time:

the turnover disc 541 is in a vertical position and is located at the outer side of the whole turnover fork system 5, the tooth fork 542 is in a horizontal position, the lifting guide rod 5312 slides to a point B of the lifting groove 5332, the T-shaped tail end of the turnover rotary arm 533 rotates to a horizontal position on the rotary arm support block 534, and the hook block rod 5313 penetrating through the middle of the rack body of the J-shaped bracket 5311 slides to the tail end of the L-shaped hook block 5314, so that the hook of the L-shaped hook block 5314 is separated from the lifting stop block 5265, and the turnover mechanism 53 is ensured to continuously descend along with the lifting nut 5222.

When the lifting nut 5222 continues to descend, the fork mechanism 54 of the turnover mechanism 53 with the turnover plate 541 in the horizontal position continues to descend along with the lifting nut 5222.

When the lifting nut 5222 rises, the turnover mechanism 53 drives the fork mechanism 54 to rise along with the lifting nut 5222 until the lifting slide base 5267 is stopped by the lifting stop block 5265, at this time, if the lifting nut 5222 continues to rise, the J-shaped bracket 5311 connected with the lifting nut 5222 will also continue to rise and drive the lifting transduction rod 5312 to rise, and the rising of the lifting transduction rod 5312 causes the turnover swing arm 533 to turn over laterally so as to make the position of the lifting groove 5332 adapt to the instant position of the lifting transduction rod 5312, which shows that the end of the lifting transduction rod 5312 slides from the point B to the point a of the lifting groove 5332, and as a result, the turnover mechanism 53 drives the fork mechanism 54 to turn over from the turnover disk 541 to the original state of the horizontal position, and at the same time, the hook rod 5313 also slides upwards along the side wall of the L-shaped hook block 5314 along with the J-shaped bracket 5311, and finally causes the folding hook at the top end of the L-shaped hook block 5314 to hook again hook the lifting stop block 5265, so that the lifting stop block 5265 in the turnover mechanism, and the lifting mechanism, the turnover mechanism, and the lifting system, are restored to the original state;

by doing this, the turnover mechanism 53 can turn over the tooth fork mechanism 54 between the horizontal state and the vertical state.

In summary, the following steps: the AGV has the advantages that the tooth fork mechanism can be switched and overturned between the horizontal state and the vertical state through the AGV trolley with the supporting and turning system and the overturning and turning system, so that the wire coil can be taken, put and transported, the unmanned operation can be realized, the wire coil can be taken, put and transported from a machine table and then transported and placed automatically, the labor intensity of workers is reduced, the production efficiency is improved, and the product quality and safety are ensured.

Finally, it is necessary to state that: the above contents are only used for helping to understand the technical scheme of the invention, and can not be understood as the limitation of the protection scope of the invention; insubstantial modifications and adaptations of the invention, as viewed by a person with ordinary skill in the art in light of the above teachings, are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a AGV dolly that is used for drum loading and unloading, transportation, puts, including shell system (1) that has casing (11) and inside frame (12), bear chassis system (2) of shell system (1), install on inside frame (12) do AGV dolly provides electrical power generating system (3) of the energy, its characterized in that:

the fork turning device also comprises a supporting and rotating system (4) and a fork turning system (5);

the supporting and rotating system (4) comprises a tray (41), a rotating disc (42), a rotating disc motor (43) and a rotating disc shaft (44), wherein the tray (41) is fixed at the top of the shell (11), the rotating disc (42) is arranged on the tray (41), the rotating disc motor (43) is fixed below the tray (41) and a rotating shaft of the rotating disc motor is connected with one end of the rotating disc shaft (44), the other end of the rotating disc shaft (44) penetrates through the tray (41) to be connected with the rotating disc (42), and the rotating disc (42) can be driven to rotate on the tray (41) through the driving of the rotating disc motor (43);

the fork turning system (5) is arranged on one side of the shell frame system (1) and comprises a driving and reversing mechanism (51), a lifting mechanism (52), a turnover mechanism (53) and a tooth fork mechanism (54);

the advancing and retreating mechanism (51) comprises an advancing and retreating bracket, an advancing and retreating frame and an advancing and retreating screw rod, the advancing and retreating bracket is fixed on the inner frame (12), the advancing and retreating frame is connected to the advancing and retreating bracket and is connected with the lifting mechanism (52), the advancing and retreating screw rod is arranged in the advancing and retreating frame, the advancing and retreating frame can extend forwards or retreat and retract forwards by taking the advancing and retreating bracket as a boundary through the movement of the advancing and retreating screw rod, and then the lifting mechanism (52), the turnover mechanism (53) of the lifting mechanism and the tooth fork mechanism (54) of the lifting mechanism are driven to extend out or retreat the shell frame system (1);

the lifting mechanism (52) comprises a lifting frame and a lifting screw rod, one side of the lifting frame is connected with the advancing and retreating mechanism (51) and can extend out of or retract into the shell frame system (1) under the pushing of the advancing and retreating mechanism (51), the other side of the lifting frame is connected with the turnover mechanism (53), the lifting screw rod is arranged on the lifting frame, the turnover mechanism (53) can lift along the lifting frame through the lifting screw rod, and the turnover mechanism (53) drives the tooth fork mechanism (54) to be switched and turned between a horizontal state and a vertical state;

the turnover mechanism (53) comprises a bracket assembly and a turnover assembly, the bracket assembly is fixedly connected with a lifting nut seat (5223) and is in sliding connection with a lifting side arm (5212) and the turnover assembly, the turnover assembly is simultaneously and fixedly connected with a tooth fork mechanism (54), the bracket assembly drives the turnover assembly to lift along with the lifting of the lifting mechanism (52), and meanwhile, the bracket assembly is driven by the lifting mechanism (52) to slide and change the relative position of connection with the turnover assembly so that the turnover assembly drives the tooth fork mechanism (54) to be switched and turned between a horizontal state and a vertical state;

the fork mechanism (54) comprises a turnover disc (541) and two forks (542), the forks (542) are vertically installed on the turnover disc (541), the turnover disc (541) is fixedly connected with the turnover mechanism (53), the turnover disc (541) and the forks (542) on the turnover disc (541) can be mutually turned over along with the turnover mechanism (53) between a horizontal state and a vertical state, the turnover disc (541) is vertically arranged on the outer side of the shell frame system (1), and the turnover disc (541) is horizontally combined with the tray (41) into a whole;

the tray (41) is provided with a U-shaped notch, and the turntable (42) is also provided with at least one U-shaped notch with the same size as the U-shaped notch of the tray (41); the supporting and rotating system (4) further comprises a top wheel (45) and a turntable gasket (46), the top wheel (45) and the turntable gasket (46) are both arranged on the surface of the turntable between the tray (41) and the turntable (42), and the turntable shaft (44) is connected with the turntable (42) through the turntable gasket (46) and drives the turntable (42) to rotate on the tray (41) through the top wheel (45); an annular tray rail (411) is further arranged on the surface of the tray (41), and the top wheel (45) can roll on the tray rail (411).

2. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the rotary disc (42) is provided with three U-shaped gaps with the same shape and size as the U-shaped gaps of the tray (41).

3. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the top wheel (45) comprises a top wheel seat (451), a top wheel bolt (452), a top wheel nut (453), a top wheel gasket (454) and a top wheel bearing (455), the top wheel bearing (455) is fixed on the top wheel seat (451) through the top wheel bolt (452), the top wheel nut (453) and the top wheel gasket (454), and the top wheel (45) is fixed on the surface of the rotary table (42) through the top wheel seat (451).

4. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

an L-shaped speed reducer (47) is further mounted on the turntable motor (43), the turntable motor (43) is fixed below the tray (41) through the L-shaped speed reducer (47), an input shaft of the L-shaped speed reducer (47) is connected with a rotating shaft of the turntable motor (43), and an output shaft of the L-shaped speed reducer is connected with a turntable shaft (44).

5. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the tray sensor (48) is arranged on the tray rotating system (4), and the tray sensor (48) comprises a tray sensing seat (481) arranged at the edge of the tray (41) and a tray sensing head (482) arranged on the tray sensing seat (481);

the tray sensing head (482) is positioned on the central line of the U-shaped notch of the tray (41) and is vertical to the central line.

6. An AGV cart for wire coil handling, transport and presentation according to claim 1, further comprising:

the advancing and retreating bracket comprises a translation seat (5111) connected with the inner frame (12) and rotary seats (5112) vertically arranged at two sides of the translation seat (5111);

the advancing and retreating frame comprises a frame connecting plate (5121), a frame side plate (5122) and a frame shaft plate (5123), and is formed by enclosing the frame connecting plate (5121), the frame side plate (5122) and the frame shaft plate (5123);

the advance and retreat screw rod comprises an advance and retreat screw rod (5131), an advance and retreat nut (5132), an advance and retreat nut seat (5133), a connecting span plate (5134) and an advance and retreat motor (5135), wherein two ends of the advance and retreat screw rod (5131) are respectively connected with a frame connecting plate (5121) and a frame shaft plate (5123), the advance and retreat nut (5132) is sleeved on the advance and retreat screw rod (5131) and is in threaded connection with the advance and retreat screw rod (5131) and is further installed on the advance and retreat nut seat (5133) through a bearing, the connecting span plate (5134) is fixedly connected with the advance and retreat nut seat (5133), one side of the end of the connecting span plate is in sliding connection with a frame side plate (5122), the other side of the connecting span plate is connected with a rotating seat (5112), the advance and retreat motor (5135) is installed on the connecting span plate (5132) and is in transmission connection with the advance and retreat nut (5132), the advance and retreat motor (5135) can drive the advance and retreat screw rod (5132) to rotate, and retreat the rotating advance and retreat screw rod (5132) and retreat screw rod (5131) and retreat and drive the advance and retreat bracket to retreat and retreat while advance and retreat to retreat the advance and retreat the frame (5132) to advance and retreat as advance and retreat.

7. An AGV for wire coil handling, transport, presentation according to claim 6, wherein:

the advancing and retreating support further comprises an advancing and retreating slider seat (5113), an advancing and retreating slider seat bearing (5114) and an advancing and retreating slider seat bolt (5115), the advancing and retreating slider seat (5113) is installed on the rotating seat (5112) through the advancing and retreating slider seat bearing (5114) and the advancing and retreating slider seat bolt (5115), the connecting span plate (5134) is firstly connected with the advancing and retreating slider seat (5113) through the end head and then connected with the rotating seat (5112), and is also connected with the frame side plate (5122) in a sliding mode through the advancing and retreating slider seat (5113).

8. An AGV for wire coil handling, transport, presentation according to claim 7 wherein:

the advancing and retreating frame further comprises an advancing and retreating slide rail (5124) and an advancing and retreating slider (5125), the advancing and retreating slide rail (5124) is installed on a frame side plate (5122), the advancing and retreating slider (5125) is installed on the advancing and retreating slider seat (5113) and is in sliding connection with the advancing and retreating slide rail (5124), the connecting cross plate (5134) is firstly connected with the advancing and retreating slider seat (5113) through an end head, then is respectively connected with the rotating seat (5112) and the advancing and retreating slider (5125) and is in sliding connection with the frame side plate (5122) through the advancing and retreating slider (5125).

9. An AGV for wire coil handling, transport, presentation according to claim 6, wherein:

the advance and retreat lead screw further comprises an advance and retreat motor seat (5136), the advance and retreat motor seat (5136) is installed on the connecting span plate (5134), and the advance and retreat motor (5135) is installed on the connecting span plate (5134) through the advance and retreat motor seat (5136).

10. An AGV cart for wire coil handling, transport and presentation according to claim 9, further comprising:

the advance and retreat lead screw further comprises an advance and retreat transmission mechanism (5137) and an advance and retreat motor locking plate (5138), wherein the advance and retreat transmission mechanism (5137) comprises a driving wheel and a driven wheel which are rotationally connected, the driving wheel of the advance and retreat transmission mechanism (5137) is rotationally connected with an advance and retreat motor (5135), the driven wheel of the advance and retreat transmission mechanism (5137) is connected with an advance and retreat nut seat (5133), the advance and retreat motor (5135) drives an advance and retreat nut (5132) to rotate through the advance and retreat transmission mechanism (5137), and the advance and retreat motor locking plate (5138) is installed on a panel of the advance and retreat motor seat (5136) between the advance and retreat transmission mechanism (5137) and the advance and retreat motor seat (5136).

11. An AGV cart for wire coil handling, transport and presentation according to claim 10, further comprising:

the advancing and retreating transmission mechanism (5137) is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are rotationally connected through a belt.

12. An AGV for wire coil handling, transport, presentation according to claim 6, wherein:

the advancing and retreating mechanism (51) further comprises an advancing and retreating pipeline assembly, the advancing and retreating pipeline assembly comprises an advancing and retreating support chain (5141), an advancing and retreating bracket (5142) and an advancing and retreating supporting plate (5143), the advancing and retreating bracket (5142) is installed at the end, close to the frame shaft plate (5123), of the frame side plate (5122), the advancing and retreating supporting plate (5143) is installed on the connecting span plate (5134), and two ends of the advancing and retreating support chain (5141) are respectively fixed on the advancing and retreating bracket (5142) and the advancing and retreating supporting plate (5143).

13. An AGV for wire coil handling, transport, presentation according to claim 6, wherein:

the advancing and retreating mechanism (51) further comprises a transfer assembly, the transfer assembly comprises a transfer shaft (5151), a transfer bushing (5152), a transfer shaft sleeve (5153), a transfer clamping plate (5154), a transfer bottom plate (5155), a transfer shaft plate (5156) and an angle guide rod (5157), the transfer shaft (5151) is installed in the transfer shaft sleeve (5153) through the transfer bushing (5152), two ends of the transfer shaft (5151) are arranged between the transfer clamping plate (5154) and the transfer bottom plate (5155), the transfer clamping plate (5154) and the transfer bottom plate (5155) are respectively fixed on the frame shaft plate (5123), the transfer shaft sleeve (5153) is fixed on the transfer shaft plate (5156), and two sides of the transfer shaft plate (5156) are respectively fixedly connected with the lifting mechanism (52) and are movably connected with the frame shaft plate (5123) through the angle guide rod (5157) fixed on the transfer shaft plate.

14. An AGV cart for wire coil handling, transport and presentation according to claim 13, further comprising:

two angle guide rods (5157) are respectively fixed on the middle rotating shaft plates (5156) at two sides of the middle rotating shaft sleeve (5153) and movably connected with the frame shaft plate (5123) by passing through a through hole on the frame shaft plate (5123).

15. An AGV for wire coil handling, transport, presentation according to claim 7 wherein:

the advancing and retreating mechanism (51) further comprises an advancing and retreating sensor, the advancing and retreating sensor comprises an advancing and retreating sensing piece (5161) and an advancing and retreating sensing head (5162), wherein the advancing and retreating sensing piece (5161) is installed on the advancing and retreating slider seat (5113), and the advancing and retreating sensing head (5162) is installed on the side plate (5122) of the frame.

16. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the lifting frame comprises a lifting bottom plate (5211), lifting side arms (5212), a front connecting plate (5213), a rear connecting plate (5214) and a lifting upper cover (5215), wherein the lifting side arms (5212) are vertically arranged on two sides of the lifting bottom plate (5211), fixedly connected with a driving and reversing mechanism (51) and slidably connected with a turnover mechanism (53), the front connecting plate (5213) and the rear connecting plate (5214) are respectively clamped and fixed on the upper parts of the lifting side arms (5212), and the lifting upper cover (5215) is arranged between the front connecting plate (5213) and the rear connecting plate (5214) and fixed on the rear connecting plate (5214);

the lifting screw comprises a lifting screw rod (5221), a lifting nut (5222), a lifting nut seat (5223) and a lifting motor (5224), the lifting screw rod (5221) is arranged in a lifting frame, two ends of the lifting screw rod (5221) are respectively arranged on a lifting base plate (5211) and a lifting upper cover (5215), the lifting nut (5222) is fixed on the lifting nut seat (5223) and is sleeved in the lifting screw rod (5221) to be in threaded connection with the lifting screw rod (5221), the lifting nut seat (5223) is fixedly connected with a turnover mechanism (53), the lifting motor (5224) is arranged on the lifting base plate (5211) to be in rotary connection with the lifting screw rod (5221), and meanwhile, the rotation of the lifting motor (5224) can drive the lifting screw rod (5221) to rotate; the rotation of the lifting screw (5221) enables the lifting nut (5222) to move upwards or downwards along the lifting screw (5221), so as to drive the turnover mechanism (53) to ascend or descend, and further enable the turnover mechanism (53) to drive the tooth fork mechanism (54) to be switched and turned over between a horizontal state and a vertical state.

17. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting frame further comprises a lifting rod seat (5216) comprising a bearing, the lifting rod seat (5216) is arranged in the center of the lifting bottom plate (5211), and one end of a lifting screw rod (5221) is arranged on the lifting bottom plate (5211) through the lifting rod seat (5216).

18. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting frame further comprises a bottom plate stop block (5217), and the bottom plate stop block (5217) is installed on the lifting bottom plate (5211) and is positioned around the lifting screw (5221).

19. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting mechanism (52) further comprises a lifting wheel set, the lifting wheel set comprises a lifting wheel seat (5231) and lifting wheels (2532), the lifting wheel seat (5231) is installed on two sides of the lifting bottom plate (5211), and the lifting wheels (2532) are installed at the bottom of the lifting wheel seat (5231); the lifting wheels (2532) are universal wheels.

20. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting mechanism (52) further comprises a lifting speed reducer unit, the lifting speed reducer unit comprises a lifting speed reducer (5241), a lifting speed reducer base (5242) and a lifting speed reducer locking plate (5243), the lifting speed reducer (5241) is installed on the lifting speed reducer base (5242), and the lifting speed reducer base (5242) is installed on the lifting bottom plate (5211); the lifting motor (5224) is connected with a lifting speed reducer (5241) and is arranged on a lifting bottom plate (5211), and a lifting speed reducer locking plate (5243) is arranged at the bottom of a lifting speed reducer base (5242).

21. An AGV cart for wire coil handling, transport and presentation according to claim 20, further comprising:

the lifting mechanism (52) further comprises a lifting transmission unit, the lifting transmission unit is arranged below a lifting speed reducer locking plate (5243) and comprises a lifting driving wheel (5251) and a lifting driven wheel (5252), the lifting driving wheel (5251) is rotationally connected with the lifting driven wheel (5252), the lifting driving wheel (5251) is connected with a lifting motor (5224) or a lifting speed reducer (5241) is connected with the lifting motor (5224), and the lifting driven wheel (5252) is connected with a lifting screw (5221); the lifting transmission unit is a belt transmission machine, and a lifting driving wheel (5251) of the belt transmission machine is in transmission connection with a lifting driven wheel (5252) through a belt.

22. An AGV cart for wire coil handling, transport and presentation according to claim 21, further comprising:

the lifting transmission unit further comprises a lifting transmission protective cover (5253), and the lifting transmission protective cover (5253) is installed below the lifting bottom plate (5211) and completely covers the lifting transmission unit.

23. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting mechanism (52) also comprises a lifting sliding component, the lifting sliding component comprises an inner lifting rail (5261), an inner lifting block (5262) which can slide on the inner lifting rail (5261), an outer lifting rail (5263), an outer lifting block (5264) which can slide on the outer lifting rail (5263), a lifting stop block (5265), a lifting buffer block (5266) and a lifting sliding seat (5267), the inner lifting rail (5261) and the outer lifting rail (5263) are respectively arranged at the two sides of the lifting side arm (5212), the inner lifting block (5262) is fixedly connected with the turnover mechanism (53), the outer lifting block (5264) is fixed on the lifting slide base (5267), the lifting slide base (5267) is fixedly connected with the turnover mechanism (53), the lifting stop block (5265) is fixedly arranged at the top end of the lifting side arm (5212) and is positioned at one side of the outer lifting rail (5263), the lifting buffer block (5266) is arranged below the lifting stop block (5265), the lifting side arm (5212) is in sliding connection with the turnover mechanism (53) fixedly connected with the inner lifting block (5262) through the inner lifting rail (5261), meanwhile, the lifting side arm (5212) is in sliding connection with a turnover mechanism (53) which is fixedly connected with a lifting slide seat (5267) through an outer lifting rail (5263) and is fixedly connected with an outer lifting block (5264) through the lifting slide seat (5267).

24. An AGV cart for wire coil handling, transport and presentation according to claim 23, further comprising:

the lifting mechanism (52) further comprises a lifting support plate (5271) and a lifting drag chain (5272), the lifting support plate (5271) is mounted on one lifting side arm (5212), and two ends of the lifting drag chain (5272) are respectively fixed on the lifting support plate (5271) and a lifting slide seat (5267) located on the same side of the lifting support plate (5271).

25. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting mechanism (52) further comprises a lifting sensing piece (5281) and a lifting sensor (5282), the lifting sensing piece (5281) is installed on one side of the lifting nut seat (5223), and the lifting sensor (5282) is installed on a lifting side arm (5212) corresponding to one side of the lifting sensing piece (5281).

26. An AGV cart for wire coil handling, transport and presentation according to claim 16, further comprising:

the lifting mechanism (52) further comprises an L-shaped supporting seat (5291), a supporting nut (5292), a supporting bolt (5293) and a supporting stop block (5294), the L-shaped supporting seat (5291) is installed on one side of the upper end face of the lifting side arm (5212) facing the advancing and retreating mechanism (51), the supporting bolt (5293) is fixed on the L-shaped supporting seat (5291) through the supporting nut (5292), and the supporting stop block (5294) is arranged on the supporting bolt (5293).

27. An AGV cart for wire coil handling, transport and presentation according to claim 23, further comprising:

the support assembly comprises a J-shaped bracket (5311), a lifting guide rod (5312), a hook block rod (5313), an L-shaped hook block (5314), a hook block seat (5315) and a connecting bolt (5316), wherein the J-shaped bracket (5311) is fixedly connected with a lifting nut seat (5223), the end side of the J-shaped bracket (5311) is in sliding connection with the lifting side arm (5212) or the end side of the J-shaped bracket is in sliding connection with the inner wall of the lifting side arm (5212) provided with an inner lifting rail (5261) through an inner lifting block (5262), the lifting guide rod (5312) is fixedly arranged at the tail end of the J-shaped bracket (5311) and is in sliding connection with a turning assembly, the hook block rod (5313) penetrates through the middle of the J-shaped bracket (5311) and the end of the hook block rod is connected with a bearing through a bolt, the bottom of the L-shaped hook block (5314) is provided with a bearing and is movably connected to the hook block seat (5315) through a bearing, and the lifting side arm (5364) is connected with the outer wall of the lifting side arm (5212) and an outer wall of the lifting rail (5264);

the turnover component comprises a spiral arm support rod (5321), a spiral arm rod seat (5322) and a turnover spiral arm (533), wherein the spiral arm support rod (5321) is sleeved in the spiral arm rod seat (5322), the spiral arm rod seat (5322) is arranged on a lifting guide rod (5312) and is fixedly connected with a tooth fork mechanism (54), the turnover spiral arm (533) is provided with a support rod hole (5331), a lifting groove (5332) and a sliding connecting hole (5333), the support rod hole (5331), the lifting groove (5332) and the sliding connecting hole (5333) are arranged in a T shape, wherein: the support rod holes (5331) and the lifting and rotating grooves (5332) are arranged in a straight line and positioned on the head of a T, the sliding connecting hole (5333) is positioned at the tail end of the T, the support rod holes (5331) are used for inserting the end head of the rotating arm support rod (5321), the lifting and rotating grooves (5332) are used for inserting the end head of the lifting and rotating guide rod (5312) and can slide back and forth along the lifting and rotating grooves (5332), and the sliding connecting hole (5333) is used for being connected with the lifting side arm (5212) in a sliding manner;

the connecting bolt (5316) is in sliding connection with the lifting side arm (5212) through a bearing in the sliding connecting hole (5333), or the connecting bolt (5316) is in sliding connection with the lifting slide base (5267) through a bearing in the sliding connecting hole (5333) and then is connected with the outer lifting block (5264) and the lifting side arm (5212) connected with the outer lifting rail (5263).

28. An AGV cart for wire coil handling, transport and presentation according to claim 27, further comprising:

the turnover component further comprises two support rod bushings (5323) and two support rod springs (5324), the support rod bushings (5323) are arranged in the swing arm rod seat (5322) and sleeved at two ends of the swing arm support rod (5321), the support rod springs (5324) are arranged on the outer sides of the support rod bushings (5323) and also sleeved at the end heads of the swing arm support rod (5321), and the end heads of the swing arm support rod (5321) are connected with the turnover swing arm (533) in a support rod hole (5331) in an inserting mode through the sleeved support rod bushings (5323) and the support rod springs (5324).

29. An AGV cart for wire coil handling, transport and presentation according to claim 27, further comprising:

the overturning component further comprises a rotary arm supporting block (534), and the rotary arm supporting block (534) is fixed on a lifting sliding seat (5267) below the T-shaped tail end of the overturning rotary arm (533).

30. An AGV cart for wire coil handling, transport and presentation according to claim 27, further comprising:

the turning rotary arm (533) is T-shaped, a support rod hole (5331) and the lifting groove (5332) are arranged in a straight line on the head of the T, the sliding connecting hole (5333) is arranged at the tail end of the T, bearings are further arranged in the lifting groove (5332) and the sliding connecting hole (5333), and the end of the lifting guide rod (5312) is inserted into the bearing in the lifting groove (5332), is connected with the bearing through a bolt, is inserted into the lifting groove (5332) and slides back and forth in the lifting groove (5332).

31. An AGV cart for wire coil handling, transport and presentation according to claim 27, further comprising:

the overturning swing arm (533) further comprises a bottom hole (5334) formed in the side wall below the lifting groove (5332) and an abutting bearing (5335), and the abutting bearing (5335) is installed below the bottom hole (5334) through a bolt and a gasket.

32. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the shape and the size of the turnover plate (541) are complementary with the U-shaped gap of the tray (41).

33. An AGV cart for wire coil handling, transport and presentation according to claim 1, further comprising:

the tooth fork (542) is L-shaped and is provided with a connecting section and a working section, the tooth fork (542) is fixedly connected with the turnover disc (541) through the connecting section, and the working section of the tooth fork, which extends out of one side of the turnover disc (541), is at a right angle with the turnover disc (541).

34. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the fork mechanism (54) further comprises a photoelectric sensor (543), the photoelectric sensor (543) is installed at the tooth end of the fork (542), and the detection end of the photoelectric sensor faces the outer side of the turnover disc (541).

35. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the shell (11) is a cube with a concave cross section, the inner concave surface is the front surface of the shell (11), the upper parts of two outer side surfaces are respectively provided with a maintenance door (111) and an operation plate (112), the lower parts of the maintenance door (111) and the operation plate (112) are provided with an access door (113), the maintenance door (111) is provided with an emergency stop button (1111) and a buzzer (1112), the operation plate (112) is also provided with an emergency stop button (1111), an operation key (1121) and a man-machine interface panel (1122), the back surface of the shell (11) is provided with a rear maintenance door (115), and the bottom of the rear maintenance door (115) is provided with a rear door connecting rod (1151); an inwards concave maintenance door (114) is arranged on two inwards concave sides of the shell (11), a front cover (116) is arranged on the inwards concave front side, an access window (1161) is arranged on the front cover (116), and the lower portion of the front cover (116) can turn over along the bottom line of the access window (1161); in addition, the bottom of casing (11) lateral surface still install crashproof sensing adhesive tape (117), display lamp box (118) and WIFI machine box (1191) are installed to the inner wall of casing (11), then install the one corner at casing (11) top with antenna (1192) that WIFI machine box (1191) is concerned, crashproof sensor (1193) and electronic tags (1194) are installed to the inner wall bottom, both sides face bottom still has battery guide seat (1195).

36. An AGV cart for wire coil handling, transport and presentation according to claim 35, further comprising:

the display lamp box (118) comprises a diffusion plate (1181), a lamp box bottom plate (1182) and an LED lamp bar (1183), wherein the diffusion plate (1181) and the lamp box bottom plate (1182) are folded to wrap the LED lamp bar (1183), and the display lamp box (118) is fixed on the inner wall of the shell (11) through the lamp box bottom plate (1182).

37. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the internal frame (12) is a frame structure body and comprises a frame main body (121) and a frame bottom plate (122), the frame main body (121) is used for connecting the chassis system (2), the turnover fork system (5) and the installation power supply system (3), and the frame bottom plate (122) is used for connecting the chassis system (2) and the shell (11).

38. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

the chassis system (2) comprises power mechanisms (21), a guide mechanism (22) and four movable wheels (23), wherein the power mechanisms (21) are installed on the frame (12), the guide mechanism (22) is installed on the frame (12) on two sides of the power mechanisms (21), and the four movable wheels (23) are respectively installed on the periphery of the bottom of the frame (12).

39. An AGV cart for wire coil handling, transport and presentation according to claim 38, further comprising:

the power mechanism (21) comprises a power assembly and a suspension assembly;

the power assembly comprises a power box (2111) arranged on the frame (12), a power wheel shaft (2112) in the power box (2111), two power wheels (2113) arranged on the outer side of the power box (2111) and connected with the power wheel shaft (2112), and a power motor (2114) arranged in the power box (2111) and driving the power wheel shaft (2112) to rotate, wherein the power motor (2114) comprises a motor, a speed reducer combined with the motor, and a shaft center cover connecting the speed reducer with the power wheels (2113) and then sealing the wheel shaft, and magnetic navigation sensors (2115) are respectively arranged on two end faces of the power box (2111);

the suspension assembly is arranged on the power box (2111) and comprises a suspension shaft seat A (2121), a suspension bottom plate (2131), a suspension pressing plate (2141) and a suspension top plate (2151);

the suspension shaft seat A (2121) is arranged at the bottom of the suspension bottom plate (2131), a suspension rotating shaft (2122) connected with the power box (2111) is arranged in the suspension shaft seat A (2121), the suspension rotating shaft (2122) is connected with a suspension bearing (2123) in the suspension shaft seat A (2121), a suspension shaft cover (2124) connected with the suspension rotating shaft (2122) is arranged on the suspension bearing (2123), and a spring bolt (2125) is arranged on the suspension shaft cover (2124);

the suspension bottom plate (2131) is a rectangular plate with two upward bent sides and a circular hole in the center, a spring fixing block (2132) is arranged on the upper portion of the suspension bottom plate (2131), a spring support (2134) with one end fixed through a nut and the other end connected with one end of an extension spring (2133) penetrates through the spring fixing block (2132), the other end of the extension spring (2133) is fixed on a spring bolt (2125), suspension springs (2135) are further arranged at four corners of the suspension bottom plate (2131), sliding grooves are further formed in bent surfaces on two sides of the suspension bottom plate (2131), and suspension pull rods (2136) are arranged in the sliding grooves;

the suspension pressing plate (2141) covers the suspension bottom plate (2131), a spring pull column (2142) and a suspension lead screw are arranged on the suspension pressing plate (2141), the spring pull column (2142) penetrates through the suspension pressing plate (2141) and is inserted into the suspension spring (2135), the suspension lead screw comprises a suspension nut (2143), a suspension screw (2144) and a suspension shaft seat B (2145) with a bearing inside, the suspension nut (2143) is fixed on the suspension pressing plate (2141) and is in threaded connection with the suspension screw (2144), the suspension shaft seat B (2145) is fixed at the bottom of the suspension pressing plate (2141), and the suspension screw (2144) is in rotational connection through the bearing in the suspension shaft seat B (2145) and penetrates through the bearing to enter the suspension top plate (2151);

the suspension top plate (2151) covers the suspension pressing plate (2141), a suspension transmission mechanism (2152) and a suspension motor (2153) mounted through a motor base are mounted on the suspension top plate (2151), the suspension transmission mechanism (2152) comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, a crankshaft of the suspension motor (2153) is connected with the driving wheel of the suspension transmission mechanism (2152), and the driven wheel of the suspension transmission mechanism (2152) is connected with a suspension screw (2144); the suspension transmission mechanism (2152) is a belt transmission machine, and a driving wheel and a driven wheel of the belt transmission machine are connected through a belt.

40. An AGV for wire coil handling, transport, presentation according to claim 39 further comprising:

the belt transmission machine further comprises a tensioning assembly (2154), the tensioning assembly (2154) is composed of a bolt and a bearing connected in series in the bolt, the tensioning assembly (2154) is fixed beside the belt transmission machine through a nut and a gasket, and the bearing of the tensioning assembly is attached to a belt.

41. An AGV for wire coil handling, transport, presentation according to claim 39 further comprising:

hang drive mechanism (2152) still include safety cover (2155), and safety cover (2155) are fixed on hanging roof (2151), cover whole drive mechanism (2152) that hangs.

42. An AGV for wire coil handling, transport, and presentation according to claim 39, wherein:

power unit (21) are still including the location detection subassembly, and the location is surveyed the subassembly and is surveyed frame (2161), location and survey piece (2162), positioning sensor (2163) including the location, location survey frame (2161) install on hanging clamp plate (2141), location survey piece (2162), positioning sensor (2163) are installed on the frame is surveyed in the location (2161), are used for the direction location of AGV dolly.

43. An AGV cart for wire coil handling, transport and presentation according to claim 38, further comprising:

the guide mechanism (22) comprises a guide base, a guide lead screw, a guide wheel column and a guide wheel set;

the guide base comprises a guide base plate (2211) and a guide pressing plate (2212) below the guide base plate;

the pilot screw comprises a pilot screw (2221), a pilot nut (2222), a pilot shaft seat (2223) and a pilot motor (2224), the pilot nut (2222) is arranged on the pilot pressing plate (2212), the pilot shaft seat (2223) is arranged on the pilot base plate (2211) and internally provided with a bearing and fixed by a nut, the pilot screw (2221) sequentially penetrates through the pilot nut (2222) to be connected with the pilot nut in a threaded manner, the bearing in the pilot shaft seat (2223) is rotationally connected with the pilot shaft seat and finally penetrates out of the pilot base plate (2211), the pilot motor (2224) is arranged on the pilot base plate (2211) to be in transmission connection with the pilot screw (2221), and the pilot screw (2221) can drive the pilot base plate (2211) to move up and down above the pilot pressing plate (2212) through the drive of the pilot motor (2224);

the guide wheel column comprises a guide column sleeve (2231), a guide column cover (2232) and a guide wheel column (2233), the guide column sleeve (2231) is arranged on the guide base plate (2211), the guide wheel column (2233) is inserted in the guide column sleeve (2231), one end of the guide wheel column is connected with the guide column cover (2232), and the other end of the guide wheel column penetrates out of the guide base plate (2211);

the guide wheel set comprises a wheel set shaft seat (2241), a wheel set fixing block (2242), a wheel set spring (2243), a floating guide wheel seat (2244), a guide wheel fixing seat (2245), a U-shaped guide wheel frame (2246), a guide wheel (2247) and a wheel frame shaft (2248), wherein the wheel set shaft seat (2241) is horizontally provided with a shaft hole, two sides of the shaft hole are provided with a bearing and a gasket and are integrally arranged below two sides of the guide base plate (2211), one end of the wheel set fixing block (2242) is arranged on the guide pressing plate (2212) while the other end is provided with the shaft hole, the wheel set spring (2243) is arranged below the shaft hole of the wheel set fixing block (2242), the middle of the floating guide wheel seat (2244) is provided with the bearing and the gasket on two sides respectively through bolts, there are shaft socket and both sides to install bearing and gasket through the bolt respectively in guide pulley fixing base (2245) middle, U-shaped guide pulley frame (2246) comprises even board in the middle and the splint of even board both sides, one end swing joint between U-shaped guide pulley frame (2246) two splint leads positive wheel (2247) and the other end is connected on wheelset axle bed (2241) through rack axle (2248) of interlude in splint and wheelset axle bed (2241) shaft hole, unsteady guide pulley seat (2244) and guide pulley fixing base (2245) centre gripping respectively in the upper and lower both sides of U-shaped guide pulley frame (2246) even board, guide pulley post (2233) passes through wheelset fixed block (2242) shaft hole, wheelset spring (2243) below wheelset fixed block (2242) shaft hole, the shaft hole in the middle of the floating guide wheel seat (2244) is inserted into the shaft socket in the middle of the guide wheel fixing seat (2245).

44. An AGV for wire coil handling, transport, presentation according to claim 43 further comprising:

the guide mechanism (22) further comprises a guide transmission assembly (2225), the guide transmission assembly (2225) comprises a driving wheel and a driven wheel, the driving wheel is rotatably connected with the driven wheel, and the driving wheel and the driven wheel are both arranged on the guide base plate (2211) and are respectively connected with a shaft of a guide motor (2224) and a guide screw rod (2221); the guide transmission assembly (2225) is a belt transmission machine, and a driving wheel of the belt transmission machine is connected with a driven wheel through a belt.

45. An AGV for wire coil handling, transport, presentation according to claim 44 wherein:

the guide transmission assembly (2225) further comprises a guide transmission protective cover (2226), and the guide transmission protective cover (2226) is arranged on the guide base plate (2211) and covers the whole guide transmission assembly (2225).

46. An AGV for wire coil handling, transport, presentation according to claim 44 wherein:

the guide mechanism (22) further comprises a guide sensing assembly, wherein the guide sensing assembly comprises a guide sensing column (2251) installed on the guide substrate (2211), a guide sensor installation plate (2252) installed on the guide sensing column (2251), a guide sensing head (2253) installed on the guide sensor installation plate (2252), and a guide sensing sheet (2254) installed on the guide column cover (2232).

47. An AGV for wire coil handling, transport, presentation according to claim 1 further comprising:

power supply system (3) are including charging mechanism (31), contravariant subassembly (32), battery pack (33), and wherein contravariant subassembly (32), battery pack (33) are installed respectively on frame (12), and charging mechanism (31) are installed and are being obtained alternating current power and charge battery pack (33) on contravariant subassembly (32) one side and can follow the outside electric wire netting, battery pack (33) in the direct current become after the alternating current through contravariant subassembly (32) as the operating power supply of each system of AGV dolly.

48. An AGV for wire coil handling, transporting, and presenting as claimed in claim 47 wherein:

the charging mechanism (31) comprises a charging lock plate (311), a charging rod (312), a charging gasket (313), a charging spring (314), an insulating insulator (315) and a charging sliding block (316), wherein the charging lock plate (311) is U-shaped, the charging rod (312) penetrates out of the charging lock plate (311) downwards, and then the charging rod (312) sequentially penetrates into the charging gasket (313), the charging spring (314) and the insulating insulator (315) and is locked on the charging sliding block (316); the charging slider (316) is made of a copper plate.

49. An AGV for wire coil handling, transporting, and presenting as claimed in claim 47 wherein:

the inversion component (32) comprises an inversion locking plate (321), an inverter (322) and an inversion support (323), wherein the inversion locking plate (321) is installed on the frame (12), the inverter (322) is installed on one side of the inversion locking plate (321), and the inversion support (323) is installed at two ends of the inversion locking plate (321), located on the other side of the inverter (322) and connected with the charging locking plate (311).

50. An AGV for wire coil handling, transport, presentation according to claim 47 wherein:

the battery component (33) comprises a battery seat (331), a battery pack (332) and a battery panel (333), wherein the battery seat (331) is arranged on the frame (12), the battery pack (332) is arranged on the battery seat (331) and is respectively electrically connected with the charging mechanism (31) and the inverter component (32), and the battery panel (333) is arranged on one side of the battery seat (331) and is matched with the shell (11).

51. An AGV for wire coil handling, transporting, and presenting as claimed in claim 47 wherein:

the battery assembly (33) further comprises a battery roller (334) and a roller bolt (335), the battery roller (334) is mounted at the bottom of the battery seat (331) through the roller bolt (335), and the battery assembly (33) can be pulled out or retracted from the frame (12) from the shell (11) through the battery roller (334).

52. An AGV for wire coil handling, transport, presentation according to claim 47 wherein:

the power supply system (3) further comprises a power disc rack (34), the power disc rack (34) is of an I-shaped structure formed by 3 power disc flat plates and is installed on the vehicle frame (12), and the inversion locking plate (321) is installed on the vehicle frame (12) through the power disc rack (34).