CN111391938B - AGV (automatic guided vehicle) for conveying copper foil spools - Google Patents
AGV (automatic guided vehicle) for conveying copper foil spools Download PDFInfo
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- CN111391938B CN111391938B CN202010157481.2A CN202010157481A CN111391938B CN 111391938 B CN111391938 B CN 111391938B CN 202010157481 A CN202010157481 A CN 202010157481A CN 111391938 B CN111391938 B CN 111391938B
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- mounting plate
- guide rail
- rail mounting
- frame
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention discloses an AGV (automatic guided vehicle) carrying robot for copper foil reel conveying, which comprises a chassis structure, wherein a visual navigation sensor is arranged at the bottom of the chassis structure, wheel driving systems are respectively arranged at the front position and the rear position of the chassis structure, a lifting system is arranged on each wheel driving system, and a controller is also arranged in the chassis structure and controls the wheel driving systems and the lifting systems to operate. The invention has the capabilities of quick positioning and heavy-load lifting, eliminates the risk factors of workers in work, ensures the stable and smooth operation of the production process, liberates labor force and realizes mechanized and automatic production.
Description
Technical Field
The invention belongs to the technical field of automation equipment, and particularly relates to an AGV (automatic guided vehicle) for conveying copper foil reels.
Background
The copper foil has low surface oxygen characteristic, can be attached to various base materials such as metal, insulating materials and the like, has a wide temperature use range, is mainly used for electromagnetic shielding and antistatic, namely, the conductive copper foil is arranged on the bottom surface of a substrate and combined with the metal base material, has excellent conductivity and provides electromagnetic shielding effect, and is widely applied to various products such as industrial calculators, communication equipment, QA equipment, lithium ion copper foil storage batteries, copying machines, cooling and heating air conditioners, automobile electronic parts and the like. The market at home and abroad has increasingly increased demand for electronic grade copper foils, particularly high-performance electronic grade copper foils. The copper foil production device-raw foil mainly comprises an anode tank body, a liquid inlet flow distribution device, a cathode roller driving device, a cathode roller conducting device, a cathode roller, an O-shaped ring circulating device, a tension control device, a cleaning device, a drying device, a winding device, a control system and the like. In the production process of the copper foil, along with the continuous rotation of the cathode roll shaft, copper is continuously separated out on the surface, the copper is stripped from the cathode roll, and then the copper is washed, dried and wound into a coil to be manufactured into a copper foil reel with the length of about 3T. The copper foil produced by the foil producing machine is called as raw foil or rough foil, cannot meet the requirements of downstream production, and can meet the requirements of various performance indexes only by carrying out surface treatment. In order to accelerate the production rhythm, the copper foil reel needs to be rapidly conveyed to the next procedure, and the production in a workshop is ensured to be carried out continuously.
At present most of copper foil manufacturing enterprises mainly rely on the workman to drive fork truck and accomplish the transport of 3T heavy copper foil spool, if there are about 20 raw foil machines in a workshop, adopt artifical mode to carry out the copper foil transport completely and can not follow up the production rhythm of raw foil machine, lead to next process can not in time obtain the raw materials, reduce production efficiency. In addition, since the electrolyte is acidic, acid mist is generated in the electrolytic process, and poisonous and harmful gases such as arsine and the like are generated in a liquid purifying area, so that workers operating a forklift to carry the copper foil can cause immeasurable damage to the health of the workers if the workers work in the poisonous and harmful gas environment for a long time.
In order to guarantee that the production process is stably and smoothly carried out, the personal health safety of constructors is guaranteed, the labor intensity is reduced, the mechanical automatic construction is realized, the working efficiency is improved, and an AGV carrying robot for copper foil reels is developed. A navigation base band, a position code and a control code are laid among stations in a factory, the AGV realizes tracking navigation through scanning the navigation base band, quickly and accurately reaches a working position, can quickly correct the posture of the AGV body in the tracking navigation process, finishes lifting and carrying of a heavy copper foil reel, and quickly moves to the next station or a storage position along the track band according to a process route.
Disclosure of Invention
The invention aims to provide an AGV (automatic guided vehicle) transfer robot for conveying copper foil reels, which has the capabilities of quick positioning and heavy-load lifting, eliminates dangerous factors in the work of workers, ensures the stable and smooth operation of a production process and realizes mechanical automatic production.
The technical scheme includes that the AGV transfer robot for conveying the copper foil reel comprises a chassis structure, wherein a visual navigation sensor is arranged at the bottom of the chassis structure, wheel driving systems are respectively arranged at the front position and the rear position of the chassis structure, a lifting system is arranged on each wheel driving system, a controller is further arranged in the chassis structure, and the controller controls the wheel driving systems and the lifting systems to operate.
The present invention is also characterized in that,
the specific structure of the chassis structure is as follows: including the frame, the bottom cladding of frame has end covering, and the anterior cladding of frame has preceding covering, and the side cladding of frame has the side covering, and collision switch is installed in the side covering outside, and collision switch still is connected with the controller, still is provided with a plurality of rings above the frame, and hoist and mount convenience when rings can realize the automobile body transportation.
The specific structure of the wheel driving system is as follows: include and install through the wheel mount the mecanum wheel of four corners of frame, wheel mount card is at the both ends of mecanum wheel, mecanum wheel center is provided with the center pin, the both sides of center pin are provided with tapered roller bearing, one of them side of center pin is provided with the end cover with mecanum wheel contact position department, the center pin of end cover place side passes through the key-type connection with the output of right angle reduction gear, the right angle reduction gear is driven by servo motor B, servo motor B is connected with the controller, the controller is by battery powered, the stifle has been detained to the opposite side of center pin.
And a spacer bush is further arranged between the central shaft at the side of the blank cap and the wheel fixing frame, the spacer bush is fixed on the inner ring of the tapered roller bearing, and a plurality of gaskets are further arranged between the wheel fixing frame and the blank cap and used for adjusting the axial clearance.
The concrete structure of the lifting system is as follows: the device comprises a supporting plate which is horizontally arranged on a wheel fixing frame, a left guide rail mounting plate and a right guide rail mounting plate are arranged on the supporting plate, the left guide rail mounting plate and the right guide rail mounting plate are of symmetrical L-shaped structures, the horizontal parts of the left guide rail mounting plate and the right guide rail mounting plate are connected and fixed with the supporting plate, the vertical parts of the left guide rail mounting plate and the right guide rail mounting plate are parallel to each other and are vertical to the supporting plate, guide rails are vertically arranged on the vertical parts of the left guide rail mounting plate and the right guide rail mounting plate, slide blocks are arranged in the guide rails, slide block fixing plates are respectively parallel to the vertical parts of the left guide rail mounting plate and the right guide rail mounting plate through the slide blocks, the V-shaped block mounting plate is horizontally connected and fixed at the tops of the two slide block fixing plates, V-shaped blocks are further arranged on the V-shaped block mounting plate and are used for fixing the two ends of a copper foil roller to be conveyed and reducing the shaking of the copper foil roller during lifting, the spiral elevator is arranged on the supporting plate below the V-shaped block mounting plate, the top of the spiral elevator is connected with the V-shaped block mounting plate in a non-contact mode, the spiral elevator achieves the lifting effect on the V-shaped block mounting plate, the spiral elevator is driven by a servo motor A, and the servo motor A is connected with the controller.
Still be provided with the laser on the frame and keep away the barrier sensor, the barrier sensor is kept away to the laser and is connected with the controller.
The invention has the beneficial effects that:
(1) the maneuverability is strong: the four Mecanum wheels at the bottom can realize the omnibearing rapid motion of the device;
(2) modular design: the production assembly and the subsequent further upgrading and improvement are facilitated;
(3) the automation degree is high: the mechanization and automation of the reel transportation process are realized;
(4) the safety is high: in the whole operation process, personnel are not needed to participate, so that the personal danger and the labor intensity of workers are greatly reduced;
(5) the practical range is wide: the method is suitable for carrying heavy reel type objects, such as: metal foils, cloth textiles, and the like.
Drawings
Fig. 1 is an overall effect diagram of a copper foil reel AGV transfer robot of the present invention, in which fig. 1(a) is a front view and fig. 1(b) is an oblique two-dimensional view;
FIG. 2 is a schematic diagram of a copper foil reel AGV transfer robot according to the present invention;
FIG. 3 is a chassis structure;
FIG. 4 is a lift system;
fig. 5(a) is a diagram of a wheel driving system, and fig. 5(b) is an exploded view of the wheel driving system.
In the figure, 1, a wheel driving system, 2, a lifting system, 3, a chassis structure, 4, a controller, 5, a battery, 6, a visual navigation sensor, 7, a collision switch, 8, a laser obstacle avoidance sensor, 9, a front cover, 10, a side cover, 11, a lifting ring, 12, a vehicle frame, 13, a bottom cover, 14, a supporting plate, 15, a sliding block, 16, a guide rail, 17, a V-shaped block mounting plate, 18, a guide rail mounting plate, 19, a V-shaped block, 20, a spiral lifter, 21, a sliding block fixing plate, 22, a fixing bracket, 23, a servo motor A, 24, a right-angle reducer, 25, a servo motor B, 26, an end cover, 27, a tapered roller bearing, 28, a central shaft, 29, a Mecanum wheel, 30, a wheel fixing frame, 31, a spacer bush, 32, a gasket and 33, a blank cover.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The AGV carrying robot for copper foil reel conveying is structurally shown in figures 1(a) -3 and comprises a chassis structure 3, a vision navigation sensor 6 is arranged at the bottom of the chassis structure 3, wheel driving systems 1 are respectively arranged at the front position and the rear position of the chassis structure 3, a lifting system 2 is arranged on each wheel driving system 1, a controller 4 is further arranged inside the chassis structure 3, and the controller 4 controls the wheel driving systems 1 and the lifting systems 2 to operate.
The chassis structure 3 has the following specific structure: including frame 12, the bottom cladding of frame 12 has end covering 13, and the front portion cladding of frame 12 has preceding covering 9, and the side cladding of frame 12 has side covering 10, and collision switch 7 is installed in the side covering 10 outside, and collision switch 7 still is connected with controller 4, and frame 12 top still is provided with a plurality of rings 11, and it is convenient to hoist when rings 11 can realize the automobile body transportation.
As shown in fig. 5(a) to 5(b), the specific structure of the wheel drive system 1 is: the bicycle comprises Mecanum wheels 29 arranged at four corners of a frame 12 through wheel fixing frames 30, wherein the wheel fixing frames 30 are clamped at two ends of each Mecanum wheel 29, a central shaft 28 is arranged at the center of each Mecanum wheel 29, tapered roller bearings 27 are arranged on two sides of the central shaft 28, end covers 26 are arranged at the contact positions of one side of the central shaft 28 and the Mecanum wheels 29, the central shaft 28 at the side of each end cover 26 is in key connection with the output end of a right-angle speed reducer 24, the right-angle speed reducer 24 is driven by a servo motor B25, a servo motor B25 is connected with a controller 4, the controller 4 is powered by a battery 5, and a blank cap 33 is buckled on the other side of the central shaft 28.
A spacer 31 is further arranged between the central shaft 28 on the side of the blank cap 33 and the wheel fixing frame 30, the spacer 31 is fixed on the inner ring of the tapered roller bearing 27, a plurality of gaskets 32 are further arranged between the wheel fixing frame 30 and the blank cap 33, and the plurality of gaskets 32 are used for adjusting axial clearance.
As shown in fig. 4, the lifting system 2 has the following specific structure: the wheel fixing frame comprises a supporting plate 14 which is horizontally arranged on the wheel fixing frame 30, a left guide rail mounting plate 18 and a right guide rail mounting plate 22 are arranged on the supporting plate 14, the left guide rail mounting plate 18 and the right guide rail mounting plate 22 are of symmetrical L-shaped structures, the horizontal parts of the left guide rail mounting plate 18 and the right guide rail mounting plate 22 are fixedly connected with the supporting plate 14, the vertical parts of the left guide rail mounting plate 18 and the right guide rail mounting plate 22 are parallel to each other and are perpendicular to the supporting plate 14, guide rails 16 are vertically arranged on the vertical parts of the left guide rail mounting plate 18 and the right guide rail mounting plate 22, sliders 15 are arranged inside the guide rails 16, a slider fixing plate 21 is respectively arranged in parallel to the vertical parts of the left guide rail mounting plate 18 and the right guide rail mounting plate 22 through the sliders 15, a V-shaped block mounting plate 17 is horizontally connected and fixed on the tops of the two slider fixing plates 21, and a V-shaped block 19 is also arranged on the V-shaped block mounting plate 17, the V-shaped block 19 is used for fixing two ends of a copper foil roller to be conveyed, the shaking of the copper foil roller during lifting is reduced, a spiral lifter 20 is further arranged on the supporting plate 14 below the V-shaped block mounting plate 17, the top of the spiral lifter 20 is connected with the V-shaped block mounting plate 17 in a non-contact mode, the spiral lifter 20 achieves the lifting effect on the V-shaped block mounting plate 17, the spiral lifter 20 is driven by a servo motor A23, and the servo motor A23 is connected with the controller 4.
The frame 12 is further provided with a laser obstacle avoidance sensor 8, and the laser obstacle avoidance sensor 8 is further connected with the controller 4.
The invention discloses an AGV (automatic guided vehicle) for conveying copper foil reels, which has the following working principle:
the method comprises the following steps: accepting tasks
After the foil winding machine station finishes foil winding, the PLC sends a foil winding task completion signal to the console through wireless communication, the console retrieves the idle cutting machine station, and a command is generated and transmitted to the AGV transfer robot.
Step two: working path and motion mode of AGV transfer robot
A controller of the AGV transfer robot obtains path information in a wireless communication mode, and the information is an array formed by codes of all the intersections. The AGV transporting robot adopts Mecanum wheels 29 arranged below the frame 12, four directions of movement in front, back, left and right are obtained by adjusting the speed of a servo motor 25 of the chassis, and movement information is obtained by comparing the current array of numbers with the next number.
Step three: AGV transfer robot tracking
The AGV transfer robot starts to move, a visual navigation sensor at the bottom scans a path color band in real time, the current Y-direction (vertical color band direction) deviation of the controller is transmitted to the controller in real time, and the PID in the deviation feedback controller is regulated by four wheel speeds to ensure that the AGV transfer robot does not deviate from the path.
Step four: AGV transfer robot location
In the moving process of the AGV transfer robot, the visual navigation sensor scans the road surface in real time, each crossing is provided with a navigation code of position coordinate information, and the crossing information is obtained by scanning the position coordinate code. And (4) carrying out fine positioning on the station by giving X, Y out by a coordinate matrix of a position coordinate code and introducing PID (proportion integration differentiation) by three deviations of an angle.
Step five: copper foil roll lifting
When the AGV transfer robot moves to a designated position, the AGV transfer robot is accurately positioned through a matrix coordinate code, X, Y +/-1 mm is met, and when the angle is smaller than 1 degree, the lifting system 2 starts to work, the lifting system 2 is arranged above the front frame support plate 14 and the rear frame support plate 14 through the support plates 14, the spiral elevator 20 arranged above the support plates is driven by the servo motor A23 to start to ascend, the top end of the spiral elevator is not directly contacted with the V-shaped block mounting plate 17 at the beginning, when the top end of the spiral elevator exceeds the left guide rail mounting plates and the right guide rail mounting plates at the two sides, the spiral elevator is contacted with the V-shaped block mounting plate 17 and ascends together with the V-shaped block 19, the slide block fixing plate 21 and the slide block 15 until the copper foil roller is contacted, the V-shaped block 19 fixes the two ends of the copper foil roller, the reel is lifted, and the AGV transfer robot exits from a station to a crossing and falls down.
Step six: dropping of copper foil roll
After the AGV transfer robot exits to the intersection, the rollers fall down when going to the shearing table, the servo motor drives the spiral elevator to simultaneously descend to the V-shaped block mounting plate 17 to be pressed on the left guide rail mounting plate and the right guide rail mounting plate, the spiral elevator is separated from the V-shaped block mounting plate 17, the spiral elevator continuously moves downwards for a section of displacement and then stops, and the weight of the lifted copper foil rollers is transmitted to the wheel supporting plates through the V-shaped blocks 19 and the V-shaped block mounting plate.
Step seven: AGV transfer robot keep away barrier
The laser obstacle avoidance sensor 8 can scan obstacles within 270 degrees and 4m, and the two sensors are arranged in a diagonal manner in front of and behind the vehicle body to surround the vehicle body. The laser detection range can be adjusted, the distance of the obstacle existing in the moving direction of the vehicle body is (1m, 2m), and the vehicle body is decelerated by 50%. When the distance between the obstacles is within 1m, the vehicle body stops moving, and the obstacles disappear or the vehicle body is manually moved in a manual mode. The distance of the obstacle in the vertical movement direction is 50 percent of the deceleration of the vehicle body within (0.5, 1m), and the vehicle body stops within 0.5 m. The collision switch 7 is arranged at the bottom of the AGV transfer robot to surround the periphery, when the collision switch is triggered, the AGV transfer robot leaves and stops the current movement until the collision switch is loosened or the manual mode is switched to move out.
Step eight: AGV transfer robot finishes conveying task and enters standby state
When the task is finished, the electric quantity of the battery 5 is searched to be less than the minimum charging electric quantity to charge the charging area, otherwise, the parking area is entered to wait for a command.
The invention relates to an AGV (automatic guided vehicle) carrying robot for copper foil reel conveying, which comprises a chassis structure, wherein the chassis structure is a movable chassis part, the chassis is formed by welding standard section hollow square tubes, the space of the chassis is composed of two layers, a double-layer interface ensures that the chassis has enough rigidity, the deformation of the chassis in the operation process is reduced, the upper surface of the bottom is a steel plate fixed by bolts and used for installing a battery and a controller, and a hanging ring for hoisting is arranged on the upper layer; 2. the wheel driving system mainly comprises a 14-inch Mecanum wheel, a right-angle reducer and a direct-current servo motor; 3. 8 ultrasonic sensors, namely laser obstacle avoidance sensors, are arranged on the periphery of the vehicle body to detect obstacles around the vehicle body; 4. a lifting component: the front and back positions of the chassis are respectively fixed with a steel plate as a mounting plate of a lifting component, the center of the mounting plate is provided with a lifter directly connected with a servo motor, and the mounting plates with guide rails on two sides play a role in guiding. 5. The control system comprises: selecting a path in an electronic map in the system according to a user instruction, and controlling four Mecanum wheels according to path information scanned and transmitted by PXV at the bottom so that the AGV transfer robot moves along a preset track; the position information of the current AGV transfer robot is obtained through scanning the position codes and fed back to the control system to judge whether the motion track is correct or not; continuously receiving the sensing information of the surrounding environment of the ultrasonic sensor, and making an obstacle avoidance decision; and after the working position is reached, the two servo motors are controlled to synchronously lift, and after the scroll is taken down, the next working position is reached according to the process path setting.
Claims (1)
1. The utility model provides a AGV transfer robot for copper foil spool transports, a serial communication port, including chassis structure (3), chassis structure (3) bottom is provided with vision navigation sensor (6), and two position departments are provided with wheel actuating system (1) respectively around chassis structure (3), all are provided with operating system (2) on every wheel actuating system (1), and chassis structure (3) inside still is provided with controller (4), and controller (4) control wheel actuating system (1) and operating system (2), chassis structure (3) concrete structure does: including frame (12), the bottom cladding of frame (12) has end covering (13), and the anterior cladding of frame (12) has preceding covering (9), and the side cladding of frame (12) has side covering (10), and collision switch (7) are installed in side covering (10) outside, and collision switch (7) still are connected with controller (4), and frame (12) top still is provided with a plurality of rings (11), and it is convenient to hoist and mount when rings (11) can realize the automobile body transportation, the concrete structure of wheel actuating system (1) does: the bicycle comprises Mecanum wheels (29) arranged at four corners of a frame (12) through wheel fixing frames (30), wherein the wheel fixing frames (30) are clamped at two ends of the Mecanum wheels (29), a central shaft (28) is arranged at the center of the Mecanum wheels (29), tapered roller bearings (27) are arranged on two sides of the central shaft (28), end covers (26) are arranged at the contact positions of one side of the central shaft (28) and the Mecanum wheels (29), the central shaft (28) on the side where the end covers (26) are arranged is in key connection with the output end of a right-angle speed reducer (24), the right-angle speed reducer (24) is driven by a servo motor B (25), the servo motor B (25) is connected with a controller (4), the controller (4) is powered by a battery (5), a blank cap (33) is buckled on the other side of the central shaft (28), a spacer bush (31) is further arranged between the central shaft (28) on the side where the blank cap (33) is arranged and the wheel fixing frames (30), spacer bush (31) are fixed in tapered roller bearing (27) inner circle still is provided with a plurality of gaskets (32) between wheel mount (30) and stifle (33), and a plurality of gaskets (32) are used for adjusting axial clearance, operating system (2) concrete structure does: the wheel fixing frame comprises a supporting plate (14) horizontally arranged on the wheel fixing frame (30), a left guide rail mounting plate (18) and a right guide rail mounting plate (22) are arranged on the supporting plate (14), the left guide rail mounting plate (18) and the right guide rail mounting plate (22) are of symmetrical L-shaped structures, the horizontal parts of the left guide rail mounting plate (18) and the right guide rail mounting plate (22) are fixedly connected with the supporting plate (14), the vertical parts of the left guide rail mounting plate (18) and the right guide rail mounting plate (22) are parallel to each other and are perpendicular to the supporting plate (14), guide rails (16) are vertically arranged on the vertical parts of the left guide rail mounting plate (18) and the right guide rail mounting plate (22), sliders (15) are arranged inside the guide rails (16), and slider fixing plates (21) are respectively arranged in parallel to the vertical parts of the left guide rail mounting plate (18) and the right guide rail mounting plate (22) through the sliders (15), v-arrangement piece mounting panel (17) horizontal connection is fixed in the top of two slider fixed plates (21), still be provided with V-arrangement piece (19) on V-arrangement piece mounting panel (17), V-arrangement piece (19) are used for the fixed copper foil roll both ends of waiting to transport, reduce rocking of copper foil roll when going up and down, still be provided with spiral elevator (20) on backup pad (14) of V-arrangement piece mounting panel (17) below, the top and V-arrangement piece mounting panel (17) non-contact of spiral elevator (20) are connected, spiral elevator (20) realize the elevating action to V-arrangement piece mounting panel (17), spiral elevator (20) are driven by servo motor A (23), servo motor A (23) with controller (4) are connected, still be provided with laser on frame (12) and keep away barrier sensor (8), laser keeps away barrier sensor (8) and still is connected with controller (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010157481.2A CN111391938B (en) | 2020-03-09 | 2020-03-09 | AGV (automatic guided vehicle) for conveying copper foil spools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010157481.2A CN111391938B (en) | 2020-03-09 | 2020-03-09 | AGV (automatic guided vehicle) for conveying copper foil spools |
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| CN111391938A CN111391938A (en) | 2020-07-10 |
| CN111391938B true CN111391938B (en) | 2021-10-22 |
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| CN202010157481.2A Active CN111391938B (en) | 2020-03-09 | 2020-03-09 | AGV (automatic guided vehicle) for conveying copper foil spools |
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| CN113050555B (en) * | 2021-03-02 | 2022-06-17 | 东丽酒伊织染（南通）有限公司 | Highly-automatic information-intelligentized air bag cloth ink-jet edge trimmer and working method thereof |
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| CN109019434B (en) * | 2018-08-23 | 2024-04-02 | 江苏哈工联合精密传动有限公司 | Small-size heavy load qxcomm technology AGV dolly that can lift |
| CN209566115U (en) * | 2018-11-06 | 2019-11-01 | 董旺建 | Moving lifting machine people based on the embedded Mecanum wheel of integral hermetic |
| CN209492330U (en) * | 2018-12-26 | 2019-10-15 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN109572859B (en) * | 2018-12-29 | 2024-02-09 | 南京信息职业技术学院 | Multidirectional self-unloading transportation platform capable of moving in all directions |
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2020
- 2020-03-09 CN CN202010157481.2A patent/CN111391938B/en active Active
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