CN112173613B - AGV transfer robot and design method thereof - Google Patents

AGV transfer robot and design method thereof Download PDF

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Publication number
CN112173613B
CN112173613B CN202011140148.7A CN202011140148A CN112173613B CN 112173613 B CN112173613 B CN 112173613B CN 202011140148 A CN202011140148 A CN 202011140148A CN 112173613 B CN112173613 B CN 112173613B
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section
radial insertion
radial
rod
insertion rod
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CN112173613A (en
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刘世严
蒯海波
徐军
徐飞
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Suzhou Guanhong Intelligent Equipment Co ltd
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Suzhou Guanhong Intelligent Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0232—Coils, bobbins, rolls

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The application discloses AGV transfer robot's design method, AGV transfer robot belongs to this technical field of intelligent manufacturing, and its design essential lies in: a represents the length of the press part protruding from the moving shaft, b represents the length of the front end part of the first axial push rod from the front end part of the bearing shaft, c represents the distance of the clamping device protruding from the surface of the bearing shaft, L represents the length of the axial displacement adjusting rod, and theta1The included angle between the axial direction of the axial displacement adjusting rod and the axial direction of the center of the bearing shaft is shown; first, a, b: b is 5-50 cm, and a is b + c + (0-100) cm; then, L is determined, where L arbitrarily satisfies: l is not less than the value of the a-b condition; again, θ is determined1. The application aims to provide an AGV transfer robot and a design method thereof, so as to guide how to design the AGV transfer robot.

Description

AGV transfer robot and design method thereof
Technical Field
The present disclosure relates to the field of an intelligent manufacturing equipment industry (industrial robot), and more particularly, to a design method of an AGV transfer robot and an AGV transfer robot.
Background
In the related art, a transfer robot has been studied sufficiently. For example: CN109878401A, CN106737698A, CN105094130A and the like.
However, the transfer robot cannot transfer the roll material. In this regard, the applicant filed an "intelligent transfer robot" on the same day (basic patent in serial application), which mainly solves the problems: how the roll moves from the carrying axis to the moving axis. The core concept is as follows: the concept of a coil placer, a first group of clamping device components and a second group of clamping device components is provided.
However, how to design the intelligent transfer robot has not been studied.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provides an AGV transfer robot and a design method thereof.
The technical scheme of the application is as follows:
a design method for AGV transfer robot includes such steps as a showing the length of push part projected from moving axle, b showing the length of the front end of the first axial push rod from the front end of bearing axle, c showing the distance between the projected clamping unit and the surface of bearing axle, L showing the length of axial displacement regulating rod, theta1The included angle between the axial direction of the axial displacement adjusting rod and the axial direction of the center of the bearing shaft is shown;
it is known that: c, obtaining a, b, L, theta1；
The design steps are as follows:
s1, determining a and b;
s2, determining L;
s3, determining theta1，θ1Taking any of the following conditions:
Figure GDA0002942134040000011
the value of the condition.
Further, in the step S1, the following is included: s1-1, determining that b and b are 5-50 cm; and S1-2, determining that a and a are b + c + (0-100) cm.
Further, in the step S2, the following is included: l is arbitrarily satisfied: l is not less than the value of the a-b condition.
An AGV transfer robot designed by using the design method of the AGV transfer robot.
An AGV handling robot comprising: the removal axle still includes: carrying shafts and coiling materials; the coil stock is wound on a bearing shaft;
wherein, the diameter of the bearing shaft is the same as that of the moving shaft;
wherein, the bearing shaft cantilever is arranged on the cantilever shaft fixing plate;
further comprising: a coil material thrust power mechanism which is horizontally arranged; the coil stock thrust power mechanisms are arranged on the cantilever shaft fixing plate or the moving shaft, and the number of the coil stock thrust power mechanisms is multiple and is distributed in an annular array.
An AGV handling robot comprising: a movable shaft;
further comprising: the roll material is wound on the bearing shaft;
further comprising: a coil placer;
the coil stock placer includes from a left side to the right side in proper order: the device comprises a first cylinder, a first disc of a coil placer, a second cylinder, a second disc of the coil placer and a third cylinder; the second cylinder is used for placing a roll material; the outer surface of the bearing shaft is provided with a plurality of channels which are arranged in an annular array; the outer surface of the moving shaft is provided with a plurality of channels which are also arranged in an annular array; the number of the channels of the bearing shaft is the same as that of the channels arranged on the moving shaft, and the number of the channels of the bearing shaft corresponds to the position of the channels arranged on the moving shaft; sliding wheels are uniformly distributed on the inner surfaces of the first cylinder, the second cylinder and the third cylinder, and the sliding wheels are arranged in an annular array; the quantity of the sliding wheels arranged on the inner surfaces of the first cylinder, the second cylinder and the third cylinder is the same as that of the channels of the bearing shaft, and the sliding wheels arranged on the inner surfaces of the first cylinder, the second cylinder and the third cylinder are matched with the channels of the bearing shaft and the moving shaft; the coil placer can be conveniently moved through the sliding wheel, the channel of the bearing shaft and the channel of the moving shaft; the coil placers are limited by the channels arranged in the circumferential array and cannot rotate;
wherein, the bearing shaft adopts a hollow structure;
jacks are arranged on the surfaces of the first cylinder and the third cylinder, and the jacks of the first cylinder are in an annular array;
two groups of clamping device assemblies are arranged in the bearing shaft: the clamping device comprises a first group of clamping device components, a second group of clamping device components, a first axial push rod, a second axial push rod, a third axial push rod and a fourth axial push rod;
the first axial push rod, the second axial push rod, the third axial push rod and the fourth axial push rod are sequentially connected and fixed, and the first axial push rod, the second axial push rod, the third axial push rod and the fourth axial push rod jointly form the axial push rods;
the first group of clamping device components correspond to the jack of the first cylinder, and the second group of clamping device components correspond to the jack of the third cylinder;
the first group of clamping device components comprise a plurality of clamping devices which are distributed along the bearing shaft in an annular array; the latch of the first set of latch assemblies includes: the radial plug groove, the radial plug rod, the radial compression spring and the axial displacement adjusting rod are arranged on the radial plug groove; the direction of the radial insertion groove is arranged along the radial direction of the bearing shaft, namely the axial direction of the radial insertion groove is vertical to the central axis direction of the bearing shaft; radial bayonet pole includes: a first section of a radial insertion rod, a second section of the radial insertion rod and a third section of the radial insertion rod; the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod are sequentially connected, and the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod form a cross shape; the width of the second section of the radial insertion rod is larger than that of the first section of the radial insertion rod, and the width of the second section of the radial insertion rod is larger than that of the third section of the radial insertion rod; the width of the radial insertion groove is matched with that of the second section of the radial insertion rod, and both ends of the radial insertion groove are provided with openings, namely the opening at the first end is used for the first section of the radial insertion rod to pass through, and the opening at the second end is used for the third section of the radial insertion rod to pass through; the first section of the radial insertion rod penetrates through the opening at the first end of the radial insertion groove and then enters the insertion hole of the first cylinder; a spring is arranged between the second end of the radial insertion groove and the second section of the radial insertion rod, and the spring keeps a compressed state in an initial state;
in an initial state, the end part of the third section of the radial insertion rod penetrates through the opening of the second end of the radial insertion groove and enters the inside of the bearing shaft; one end of the axial displacement adjusting rod is hinged to one end of the third section of the radial insertion rod, specifically, the end part of the third section of the radial insertion rod, which enters one side of the inner part of the bearing shaft, and the other end of the axial displacement adjusting rod is hinged to the front part of the second axial push rod.
Furthermore, the second group of clamping components comprises a plurality of clamping devices, the structures of which are the same as those of the first group of clamping device components, and the difference is that the end part of the third section of the radial insertion rod passes through the opening of the second end of the radial insertion groove and enters the inside of the bearing shaft; the end part of the third section of the radial insertion rod, which enters one side of the interior of the bearing shaft, is hinged, and the other end of the axial displacement adjusting rod is hinged with the front part of the fourth axial push rod.
Furthermore, the second group of clamping components comprises a plurality of clamping devices which are distributed along the bearing shaft in an annular array; the clamping device of the second group of clamping components comprises: the radial plug groove, the radial plug rod, the radial compression spring and the axial displacement adjusting rod are arranged on the radial plug groove; the direction of the radial inserting groove is arranged along the radial direction of the bearing shaft; radial bayonet pole includes: a first section of a radial insertion rod, a second section of the radial insertion rod and a third section of the radial insertion rod; the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod are sequentially connected, and the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod form a cross shape; the width of the second section of the radial insertion rod is larger than that of the first section of the radial insertion rod, and the width of the second section of the radial insertion rod is larger than that of the third section of the radial insertion rod; the width of the radial insertion groove is matched with that of the second section of the radial insertion rod, and both ends of the radial insertion groove are provided with openings, namely the opening at the first end is used for the first section of the radial insertion rod to pass through, and the opening at the second end is used for the third section of the radial insertion rod to pass through; the first section of the radial insertion rod penetrates through the opening at the first end of the radial insertion groove and then enters the insertion hole of the third cylinder; a spring is arranged between the second end of the radial insertion groove and the second section of the radial insertion rod, and the spring keeps a compressed state in an initial state;
in an initial state, the end part of the third section of the radial insertion rod penetrates through the opening of the second end of the radial insertion groove and enters the inside of the bearing shaft; one end of the axial displacement adjusting rod is hinged to one end of the third section of the radial insertion rod, specifically, the end of the third section of the radial insertion rod, which enters one side of the inner part of the bearing shaft, and the other end of the axial displacement adjusting rod is hinged to the front part of the fourth axial push rod.
Further, still include: the device comprises a frame structure, a first moving platform, a second moving platform, an X-axis positioning unit, a Y-axis positioning unit, a Z-axis positioning unit and a moving shaft;
wherein the frame structure comprises: 4 upright columns, 2 upper cross beams, 2 lower cross beams and 2 longitudinal beams; 2 upper cross beams are parallel to each other, 2 longitudinal beams are parallel to each other, the end parts of the upper cross beams are arranged at the top ends of the stand columns, and the longitudinal beams are arranged among the 2 upper cross beams; 2 lower beams are used for connecting the lower parts of the upright posts; the top of the upper cross beam and the top of the longitudinal beam form a plane;
the second mobile platform includes: the first part of the second moving platform, the second part of the second moving platform and the third part of the second moving platform, wherein the second part of the second moving platform is a vertical plate which is arranged at the front side of the first moving platform; a third part of the second mobile platform is arranged in front of the second part of the second mobile platform;
the X-axis positioning unit 1 comprises an X-axis power mechanism arranged on the upper cross beam, and the X-axis power mechanism can push the first moving platform to move in the X axis direction; the T-shaped guide groove of the first moving platform is matched with the T-shaped guide rail arranged on the upper cross beam, and the T-shaped guide rail arranged on the upper cross beam is inserted into the T-shaped guide groove of the first moving platform;
the Y-axis positioning unit comprises a Y-axis power mechanism arranged on the first moving platform, and the Y-axis power mechanism can push the second moving platform to move in the X axis direction; the lower part of the first part of the second moving platform is provided with a T-shaped guide groove, the upper surface of the first moving platform is provided with a T-shaped guide rail extending along the axial direction of the first part of the second moving platform, the T-shaped guide groove of the first part of the second moving platform is matched with the T-shaped guide rail arranged on the first moving platform, and the T-shaped guide rail of the first moving platform is inserted into the T-shaped guide groove of the first part of the second moving platform;
the Z-axis positioning unit includes: the Z-axis power mechanism is arranged on the third part of the second moving platform and can push the moving shaft to move in the Z axis direction; the front side surface of the second part of the second moving platform is provided with a T-shaped guide groove, the end surface of the moving shaft is provided with a T-shaped guide rail extending along the vertical direction of the second part of the second moving platform, the front side surface of the second part of the second moving platform is provided with the T-shaped guide groove matched with the T-shaped guide rail of the moving shaft, and the T-shaped guide rail of the moving shaft is inserted into the T-shaped guide groove of the second part of the second moving platform;
the X-direction position of the moving shaft can be adjusted through the X-axis positioning unit;
the Y-direction position of the moving shaft can be adjusted through the Y-axis positioning unit;
the Z-direction position of the moving axis can be adjusted by the Z-axis positioning unit.
Further, still include: frame structure, first moving platform, second moving platform, X-axis positioning unit, Y-axis positioning unit and Z-axis positioning unit
The X-axis positioning unit adopts a servo system to drive a driving belt wheel to rotate, the driving belt wheel drives a driven wheel to rotate through an arc tooth synchronous belt, the driving wheel and the driven wheel drive the synchronous belt to reciprocate together, and finally the synchronous belt drives a first moving platform to reciprocate in parallel on a linear guide rail;
the Y-axis positioning unit adopts a servo driving system to drive a ball screw structure; the servo motor drives the ball screw to rotate through the speed reducer, and the ball screw arranged on the first moving platform drives the second moving platform to do parallel reciprocating motion;
the Z-axis positioning unit adopts a servo driving system to drive a ball screw structure; the servo motor drives the ball screw to rotate through the speed reducer, and the ball screw arranged on the second moving platform drives the moving shaft to do parallel reciprocating motion;
the X-direction position of the moving shaft can be adjusted through the X-axis positioning unit;
the Y-direction position of the moving shaft can be adjusted through the Y-axis positioning unit;
the Z-direction position of the moving axis can be adjusted by the Z-axis positioning unit.
Further, still include: the material rolling thrust power mechanism is provided with an end fixing plate at the end part of the moving shaft;
the horizontal cantilever of the coil stock thrust power mechanism is arranged on the end fixing plate of the moving shaft, and a sucker is arranged at the end of the coil stock thrust power mechanism.
The beneficial effect of this application lies in:
first, the present application provides two designs of an intelligent transfer robot, namely, an embodiment one and an embodiment two, which realize an intelligent transfer process.
Second, the second inventive concept of the present application resides in: the cantilever of the bearing shaft 7 is arranged on the cantilever shaft fixing plate, the horizontal coil stock thrust power mechanisms 8 (hydraulic rods or air rods) are arranged on the cantilever shaft fixing plate, and particularly, the number of the coil stock thrust power mechanisms 8 is multiple and the coil stock thrust power mechanisms are arranged along the center of the bearing shaft in an annular array; the technical effects are as follows: the automation of the movement of the coil stock can be realized.
Third, the third inventive concept of the present application resides in: the "problem of the sagging of the web" was found, and specifically, when the web 11 is moved from the bearing shaft 7 to the moving shaft 6, as shown in fig. 10, the web sags, which affects the use of the subsequent web. However, the above problems do not appear in the first and second embodiments, and the inventors have analyzed the cause and thought that: the first and second embodiments adopt manual movement, and the stress points are not concentrated on one point as in the third embodiment. Aiming at the technical problem, a push disc is arranged in front of a plurality of coil material thrust power mechanisms 8, namely, the end parts of the coil material thrust power mechanisms 8 are connected with a push disc 8-1; the center of the pushing disc is provided with a hole so as to facilitate the bearing shaft 7 to pass through; the significance of the provision of the thrust disk 8 is that stress concentrations are reduced, and the aforementioned sagging of the coil stock is avoided.
Fourth, a fourth inventive concept of the present application resides in: scheme of example five(the inventive concept and Intelligent handling The working method of the robot and the intelligent transfer robot is lack of unity, so another application is made. The manual carrying method of the first embodiment and the second embodiment, and the method and the bias of the third embodiment and the fourth embodiment are abandoned; a new solution is given again.
The specific improvements are mainly embodied in the following three places (the three features are interrelated and are an integer, and the separate expression is only used for the convenience of description):
4.1 the present application proposes: concept of a coil placer.
4.2 the present application proposes: the first group of clamping device components comprise a plurality of clamping devices which are distributed along the bearing shaft in an annular array; the latch of the first set of latch assemblies includes: the radial plug groove, the radial plug rod, the radial compression spring and the axial displacement adjusting rod are arranged on the radial plug groove; the direction of the radial insertion groove is arranged along the radial direction of the bearing shaft, namely the axial direction of the radial insertion groove is vertical to the central axis direction of the bearing shaft; radial bayonet pole includes: a first section of a radial insertion rod, a second section of the radial insertion rod and a third section of the radial insertion rod; the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod are sequentially connected, and the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod form a cross shape; the width of the second section of the radial insertion rod is larger than that of the first section of the radial insertion rod, and the width of the second section of the radial insertion rod is larger than that of the third section of the radial insertion rod; the width of the radial insertion groove is matched with that of the second section of the radial insertion rod, and both ends of the radial insertion groove are provided with openings, namely the opening at the first end is used for the first section of the radial insertion rod to pass through, and the opening at the second end is used for the third section of the radial insertion rod to pass through; the first section of the radial insertion rod penetrates through the opening at the first end of the radial insertion groove and then enters the insertion hole of the first cylinder; a spring is arranged between the second end of the radial insertion groove and the second section of the radial insertion rod, and the spring keeps a compressed state in an initial state.
4.3 the present application proposes: design of the second set of latch assemblies.
Fifth, a fifth inventive concept of the present application resides in:
working method of first-class intelligent transfer robot(the invention conception and intelligent transfer robot, AGV transfer The design method of the robot lacks unity, and therefore, another application is madeThe method comprises the following steps:
firstly, centering and unlocking a moving shaft and a bearing shaft: starting the X-axis positioning unit, the Y-axis positioning unit and the Z-axis positioning unit, and adjusting the position of the moving shaft to ensure that the moving shaft is in corresponding contact with the bearing shaft: inserting a pressing part of the moving shaft into an insertion opening of the bearing shaft, wherein the pressing part is in contact with the first axial push rod and pushes the first axial push rod to generate displacement with the size of a-b;
when the first axial push rod is pressed and extruded to move, the second axial push rod, the third axial push rod and the fourth axial push rod also generate displacement with the size of a-b;
at the moment, the radial plug-in rods 2 of the clamping devices of the first group of clamping device components and the second group of clamping device components move inwards into the radial plug-in grooves;
secondly, the coil moves from the bearing shaft to the moving shaft: starting a coil stock thrust power mechanism to push coil stock from the bearing shaft 7 to the moving shaft;
then, the moving shaft is separated from the bearing shaft;
the length of the protruding part of the inserting and pressing part protruding out of the moving shaft is a, and the length of the front end part of the first axial pushing rod from the front end part of the bearing shaft is b.
A second type of intelligent transfer robot,
when the coil placer moves from the bearing shaft to the moving shaft, the method comprises the following steps: firstly, centering and unlocking a moving shaft and a bearing shaft: starting the X-axis positioning unit, the Y-axis positioning unit and the Z-axis positioning unit, and adjusting the position of the moving shaft to ensure that the moving shaft is in corresponding contact with the bearing shaft: inserting a pressing part of the moving shaft into an insertion opening of the bearing shaft, wherein the pressing part is in contact with the first axial push rod and pushes the first axial push rod to generate displacement with the size of a-b; when the first axial push rod is pressed and extruded to move, the second axial push rod, the third axial push rod and the fourth axial push rod also generate displacement with the size of a-b; at the moment, the radial plug-in rods of the clamping devices of the first group of clamping device components and the second group of clamping device components move inwards into the radial plug-in grooves;
secondly, the coil placer moves from the carrying shaft onto the moving shaft: starting a coiling thrust power mechanism, extending the coiling thrust power mechanism until a sucker of the coiling thrust power mechanism contacts a first disc of a coiling placer, starting the sucker, then shortening the coiling thrust power mechanism, and pulling the coiled material from a bearing shaft to a moving shaft;
the working method of the coil placer when moving from the bearing shaft to the moving shaft comprises the following steps:
firstly, the moving shaft and the bearing shaft are aligned, and the clamping device moves inwards: starting the X-axis positioning unit, the Y-axis positioning unit and the Z-axis positioning unit, and adjusting the position of the moving shaft to ensure that the moving shaft is in corresponding contact with the bearing shaft: inserting a pressing part of the moving shaft into an insertion opening of the bearing shaft, wherein the pressing part is in contact with the first axial push rod and pushes the first axial push rod to generate displacement with the size of a-b; when the first axial push rod is pressed and extruded to move, the second axial push rod, the third axial push rod and the fourth axial push rod also generate displacement with the size of a-b; at the moment, the radial plug-in rods of the clamping devices of the first group of clamping device components and the second group of clamping device components move inwards into the radial plug-in grooves;
secondly, the coil placer moves from the moving shaft onto the carrying shaft: starting a coil stock thrust power mechanism, extending the coil stock thrust power mechanism until the coil stock placer reaches a preset position, and then shortening the coil stock thrust power mechanism to an initial state;
thirdly, separating and locking the moving shaft and the bearing shaft: starting the X-axis positioning unit to enable the plug-in portion of the moving shaft to be drawn out of the socket of the bearing shaft, the plug-in portion is not in contact with the first axial push rod any more, the first group of clamping device assemblies and the second group of clamping device assemblies are under the action of the radial compression springs, the radial compression springs push the radial plug-in rods to move outwards, and the clamping devices of the first group of clamping device assemblies and the second group of clamping device assemblies are respectively inserted into the jacks of the first cylinder and the third cylinder;
the length of the protruding part of the inserting and pressing part protruding out of the moving shaft is a, and the length of the front end part of the first axial pushing rod from the front end part of the bearing shaft is b.
Sixth, a sixth inventive concept of the present application is to provide a method for designing an AGV transfer robot, which includes:
it is known that: c, obtaining a, b, L, theta1；
Wherein, a represents the length of the press part protruding from the moving shaft, b represents the length of the front end part of the first axial push rod from the front end part of the bearing shaft, c represents the distance of the clamping device protruding from the surface of the bearing shaft, L represents the length of the axial displacement adjusting rod, theta1The included angle between the axial direction of the axial displacement adjusting rod and the axial direction of the center of the bearing shaft is shown;
first, a, b: b is 5-50 cm, and a is b + c + (0-100) cm;
then, L is determined, where L arbitrarily satisfies: l is not less than the value of the a-b condition;
again, θ is determined1，θ1Taking any of the following conditions:
Figure GDA0002942134040000081
the value of the condition.
Drawings
The present application will be described in further detail with reference to the following examples, which are not intended to limit the scope of the present application.
Fig. 1 is a schematic plan top view of an X-axis positioning unit, a Y-axis positioning unit, a first moving platform, and a second moving platform of an intelligent transfer robot according to embodiment 1.
Fig. 2 is a vertical schematic view of a Z-axis positioning unit of the intelligent transfer robot of embodiment 1.
Fig. 3 is a vertical layout view of the moving shaft and the load bearing shaft of embodiment 1.
Fig. 4 is a schematic three-dimensional design diagram of the intelligent transfer robot of embodiment 2.
Fig. 5 is a schematic plan design view of the intelligent transfer robot of embodiment 2.
Fig. 6 is a vertical design schematic diagram of the intelligent transfer robot of embodiment 2.
Fig. 7 is a schematic vertical design view of the intelligent transfer robot of embodiment 2 from another perspective.
Fig. 8 is a schematic three-dimensional design diagram of a movement axis (referred to as a cantilever axis jig in the industry) of the intelligent transfer robot according to embodiment 2.
Fig. 9 is a schematic design diagram of the carrying axis-moving axis of the intelligent transfer robot according to embodiment 3.
Fig. 10 is a problem with the roll in practice in example 3.
Fig. 11 is a schematic design diagram of the carrying axis-moving axis of the intelligent transfer robot according to embodiment 4.
FIG. 12 is a problem with the coil stock in practice of example 4.
FIG. 13 is a schematic view of the multiple lanes of the carrier spool, the moving spool, and the spool placer with the slide wheels of example 5.
Fig. 14 is a schematic design diagram of the roll setter 9 of example 5.
Fig. 15 is a left side view of the roll setter of embodiment 5.
FIG. 16 is a schematic view showing the first and second latch assemblies 7-1 and 7-2 of the embodiment 5 in locked condition.
FIG. 17 is a schematic view showing the first and second latch assemblies 7-1 and 7-2 of example 5 when they are unlocked.
FIG. 18 is a schematic view showing the design of the card-connecting device of embodiment 5.
FIG. 19 is a schematic view of the design of the radial bayonet rod 7-1-2 of example 5.
FIG. 20 is a schematic design view (left side view) of the hinge-connecting seat of the axial displacement adjusting rod 7-1-4 and the second axial push rod 10-2 or the fourth axial push rod 10-4 in embodiment 5.
Fig. 21 is a schematic design diagram of the carrying axis-moving axis of the intelligent transfer robot according to embodiment 6.
Fig. 22 is a flowchart of a method for designing an AGV transfer robot.
The reference numerals of fig. 1-22 are illustrated as follows:
the device comprises an X-axis positioning unit 1, a Y-axis positioning unit 2, a Z-axis positioning unit 3, a first moving platform 4-1, a second moving platform 4-2, a frame structure 5, a moving shaft 6 and a bearing shaft 7;
a second mobile platform first portion 4-2-1, a second mobile platform second portion 4-2-2, a second mobile platform third portion 4-2-3;
a passage 6-1 of the moving shaft, a passage 7-5 of the bearing shaft 7;
the clamping device comprises a first group of clamping device components 7-1, a second group of clamping device components 7-2, a radial insertion groove 7-1-1, a radial insertion rod 7-1-2, a radial compression spring 7-1-3 and an axial displacement adjusting rod 7-1-4;
a first section 7-1-2-1 of the radial insertion rod, a second section 7-1-2-2 of the radial insertion rod and a third section 7-1-2-3 of the radial insertion rod;
a coil material thrust power mechanism 8 and a thrust disc 8-1;
a coil placer 9, a first disk 9-1 of the coil placer, a second disk 9-2 of the coil placer, a first cylinder 9-3, a second cylinder 9-4 and a third cylinder 9-5;
a first axial push rod 10-1, a second axial push rod 10-2, a third axial push rod 10-3 and a fourth axial push rod 10-4;
and (6) rolling the material 11.
Detailed Description
Embodiment 1, referring to fig. 1 to 3, an intelligent transfer robot includes: the device comprises a frame structure 5, a first moving platform 4-1, a second moving platform 4-2, an X-axis positioning unit 1, a Y-axis positioning unit 2, a Z-axis positioning unit 3 and a moving shaft 6;
wherein the frame structure 5 comprises: 4 upright columns, 2 upper cross beams, 2 lower cross beams and 2 longitudinal beams; 2 upper cross beams are parallel to each other, 2 longitudinal beams are parallel to each other, the end parts of the upper cross beams are arranged at the top ends of the upright posts 4, and the longitudinal beams are arranged among the 2 upper cross beams; 2 lower beams are used for connecting the lower parts of the upright posts; the top of the upper cross beam and the top of the longitudinal beam form a plane (namely, are flush);
the second mobile platform 4-2 includes: the first part 4-2-1 of the second moving platform, the second part 4-2-2 of the second moving platform and the third part 4-2-3 of the second moving platform, wherein the second part 4-2-2 of the second moving platform is a vertical plate which is arranged at the front side of the first moving platform 4-1; a third part 4-2-3 (horizontal flat plate) of the second moving platform is arranged in front of the second part 4-2-2 of the second moving platform;
as shown in fig. 1, the X-axis positioning unit 1 includes an X-axis power mechanism (a hydraulic rod or an air rod) disposed on the upper beam, and the X-axis power mechanism can push the first moving platform 4-1 to move in the X-axis direction; the lower part of the first moving platform 4-1 is provided with a T-shaped guide groove, the upper surface of the upper beam is provided with a T-shaped guide rail (namely, the X-axis direction) extending along the axial direction of the upper beam, the T-shaped guide groove of the first moving platform 4-1 is matched with the T-shaped guide rail arranged on the upper beam, and the T-shaped guide rail arranged on the upper beam is inserted into the T-shaped guide groove of the first moving platform 4-1;
the Y-axis positioning unit 2 comprises a Y-axis power mechanism arranged on the first moving platform 4-1, and the Y-axis power mechanism (a hydraulic rod or an air rod) can push the second moving platform 4-2 to move in the X-axis direction; the lower part of the first part 4-2-1 of the second moving platform is provided with a T-shaped guide groove, the upper surface of the first moving platform 4-1 is provided with a T-shaped guide rail (namely, the Y-axis direction) extending along the axial direction of the first part 4-2-1 of the second moving platform, the T-shaped guide groove of the first part 4-2-1 of the second moving platform is matched with the T-shaped guide rail arranged on the first moving platform 4-1, and the T-shaped guide rail of the first moving platform 4-1 is inserted into the T-shaped guide groove of the first part 4-2-1 of the second moving platform;
the Z-axis positioning unit 3 includes: the Z-axis power mechanism 3 is arranged on the third part 4-2-3 of the second moving platform and can push the moving shaft 6 to move in the Z axis direction; the front side surface of the second part 4-2-2 of the second moving platform is provided with a T-shaped guide groove, the end surface of the moving shaft 6 is provided with a T-shaped guide rail (namely Z-axis direction) extending along the vertical direction of the second part 4-2-2 of the second moving platform, the front side surface of the second part 4-2-2 of the second moving platform is provided with a T-shaped guide groove matched with the T-shaped guide rail of the moving shaft 6, and the T-shaped guide rail of the moving shaft 6 is inserted into the T-shaped guide groove of the second part 4-2-2 of the second moving platform.
The X-direction position of the moving shaft 6 can be adjusted by the X-axis positioning unit 1;
the Y-direction position of the moving shaft 6 can be adjusted through the Y-axis positioning unit 2;
the Z-direction position of the moving shaft 6 can be adjusted by the Z-axis positioning unit 3.
Further comprising: the bearing shaft 7 and the coil stock 11; the coil is wound on a bearing shaft 7;
wherein the bearing shaft 7 and the moving shaft 6 have the same diameter.
The working method of the intelligent transfer robot comprises the following steps:
firstly, starting an X-axis positioning unit 1, a Y-axis positioning unit 2 and a Z-axis positioning unit 3, and adjusting the position of a moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with a bearing shaft 7;
next, the roll 11 is placed on the bearing shaft 7, and the roll is pushed from the bearing shaft 7 onto the moving shaft 6.
Example two: as shown in fig. 4 to 8, an intelligent transfer robot includes: the device comprises a frame structure 5, a first moving platform 4-1, a second moving platform 4-2, an X-axis positioning unit 1, a Y-axis positioning unit 2, a Z-axis positioning unit 3 and a moving shaft 6;
the X-axis positioning unit 1 adopts a servo system to drive a driving belt wheel to rotate, the driving belt wheel drives a driven wheel to rotate through an arc tooth synchronous belt, the driving wheel and the driven wheel drive the synchronous belt to reciprocate together, and finally the synchronous belt drives a first moving platform 4-1 to reciprocate in parallel on a linear guide rail (along an X axis);
the Y-axis positioning unit 2 adopts a servo driving system to drive a ball screw structure; the servo motor drives the ball screw to rotate through the speed reducer, and the ball screw arranged on the first moving platform 4-1 drives the second moving platform 4-2 to do parallel reciprocating motion (along the Y axis);
the Z-axis positioning unit 3 adopts a servo driving system to drive a ball screw structure; the servo motor drives the ball screw to rotate through the speed reducer, and the ball screw arranged on the second moving platform 4-2 drives the moving shaft 6 to do parallel reciprocating motion (Z axis).
The X-direction position of the moving shaft 6 can be adjusted by the X-axis positioning unit 1;
the Y-direction position of the moving shaft 6 can be adjusted through the Y-axis positioning unit 2;
the Z-direction position of the moving shaft 6 can be adjusted by the Z-axis positioning unit 3.
Further comprising: the bearing shaft 7 and the coil stock 11; the coil is wound on a bearing shaft 7;
wherein the bearing shaft 7 and the moving shaft 6 have the same diameter.
The working method of the intelligent transfer robot comprises the following steps:
firstly, starting an X-axis positioning unit 1, a Y-axis positioning unit 2 and a Z-axis positioning unit 3, and adjusting the position of a moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with a bearing shaft 7;
next, the roll 11 is placed on the bearing shaft 7, and the roll is pushed from the bearing shaft 7 onto the moving shaft 6.
In the third embodiment, the first embodiment and the second embodiment rely on manual handling when the coil stock is pushed from the bearing shaft 7 to the moving shaft 6; the efficiency is low.
Therefore, the following improvements are made:
as shown in fig. 9, the cantilever of the bearing shaft 7 is disposed on the cantilever shaft fixing plate, and the horizontal material rolling thrust power mechanisms 8 (hydraulic rods or pneumatic rods) are disposed on the cantilever shaft fixing plate, and particularly, the number of the material rolling thrust power mechanisms 8 is plural, and the material rolling thrust power mechanisms are arranged in an annular array along the center of the bearing shaft.
The working method of the third embodiment is as follows:
firstly, starting an X-axis positioning unit 1, a Y-axis positioning unit 2 and a Z-axis positioning unit 3, and adjusting the position of a moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with a bearing shaft 7;
next, the coil 11 moves from the bearing shaft 7 onto the moving shaft 6: and starting a coil material pushing power mechanism 8 to push the coil material from the bearing shaft 7 to the moving shaft 6.
In the fourth embodiment, when the team of the inventors develops the solution of the third embodiment, the following technical problems are found:
when the web 11 moves from the bearing shaft 7 to the moving shaft 6, as shown in fig. 10, the web is dented, affecting the use of the subsequent web.
However, the above problems do not appear in the first and second embodiments, and the inventors have analyzed the cause and thought that: the first and second embodiments adopt manual movement, and the stress points are not concentrated on one point as in the third embodiment.
Therefore, in the fourth embodiment, the scheme as shown in fig. 11 is adopted, a pushing disk is arranged in front of the plurality of rolling thrust power mechanisms 8, that is, the end portions of the plurality of rolling thrust power mechanisms 8 are all connected with a pushing disk 8-1; the center of the pushing disc is provided with a hole so as to facilitate the bearing shaft 7 to pass through;
the significance of the provision of the thrust disk 8 is that stress concentrations are reduced, and the aforementioned sagging of the coil stock is avoided.
In the fifth embodiment, when the team of the inventors develops the solution of the fourth embodiment, the following technical problems are found:
indeed, as expected, the web is less subject to problems of sagging and the like during its movement from the bearing shaft 7 to the moving shaft 6, but problems of misalignment occur (as shown in fig. 12).
However, the above problems do not appear in the first and second embodiments, and the inventors have analyzed the cause and thought that: the first embodiment and the second embodiment adopt manual movement, the movement speed is slow, and the action point of a hand is close to the bearing shaft 7; therefore, the bottom misalignment problem does not occur as in the fourth embodiment; the reasons for this problem are 2: the friction force between the bottom of the coil stock and the bearing shaft 7 is 1, and the friction force between the bottom of the coil stock and the bearing shaft 7 is 2. although the pushing disc is adopted, the action of the pushing disc on the coil stock is surface contact, a gap is left between the pushing disc and the bearing shaft 7 after all, and the acting force is difficult to be on the surface contacted with the bearing shaft 7.
Aiming at the problems, the improved idea is as follows: how to bring the point of action of the thrust as close as possible to the bearing axis.
However, the inventor group has made it very difficult to improve the above problems in practice, without any access problems, and generally has used a bearing shaft coated with oil so that the coil-bearing shaft is as smooth as possible with less friction.
In order to solve the problems, the inventor group breaks through the technical prejudice and adopts the following modes:
further comprising: a coil placer 9; the coil placer 9 comprises from left to right in turn: a first cylinder 9-3, a first disk 9-1 of a coil placer, a second cylinder 9-4, a second disk 9-2 of the coil placer and a third cylinder 9-5;
the second cylinder 9-4 is used for placing the roll material;
the outer surface of the bearing shaft 7 is provided with a plurality of channels 7-5, and the plurality of channels 7-5 are arranged in an annular array;
the outer surface of the moving shaft 6 is provided with a plurality of channels 6-1, and the plurality of channels 6-1 are also arranged in an annular array;
the number of the passages of the bearing shaft 7 is the same as that of the passages arranged on the moving shaft 6, and the number of the passages of the bearing shaft 7 corresponds to the position of the passages arranged on the moving shaft 6;
sliding wheels are uniformly distributed on the inner surfaces of the first cylinder 9-3, the second cylinder 9-4 and the third cylinder 9-5, and are arranged in an annular array; the sliding wheels arranged on the inner surfaces of the first cylinder 9-3, the second cylinder 9-4 and the third cylinder 9-5 are the same as the number of the passages of the bearing shaft 7 (the same as the number of the passages of the moving shaft 6), and the sliding wheels arranged on the inner surfaces of the first cylinder 9-3, the second cylinder 9-4 and the third cylinder 9-5 are matched with the passages of the bearing shaft 7 and the moving shaft 6.
Through the sliding wheel, the channel of the bearing shaft and the channel of the moving shaft, the coil placer 9 can be conveniently moved.
The web placer 9 is defined by a circumferential array of passages without rotation.
The bearing shaft 7 is of a hollow structure.
More particularly, the surfaces of the first cylinder 9-3 and the third cylinder 9-5 are provided with jacks, and the jacks of the first cylinder 9-3 are in an annular array;
correspondingly, two sets of clamping device components are arranged in the bearing shaft 7 (cylindrical structure): the clamping device comprises a first group of clamping device components 7-1, a second group of clamping device components 7-2, a first axial push rod 10-1, a second axial push rod 10-2, a third axial push rod 10-3 and a fourth axial push rod 10-4;
the first axial push rod 10-1, the second axial push rod 10-2, the third axial push rod 10-3 and the fourth axial push rod 10-4 are sequentially connected and fixed, and the first axial push rod, the second axial push rod, the third axial push rod and the fourth axial push rod form an axial push rod together;
the first group of clamping device assemblies 7-1 correspond to the jack of the first cylinder 9-3, and the second group of clamping device assemblies 7-2 correspond to the jack of the third cylinder 9-5;
wherein the first set of latch assembly 7-1 comprises a plurality of latches distributed in a circular array along the load shaft 7; the latch of the first set of latch assemblies 7-1 includes: the radial insertion groove 7-1-1, the radial insertion rod 7-1-2, the radial compression spring 7-1-3 and the axial displacement adjusting rod 7-1-4; the radial insertion groove 7-1-1 is arranged along the radial direction of the bearing shaft 7 (namely, the axial direction of the radial insertion groove 7-1-1 is vertical to the central axis direction of the bearing shaft 7); the radial plug rod 7-1-2 comprises: a first section 7-1-2-1 of the radial insertion rod, a second section 7-1-2-2 of the radial insertion rod and a third section 7-1-2-3 of the radial insertion rod; the first section 7-1-2-1 of the radial insertion rod, the second section 7-1-2-2 of the radial insertion rod and the third section 7-1-2-3 of the radial insertion rod are sequentially connected, and the first section 7-1-2-1 of the radial insertion rod, the second section 7-1-2-2 of the radial insertion rod and the third section 7-1-2-3 of the radial insertion rod form a cross shape; the width of the second section 7-1-2-2 of the radial insertion rod is larger than that of the first section 7-1-2-1 of the radial insertion rod, and the width of the second section 7-1-2-2 of the radial insertion rod is larger than that of the third section 7-1-2-3 of the radial insertion rod; the width of the radial insertion groove 7-1-1 is matched with the width of the second section 7-1-2-2 of the radial insertion rod, openings are formed in the two ends of the radial insertion groove 7-1-1, namely the opening in the first end is used for the first section 7-1-2-1 of the radial insertion rod to pass through, and the opening in the second end is used for the third section 7-1-2-3 of the radial insertion rod to pass through; the first section 7-1-2-1 of the radial plug-in rod passes through the opening at the first end of the radial plug-in groove 7-1-1 and then enters the jack of the first cylinder 9-3; a spring is arranged between the second end of the radial insertion groove 7-1-1 and the second section 7-1-2-2 of the radial insertion rod, and the spring keeps a compressed state in an initial state. In an initial state, the end part of the third section 7-1-2-3 of the radial insertion rod passes through the opening of the second end of the radial insertion groove 7-1-1 and enters the bearing shaft 7; one end of the axial displacement adjusting rod 7-1-4 is hinged to one end of the third section 7-1-2-3 of the radial insertion rod, specifically, the end of the third section 7-1-2-3 of the radial insertion rod, which enters the inner side of the bearing shaft 7, and the other end of the axial displacement adjusting rod 7-1-4 is hinged to the front part of the second axial push rod 10-2.
The second group of clamping components 7-2 comprises a plurality of clamping devices (the structure of the clamping devices is the same as that of the first group of clamping device components 7-1, and the difference is that the end part of the third section 7-1-2-3 of the radial insertion rod penetrates through the opening of the second end of the radial insertion groove 7-1-1 and enters the inside of the bearing shaft 7, the end part is hinged to the end part of one side, entering the inside of the bearing shaft 7, of the third section 7-1-2-3 of the radial insertion rod, and the other end of the axial displacement adjusting rod 7-1-4 is hinged to the front part of the fourth axial push rod 10-4), and the clamping devices are distributed along the bearing shaft 7 in an annular array; the clamping device of the second set of clamping components 7-2 comprises: the radial insertion groove 7-1-1, the radial insertion rod 7-1-2, the radial compression spring 7-1-3 and the axial displacement adjusting rod 7-1-4; the radial insertion groove 7-1-1 is arranged along the radial direction of the bearing shaft 7 (namely, the axial direction of the radial insertion groove 7-1-1 is vertical to the central axis direction of the bearing shaft 7); the radial plug rod 7-1-2 comprises: a first section 7-1-2-1 of the radial insertion rod, a second section 7-1-2-2 of the radial insertion rod and a third section 7-1-2-3 of the radial insertion rod; the first section 7-1-2-1 of the radial insertion rod, the second section 7-1-2-2 of the radial insertion rod and the third section 7-1-2-3 of the radial insertion rod are sequentially connected, and the first section 7-1-2-1 of the radial insertion rod, the second section 7-1-2-2 of the radial insertion rod and the third section 7-1-2-3 of the radial insertion rod form a cross shape; the width of the second section 7-1-2-2 of the radial insertion rod is larger than that of the first section 7-1-2-1 of the radial insertion rod, and the width of the second section 7-1-2-2 of the radial insertion rod is larger than that of the third section 7-1-2-3 of the radial insertion rod; the width of the radial insertion groove 7-1-1 is matched with the width of the second section 7-1-2-2 of the radial insertion rod, openings are formed in the two ends of the radial insertion groove 7-1-1, namely the opening in the first end is used for the first section 7-1-2-1 of the radial insertion rod to pass through, and the opening in the second end is used for the third section 7-1-2-3 of the radial insertion rod to pass through; the first section 7-1-2-1 of the radial plug-in rod passes through the opening at the first end of the radial plug-in groove 7-1-1 and then enters the jack of the third cylinder 9-5; a spring is arranged between the second end of the radial insertion groove 7-1-1 and the second section 7-1-2-2 of the radial insertion rod, and the spring keeps a compressed state in an initial state. In an initial state, the end part of the third section 7-1-2-3 of the radial insertion rod passes through the opening of the second end of the radial insertion groove 7-1-1 and enters the bearing shaft 7; one end of the axial displacement adjusting rod 7-1-4 is hinged to one end of the third section 7-1-2-3 of the radial insertion rod, specifically, the end of the third section 7-1-2-3 of the radial insertion rod, which enters the inner side of the bearing shaft 7, and the other end of the axial displacement adjusting rod 7-1-4 is hinged to the front part of the fourth axial push rod 10-4.
A sliding groove for the second axial push rod 10-2 and the fourth axial push rod 10-4 to move along the axial direction of the bearing shaft is arranged in the bearing shaft 7;
the front end of the moving shaft 6 is provided with a pressing part 6-1, the length of the pressing part 6-1 protruding out of the moving shaft is a, and the length of the front end part of the first axial push rod 10-1 from the front end part of the bearing shaft 7 is b;
in an initial state, the distance between the protrusion of the clamping device and the surface of the bearing shaft 7 is c, the distance between one surface of the second section 7-1-2-2 of the radial insertion rod, which faces the axial direction of the center of the bearing shaft 7, and the radial insertion groove 7-1-1 is larger than c, and the included angle between the axial direction of the axial displacement adjusting rod 7-1-4 and the axial direction of the center of the bearing shaft 7 is theta1(ii) a The length of the axial displacement adjusting rod 7-1-4 is L;
the inserting and pressing part 6-1 at the front end of the moving shaft 6 is completely inserted into the bearing shaft 7, the radial inserting and pressing rod moves towards the rear end of the bearing shaft 7, and the included angle between the axial direction of the axial displacement adjusting rod 7-1-4 and the central axial direction of the bearing shaft 7 is theta2；
Therefore, the following reasons apply:
Figure GDA0002942134040000141
in particular, there are also:
Figure GDA0002942134040000151
comprises the following steps:
Figure GDA0002942134040000152
when designing, knowing c, the minimum value of a-b is calculated: a-b is more than or equal to c.
The following studies were performed:
as shown in fig. 18, the axial direction of the bearing shaft 7 is taken as the X axis, and the direction of the radial insertion groove is taken as the Y axis;
the axial displacement adjustment rod 7-1-4 can be expressed as: x is the number of2+y2＝L2
Namely, the method comprises the following steps:
Figure GDA0002942134040000153
wherein the content of the first and second substances,
as can be seen from the above formula, x ═ y, that is, θ represents an angle between the axial direction of the axial displacement adjustment rod 7-1-4 and the central axial direction of the carrier shaft 7;
it can be seen that θ is 0 ° to 45 °, and the sensitivity of the press-fit portion 6 of the moving shaft 6 to the radial press-fit rod is greater than 1.
The design method of the application comprises the following steps:
it is known that: c, obtaining a, b, L, theta1；
Firstly, determining that a and b are 5-50 cm, and b + c + (0-100) cm;
then, it is determined that L, L satisfies: l is more than or equal to a-b;
again, θ is determined1And satisfies the following conditions:
Figure GDA0002942134040000154
examples are:
the known clamping device has a projection with a distance c of 5cm from the surface of the carrier shaft 7, and is designed according to the following steps:
firstly, determining that a, b and b are 5cm, and a is 15 cm;
secondly, determining L, wherein the value of L is 20 cm;
third, determine θ1，θ1It may be sufficient to choose between 60 deg. and 79.66 deg..
The working method of the fifth embodiment is as follows:
firstly, the moving shaft 6 and the bearing shaft 7 are centered and unlocked: starting the X-axis positioning unit 1, the Y-axis positioning unit 2 and the Z-axis positioning unit 3, and adjusting the position of the moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with the bearing shaft 7: inserting the pressing part 6-1 of the moving shaft 6 into the socket of the bearing shaft 7, wherein the pressing part 1 is in contact with the first axial push rod 10-1 and pushes the first axial push rod 10-1 to generate displacement with the size of a-b;
when the first axial push rod 10-1 is pressed and extruded to move, the second axial push rod 10-2, the third axial push rod 10-3 and the fourth axial push rod 10-4 also generate displacement with the size of a-b;
at the moment, the radial plugging rods 7-1-2 of the clamping devices of the first group of clamping device assemblies 7-1 and the second group of clamping device assemblies 7-2 move inwards into the radial plugging grooves 7-1-1;
next, the coil 11 moves from the bearing shaft 7 onto the moving shaft 6: and starting a coil material pushing power mechanism 8 to push the coil material from the bearing shaft 7 to the moving shaft 6.
Example six:
in addition to the above improvements, the following improvements were made:
the coil stock pushing mechanism is not arranged on the bearing shaft any more, and the reason is that: the number of the moving shafts is only 1, the number of the bearing shafts 7 is multiple, the bearing shafts 7 are in streamlined movement in a conveying belt mode and the like, the moving shafts 6 move the coil placers 9 containing coils from the bearing shafts 7 to the moving shafts, and the moving shafts can move the coil placers to other components; at the same time, the coil placer 9 is placed back onto the empty carrier shaft 7 from the other component.
Therefore, the winding thrust power mechanism 8 is provided on the moving shaft 6, and a suction cup is provided at an end portion of the winding thrust power mechanism 8.
The working method of the sixth embodiment is as follows:
the operation method for moving the coil placer from the bearing shaft 7 to the moving shaft 6 is as follows:
firstly, the moving shaft 6 and the bearing shaft 7 are centered and unlocked: starting the X-axis positioning unit 1, the Y-axis positioning unit 2 and the Z-axis positioning unit 3, and adjusting the position of the moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with the bearing shaft 7: inserting the pressing part 6-1 of the moving shaft 6 into the socket of the bearing shaft 7, wherein the pressing part 1 is in contact with the first axial push rod 10-1 and pushes the first axial push rod 10-1 to generate displacement with the size of a-b;
when the first axial push rod 10-1 is pressed and extruded to move, the second axial push rod 10-2, the third axial push rod 10-3 and the fourth axial push rod 10-4 also generate displacement with the size of a-b;
at the moment, the radial plugging rods 7-1-2 of the clamping devices of the first group of clamping device assemblies 7-1 and the second group of clamping device assemblies 7-2 move inwards into the radial plugging grooves 7-1-1;
next, the coil placer moves from the carrying shaft 7 onto the moving shaft 6: and starting the coil material thrust power mechanism 8, extending the coil material thrust power mechanism 8 until a sucker of the coil material thrust power mechanism 8 contacts the first disc 9-1 of the coil material placer, starting the sucker, then shortening the coil material thrust power mechanism 8, and pulling the coil material from the bearing shaft 7 to the moving shaft 6.
The operation method for moving the coil placer from the bearing shaft 7 to the moving shaft 6 is as follows:
firstly, the moving shaft 6 and the bearing shaft 7 are aligned, and the clamping device moves inwards: starting the X-axis positioning unit 1, the Y-axis positioning unit 2 and the Z-axis positioning unit 3, and adjusting the position of the moving shaft 6 to enable the moving shaft 6 to be correspondingly contacted with the bearing shaft 7: inserting the pressing part 6-1 of the moving shaft 6 into the socket of the bearing shaft 7, wherein the pressing part 1 is in contact with the first axial push rod 10-1 and pushes the first axial push rod 10-1 to generate displacement with the size of a-b; when the first axial push rod 10-1 is pressed and extruded to move, the second axial push rod 10-2, the third axial push rod 10-3 and the fourth axial push rod 10-4 also generate displacement with the size of a-b; at the moment, the radial plugging rods 7-1-2 of the clamping devices of the first group of clamping device assemblies 7-1 and the second group of clamping device assemblies 7-2 move inwards into the radial plugging grooves 7-1-1;
next, the coil placer moves from the moving shaft 6 onto the carrying shaft 7: the coil stock thrust power mechanism 8 is started, the coil stock thrust power mechanism 8 extends until the coil stock placer reaches the preset position, and then the coil stock thrust power mechanism 8 shortens to the initial state (the suction disc does not need to generate suction force at this stage).
Thirdly, the moving shaft 6 is separated from the bearing shaft 7 and locked: and starting the X-axis positioning unit 1 to draw the plug-in part 6-1 of the moving shaft 6 out of the socket of the bearing shaft 7, the plug-in part 1 is not contacted with the first axial push rod 10-1 any more, the radial compression springs 7-1-3 push the radial plug-in rods 7-1-2 to move outwards under the action of the radial compression springs 7-1-3 of the clamping devices of the first group of clamping device assemblies 7-1 and the second group of clamping device assemblies 7-2, and the clamping devices of the first group of clamping device assemblies 7-1 and the second group of clamping device assemblies 7-2 are respectively inserted into the jacks of the first cylinder 9-3 and the third cylinder 9-5.
It should be noted that: in the fourth to sixth embodiments of the present application: the design of moving axle and bearing axle also is applicable to AGV transfer robot.
The above-mentioned embodiments are merely preferred embodiments of the present application, which are not intended to limit the present application in any way, and it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present application.

Claims (3)

1. A design method of an AGV transfer robot is characterized in that:
AGV transfer robot, it includes: a movable shaft; further comprising: the roll material is wound on the bearing shaft; further comprising: a coil placer;
further comprising: a coil placer; coil stock placer (9) include from a left side to the right side in proper order: a first cylinder (9-3), a first disk (9-1) of a coil placer, a second cylinder (9-4), a second disk (9-2) of the coil placer and a third cylinder (9-5);
the second cylinder (9-4) is used for placing a roll material;
the outer surface of the bearing shaft (7) is provided with a plurality of channels (7-5), and the plurality of channels (7-5) arranged on the outer surface of the bearing shaft (7) are arranged in an annular array;
the outer surface of the moving shaft (6) is provided with a plurality of channels, and the plurality of channels arranged on the outer surface of the moving shaft (6) are arranged in an annular array;
the number of the channels of the bearing shaft (7) is the same as that of the channels arranged on the moving shaft (6), and the number of the channels of the bearing shaft (7) corresponds to the position of the channels arranged on the moving shaft (6);
sliding wheels are uniformly arranged on the inner surfaces of the first cylinder (9-3), the second cylinder (9-4) and the third cylinder (9-5), and the sliding wheels are arranged in an annular array; the number of the sliding wheels arranged on the inner surfaces of the first cylinder (9-3), the second cylinder (9-4) and the third cylinder (9-5) is the same as that of the channels of the bearing shaft (7), and the sliding wheels arranged on the inner surfaces of the first cylinder (9-3), the second cylinder (9-4) and the third cylinder (9-5) are matched with the channels of the bearing shaft (7) and the moving shaft (6);
the coil placer (9) can be conveniently moved through the sliding wheel, the channel of the bearing shaft and the channel of the moving shaft;
the coil placers (9) are limited by the channels arranged in the circumferential array and cannot rotate;
the bearing shaft (7) adopts a hollow structure;
jacks are arranged on the surfaces of the first cylinder (9-3) and the third cylinder (9-5), and the jacks of the first cylinder (9-3) are in an annular array;
two groups of clamping device components are arranged in the bearing shaft (7): a first set of latch assembly (7-1), a second set of latch assembly (7-2); the bearing shaft is also provided with: a first axial push rod (10-1), a second axial push rod (10-2), a third axial push rod (10-3) and a fourth axial push rod (10-4);
wherein, the first axial push rod (10-1), the second axial push rod (10-2), the third axial push rod (10-3) and the fourth axial push rod (10-4) are sequentially connected and fixed, and the first axial push rod, the second axial push rod, the third axial push rod and the fourth axial push rod form an axial push rod together;
the first group of clamping device components (7-1) correspond to the jack of the first cylinder (9-3), and the second group of clamping device components (7-2) correspond to the jack of the third cylinder (9-5);
wherein the first set of latch assembly (7-1) comprises a plurality of latches distributed in an annular array along a load bearing axis (7); the latch of the first set of latch assemblies (7-1) comprises: the radial insertion groove (7-1-1), the radial insertion rod (7-1-2), the radial compression spring (7-1-3) and the axial displacement adjusting rod (7-1-4); the radial insertion groove (7-1-1) is arranged along the radial direction of the bearing shaft (7); the radial plug rod (7-1-2) comprises: a first section (7-1-2-1) of the radial insertion rod, a second section (7-1-2-2) of the radial insertion rod and a third section (7-1-2-3) of the radial insertion rod; the radial insertion rod first section (7-1-2-1), the radial insertion rod second section (7-1-2-2) and the radial insertion rod third section (7-1-2-3) are sequentially connected, and the radial insertion rod first section (7-1-2-1), the radial insertion rod second section (7-1-2-2) and the radial insertion rod third section (7-1-2-3) form a cross shape; the width of the second section of the radial insertion rod is larger than that of the first section of the radial insertion rod, and the width of the second section of the radial insertion rod is larger than that of the third section of the radial insertion rod; the width of the radial insertion groove is matched with that of the second section of the radial insertion rod, and both ends of the radial insertion groove are provided with openings, namely the opening at the first end is used for the first section of the radial insertion rod to pass through, and the opening at the second end is used for the third section (7-1-2-3) of the radial insertion rod to pass through; the first section (7-1-2-1) of the radial plug-in rod passes through the opening at the first end of the radial plug-in groove and then enters the jack of the first cylinder; a spring is arranged between the second end of the radial insertion groove and the second section of the radial insertion rod, and the spring keeps a compressed state in an initial state; in an initial state, the end part of the third section of the radial insertion rod passes through the opening of the second end of the radial insertion groove and enters the inside of the bearing shaft (7); one end of the axial displacement adjusting rod is hinged to one end of the third section of the radial insertion rod, specifically, the end part of the third section of the radial insertion rod, which enters one side of the bearing shaft, and the other end of the axial displacement adjusting rod is hinged to the front part of the second axial push rod;
the second group of clamping components (7-2) comprises a plurality of clamping devices which are distributed along the bearing shaft (7) in an annular array; the clamping device of the second group of clamping components comprises: the radial plug groove, the radial plug rod, the radial compression spring and the axial displacement adjusting rod are arranged on the radial plug groove; the direction of the radial inserting groove is arranged along the radial direction of the bearing shaft; radial bayonet pole includes: a first section of a radial insertion rod, a second section of the radial insertion rod and a third section of the radial insertion rod; the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod are sequentially connected, and the first section of the radial insertion rod, the second section of the radial insertion rod and the third section of the radial insertion rod form a cross shape; the width of the second section of the radial insertion rod is larger than that of the first section of the radial insertion rod, and the width of the second section of the radial insertion rod is larger than that of the third section of the radial insertion rod; the width of the radial insertion groove is matched with that of the second section of the radial insertion rod, and both ends of the radial insertion groove are provided with openings, namely the opening at the first end is used for the first section of the radial insertion rod to pass through, and the opening at the second end is used for the third section of the radial insertion rod to pass through; the first section of the radial insertion rod penetrates through the opening at the first end of the radial insertion groove and then enters the insertion hole of the third cylinder; a spring is arranged between the second end of the radial insertion groove and the second section of the radial insertion rod, and the spring keeps a compressed state in an initial state; in an initial state, the end part of the third section of the radial insertion rod penetrates through the opening of the second end of the radial insertion groove and enters the inside of the bearing shaft; one end of the axial displacement adjusting rod is hinged to one end of the third section of the radial insertion rod, specifically, the end part of the third section of the radial insertion rod, which enters one side of the bearing shaft, and the other end of the axial displacement adjusting rod is hinged to the front part of the fourth axial push rod;
a sliding groove for the second axial push rod and the fourth axial push rod to move along the axial direction of the bearing shaft is formed in the bearing shaft;
the front end of the movable shaft is provided with a plug-in pressing part (6-1);
a represents the length of the press part protruding from the moving shaft, b represents the length of the front end part of the first axial push rod from the front end part of the bearing shaft, c represents the distance of the clamping device protruding from the surface of the bearing shaft, L represents the length of the axial displacement adjusting rod, and theta1The included angle between the axial direction of the axial displacement adjusting rod and the axial direction of the center of the bearing shaft is shown;
it is known that: c, obtaining a, b, L, theta1；
The design steps are as follows:
s1, determining a and b;
s2, determining L;
s3, determining theta1，θ1Taking any of the following conditions:
Figure FDA0002959330840000031
the value of the condition.
2. The AGV handling robot of claim 1, wherein: in the step S1, the following contents are included:
s1-1, determining that b and b are 5-50 cm;
and S1-2, determining that a and a are b + c + (0-100) cm.
3. The AGV handling robot of claim 1, wherein: in the step S2, the following contents are included: l is arbitrarily satisfied: l is not less than the value of the a-b condition.
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