CN113979355A - Automatic move and carry shaft type AGV system of cantilever - Google Patents
Automatic move and carry shaft type AGV system of cantilever Download PDFInfo
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- CN113979355A CN113979355A CN202010730183.8A CN202010730183A CN113979355A CN 113979355 A CN113979355 A CN 113979355A CN 202010730183 A CN202010730183 A CN 202010730183A CN 113979355 A CN113979355 A CN 113979355A
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- 230000007246 mechanism Effects 0.000 claims abstract description 136
- 238000013519 translation Methods 0.000 claims abstract description 64
- 239000000463 material Substances 0.000 claims abstract description 29
- 238000012546 transfer Methods 0.000 claims description 18
- 230000007306 turnover Effects 0.000 claims description 6
- 238000009987 spinning Methods 0.000 claims description 4
- 230000020347 spindle assembly Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000003825 pressing Methods 0.000 description 6
- 238000004804 winding Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 239000011888 foil Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—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
- B66F9/08—Masts; Guides; Chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/148—Whole unit including fork support moves sideways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/149—Whole unit including fork support rotates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
- B66F9/195—Additional means for facilitating unloading for pushing the load
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transmission Devices (AREA)
Abstract
The invention belongs to the technical field of AGV, and particularly relates to an automatic load-transferring cantilever shaft type AGV system. The AGV comprises an AGV, a translation mechanism, a lifting mechanism and a support shaft assembly, wherein the translation mechanism is arranged on the AGV and has the freedom degree of moving along the direction X, Y; the lifting mechanism is arranged on the translation mechanism and has the freedom degree of movement along the Z direction; the supporting shaft assembly is arranged on the lifting mechanism and used for supporting materials. The invention has the advantages of improved stability and precision, short equipment response time, capability of ensuring fast-beat production and transportation of the workshop pole piece, popularization in the workshop and good effect.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to an automatic load-transferring cantilever shaft type AGV system.
Background
In recent years, the development of domestic new energy markets is faster and faster, and the requirement of each new energy battery factory on the automation degree of a production line is higher and higher. At present, the application of semi-automatic butt joint of cold pressing, slitting and blanking and die cutting and feeding in the industry through AGV is very mature. And the AGV is automatically butted with the host equipment, so that few cases are needed for transferring the pole roll.
In the traditional production process, a buffer station is generally arranged beside a machine table, and after an AGV conveys and butts a material to the buffer station, the material is manually lifted to the machine table by using a mechanical assistance arm. This process has the following problems: in high-beat production, the frequency of using a mechanical assistance arm by a worker is high, and the labor intensity of the worker is high; the required production workshop area is large, and the field is required to be large enough during the operation of the mechanical power-assisted arm so that the logistics are smooth; a cache stand and a cargo space detection sensor for automatic butt joint are required to be arranged at the side of the machine table, so that the cost is increased; the buffer stand and the mechanical power-assisted arm need extra time and cost for maintenance; empty rolls and full rolls require different AGVs to be transported.
Based on the problems, an automatic transfer cantilever shaft type AGV system is urgently needed at present, so that the artificial potential risk is avoided, and the automatic transfer of materials is realized.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an automatic transfer cantilever axis type AGV system to avoid human potential risks and to realize automatic transfer of materials.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic transfer cantilever shaft type AGV system comprises an AGV, a translation mechanism, a lifting mechanism and a support shaft assembly;
the translation mechanism is arranged on the AGV and has a freedom degree of moving along the direction X, Y;
the lifting mechanism is arranged on the translation mechanism and has a degree of freedom of movement along the Z direction;
the supporting shaft assembly is arranged on the lifting mechanism and used for supporting materials.
The translation mechanism comprises an X-direction translation bottom plate, an X-direction slide rail, a Y-direction translation bottom plate, a Y-direction slide rail, an installation bottom plate, a Y-direction driving mechanism and an X-direction driving mechanism, wherein the installation bottom plate is arranged on the AGV car, the Y-direction slide rail is arranged on the installation bottom plate, and the Y-direction translation bottom plate is connected with the Y-direction slide rail in a sliding manner;
the Y-direction driving mechanism is arranged on the AGV and is connected with the Y-direction translation bottom plate; the Y-direction driving mechanism is used for driving the Y-direction translation bottom plate to move along the Y-direction sliding rail;
the X-direction sliding rail is arranged on the Y-direction translation bottom plate, and the X-direction translation bottom plate is connected with the X-direction sliding rail in a sliding manner;
the X-direction driving mechanism is arranged on the Y-direction translation bottom plate and is connected with the X-direction translation bottom plate; the X-direction driving mechanism is used for driving the X-direction translation bottom plate to move along the X-direction sliding rail;
the lifting mechanism is arranged on the X-direction translation bottom plate.
The automatic transfer cantilever shaft type AGV system is characterized by further comprising a rotating mechanism; the lifting mechanism can rotate relative to the X-direction translation bottom plate, and the rotating mechanism is used for driving the lifting mechanism to rotate.
The rotating mechanism comprises a self-rotating rack and a rotating driving mechanism, wherein the self-rotating rack is arranged on the X-direction translation bottom plate and is of an arc structure; the rotary driving mechanism is arranged on the lifting mechanism;
the rotary driving mechanism comprises a rotary driving motor and a driving gear arranged at the output end of the rotary driving motor, and the driving gear is meshed with the self-rotating rack; the rotary driving motor drives the driving gear to rotate, so that the lifting mechanism is driven to rotate relative to the X-direction translation bottom plate.
The lifting mechanism comprises a lifting frame, a lifting sliding plate, a lifting sliding rail and a lifting driving mechanism, wherein the lifting frame is arranged on the translation mechanism, the lifting sliding rail is arranged on the lifting frame along the vertical direction, and the lifting sliding plate is connected with the lifting sliding rail in a sliding manner; the lifting driving mechanism is arranged on the lifting frame and is in sliding connection with the lifting sliding plate; the lifting driving mechanism is used for driving the lifting sliding plate to move along the lifting sliding plate.
The spindle assembly comprises a rotary shaft body, a pushing mechanism, a lifting pin assembly and an end cover, wherein the rotary shaft body is horizontally arranged, and the head end of the rotary shaft body is connected with the lifting mechanism; the rotary shaft body is of a hollow structure, and the tail end of the rotary shaft body is provided with an end cover;
the lifting pin assembly is arranged in the rotating shaft body and is positioned at the tail end of the rotating shaft body, and the lifting pin assembly is used for axially limiting materials sleeved on the rotating shaft body.
The lifting pin component comprises a driving seat, a linear driving mechanism, a turning push rod, a turning pin and a turning pin fixing seat, wherein the turning pin fixing seat is arranged at the tail end of the turning shaft body, the inner side end of the turning pin is hinged to the turning pin fixing seat, and the outer side end of the turning pin is provided with a limiting hook;
the linear driving mechanism is arranged on the driving seat and can move along the axial direction; the output end of the linear driving mechanism is connected with the overturning push rod, the pushing end surface of the overturning push rod is an inclined surface, and the inclined surface is in contact with the overturning pin; the overturning push rod moves forwards under the driving of the linear driving mechanism, so that the overturning pin is pushed to overturn upwards.
And a bearing is arranged at the bottom of the overturning pin.
A plurality of rollers are axially arranged on the outer surface of the rotary shaft body.
The pushing mechanism comprises a sliding base, a driving gear, a pushing guide rail, a pushing block, a pushing rack and a pushing motor, wherein the pushing guide rail and the pushing rack are axially arranged on the rotating shaft body; the pushing block is elastically connected to the sliding base and used for pushing the materials on the rotating shaft body.
The invention has the advantages and beneficial effects that:
1. the automatic conveying device is combined with an AGV system, so that the automatic conveying of the pole pieces of the cold-pressing slitting and die-cutting slitting machine, the winding drums or other roll-shaped materials is realized.
2. According to the invention, part of the operation process is changed from manual operation to automatic operation of equipment, so that the uncertainty of manual operation is avoided, and the stability of pre-adjustment is improved.
3. The invention has the advantages of improved stability and precision, short equipment response time, capability of ensuring fast-beat production and transportation of the workshop pole piece, popularization in the workshop and good effect.
Drawings
FIG. 1 is a schematic diagram of an AGV system with an automatic transfer boom axis of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic structural view of a translation mechanism according to the present invention;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
FIG. 6 is a cross-sectional view B-B of FIG. 5;
FIG. 7 is a top view of FIG. 4;
FIG. 8 is a schematic view of a lifting mechanism according to the present invention;
FIG. 9 is a cross-sectional view C-C of FIG. 8;
FIG. 10 is a left side view of FIG. 9;
FIG. 11 is an enlarged view taken at I in FIG. 9;
FIG. 12 is a schematic view of the construction of the support shaft assembly of the present invention;
FIG. 13 is a cross-sectional view of a support shaft assembly of the present invention;
FIG. 14 is a schematic view of the pushing mechanism of the present invention;
FIG. 15 is a schematic structural view of the lift pin assembly of the present invention;
fig. 16 is a cross-sectional view E-E of fig. 15.
In the figure: 1 is an AGV car, 2 is a translation mechanism, 201 is an X-direction translation bottom plate, 202 is an X-direction slide rail, 203 is a Y-direction translation bottom plate, 204 is a Y-direction slide rail, 205 is a mounting bottom plate, 206 is a drag chain, 207 is a Y-direction driving mechanism, 208 is a Y-direction connecting block, 209 is a connecting rib plate, 210 is an X-axis side baffle, 211 is a spinning rack, 212 is a Y-axis end baffle, 213 is an X-direction driving mechanism, 214 is an X-direction connecting block, 216 is a Y detecting sheet, 217 is a Y switch bracket, 218 is a Y-axis side baffle, 219 is an X-axis end baffle, 220 is a stop pin, 221 is a rotation detecting block, 222 is a lead pipe I, 223 is a lead plate, 224 is a lead pipe II, 3 is a lifting mechanism, 301 is a lifting frame, 302 is a lifting slide plate, 303 is a lifting lead screw, 304 is a lifting slide rail, 305 is a lower cushion, 306 is a Z-axis connecting block, 307 is a rotation switch bracket, 309 is an upper cushion, 310 is a lifting driving motor, 311 is a screw nut seat, 312 is a Z-direction switch bracket, 313 is a rotation driving mechanism, 314 is a driving gear, 315 is a driving gear end cover, 316 is an idler gear assembly, 317 is a screw gear, 318 is a gear box, 319 is a buffer pad bracket, 4 is a pushing mechanism, 5 is a supporting shaft assembly, 501 is a connecting shaft sleeve, 502 is a pushing part detecting body, 503 is a pushing switch, 504 is a rotating shaft body, 505 is a roller, 506 is a pushing mechanism, 5061 is a sliding base, 5062 is a driving gear, 5063 is a pushing guide rail, 5064 is a pushing block, 5065 is a pushing rack, 507 is a pushing mechanism block, 508 is a lifting pin assembly, 5081 is a driving seat, 5082 is an electric push rod, 5083 is a microswitch, 5084 is a stop pin, 5085 is a turning push rod, 5086 is a torsion spring, 5087 is a hinge shaft, 5088 is a bearing, 5089 is a turning pin, 50810 is a camera, 50811 is a reflection switch, 50812 is a turning pin fixing seat, 50813 is a connecting shaft fixing seat, 50814 is a tension spring, 509 is a distance measuring switch bracket, 510 is an end cap.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides an automatic transfer cantilever shaft type AGV system which comprises an AGV car 1, a translation mechanism 2, a lifting mechanism 3 and a supporting shaft assembly 5, wherein the translation mechanism 2 is arranged on the AGV car 1 and has the freedom degree of moving along the direction X, Y; the lifting mechanism 3 is arranged on the translation mechanism 2 and has the freedom degree of movement along the Z direction; the supporting shaft assembly 5 is arranged on the lifting mechanism 3 and used for supporting materials.
In the embodiment of the invention, as shown in fig. 4-7, the translation mechanism 2 includes an X-direction translation bottom plate 201, an X-direction slide rail 202, a Y-direction translation bottom plate 203, a Y-direction slide rail 204, a mounting bottom plate 205, a Y-direction driving mechanism 207, and an X-direction driving mechanism 213, wherein the mounting bottom plate 205 is arranged on the AGV 1, the Y-direction slide rail 204 is arranged on the mounting bottom plate 205, and the Y-direction translation bottom plate 203 is connected with the Y-direction slide rail 204 in a sliding manner; the Y-direction driving mechanism 207 is arranged on the AGV car 1 and is connected with the Y-direction translation bottom plate 203; the Y-direction driving mechanism 207 is used for driving the Y-direction translation bottom plate 203 to move along the Y-direction slide rail 204; the X-direction sliding rail 202 is arranged on the Y-direction translation bottom plate 203, and the X-direction translation bottom plate 201 is connected with the X-direction sliding rail 202 in a sliding manner; the X-direction driving mechanism 213 is disposed on the Y-direction translation base plate 203 and connected to the X-direction translation base plate 201; the X-direction driving mechanism 213 is used for driving the X-direction translation bottom plate 201 to move along the X-direction slide rail 202; the lifting mechanism 3 is disposed on the X-direction translation base plate 201.
Specifically, the Y-direction driving mechanism 207 and the X-direction driving mechanism 213 both adopt a screw nut mechanism, and the layers are coupled by a linear guide pair to ensure stable and smooth sliding during the push-pull movement.
On the basis of the embodiment, the automatic transfer cantilever shaft type AGV system further comprises a rotating mechanism; the lifting mechanism 3 is rotatable relative to the X-direction translation base plate 201, and the rotating mechanism is used for driving the lifting mechanism 3 to rotate.
In the embodiment of the present invention, as shown in fig. 5 and 9, the rotation mechanism includes a spin rack 211 and a rotation driving mechanism 313, wherein the spin rack 211 is disposed on the X-direction translation base plate 201 and has an arc structure; the rotation driving mechanism 313 is provided on the lifting mechanism 3. Specifically, the rotation driving mechanism 313 includes a rotation driving motor and a driving gear provided at an output end of the rotation driving motor, and the driving gear is engaged with the spin rack 211; the rotary driving motor drives the driving gear to rotate, so as to drive the lifting mechanism 3 to rotate relative to the X-direction translation bottom plate 201.
In the embodiment of the present invention, as shown in fig. 8-10, the lifting mechanism 3 includes a lifting frame 301, a lifting sliding plate 302, a lifting sliding rail 304 and a lifting driving mechanism, wherein the lifting frame 301 is disposed on the translation mechanism 2, the lifting sliding rail 304 is disposed on the lifting frame 301 along the vertical direction, and the lifting sliding plate 302 is slidably connected to the lifting sliding rail 304; the lifting driving mechanism is arranged on the lifting frame 301 and is connected with the lifting sliding plate 302 in a sliding manner; the lifting driving mechanism is used for driving the lifting sliding plate 302 to move along the lifting sliding plate 302.
Specifically, as shown in fig. 8 to 11, the lifting driving mechanism includes a lifting screw 303, a Z-axis connecting block 306, a lifting driving motor 310, a screw nut seat 311, a driving gear 314, a driving gear end cover 315, an idler gear assembly 316, a screw gear 317, and a gear box 318, wherein the lifting screw 303 is disposed on the lifting frame 301 along the vertical direction, and the upper end portion is provided with the screw gear 317; the lifting driving motor 310 is arranged at the upper end of the lifting frame 301, a driving gear 314 is arranged on an output shaft, a driving gear end cover 315 is arranged outside the driving gear 314, and the driving gear 314 is meshed with the driving gear 314 through an idler gear assembly 316. The gear box 318 covers the driving gear 314, the idle gear assembly 316 and the lead screw gear 317, and is fixedly connected with the lifting frame 301. The screw nut seat 311 is connected with the lifting screw 303 through a nut, and the screw nut seat 311 is connected with the lifting sliding plate 302 through a Z-axis connecting block 306.
Further, the upper and lower ends of the lifting frame 301 are respectively provided with an upper cushion 309 and a lower cushion 305 through cushion brackets 319, and the upper and lower ends of the lifting frame 301 are further provided with an upper limit switch and a lower limit switch through a Z-direction switch bracket 312.
In the embodiment of the present invention, as shown in fig. 12 to 13, the spindle assembly 5 includes a rotating shaft 504, a pushing mechanism 506, a lift pin assembly 508 and an end cover 510, wherein the rotating shaft 504 is horizontally disposed, and the head end is connected to the lifting mechanism 3 through a connecting shaft sleeve 501; the rotating shaft 504 is a hollow structure, and an end cap 510 is disposed at the end. The lifter pin assembly 508 is disposed in the rotating shaft 504 and located at the end of the rotating shaft 504, and the lifter pin assembly 508 is used for axially limiting the material sleeved on the rotating shaft 504.
Further, a plurality of rollers 505 are axially provided on the outer surface of the rotating shaft body 504 to reduce frictional resistance between the material and the rotating shaft body 504.
In the embodiment of the present invention, as shown in fig. 15 to 16, the lift pin assembly 508 includes a driving seat 5081, a linear driving mechanism, a turning push rod 5085, a turning pin 5089 and a turning pin fixing seat 50812, wherein the turning pin fixing seat 50812 is disposed at the end of the turning shaft 504, the inner end of the turning pin 5089 is hinged to the turning pin fixing seat 50812, and the outer end is provided with a limit hook; the driving seat 5081 is arranged on the inner wall of the rotating shaft 504, and the linear driving mechanism is arranged on the driving seat 5081 and can move along the axial direction; the output end of the linear driving mechanism is connected with a turnover push rod 5085, the pushing end surface of the turnover push rod 5085 is an inclined surface, and the inclined surface is in contact with a turnover pin 5089; the flip push rod 5085 is moved forward by the driving of the linear driving mechanism, thereby pushing the flip pin 5089 to flip upward.
Further, the bottom of the roll-over pin 5089 is provided with a bearing 5088, and the bearing 5088 is in contact with the inclined surface of the roll-over push rod 5085 to reduce frictional resistance.
Specifically, the linear driving mechanism adopts an electric push rod 5082, the end of the electric push rod 5082 is connected with a connecting shaft 50813, two ends of the connecting shaft 50813 are inserted into strip-shaped holes formed in two sides of a driving seat 5081, and simultaneously two ends of the connecting shaft 50813 are connected with the driving seat 5081 through a tension spring 50814. When the flip pin 5089 flips a positional difference with the material, the positional difference can be compensated for by movement of the power push rod 5082.
In an embodiment of the present invention, as shown in fig. 13 to 14, the pushing mechanism 506 includes a sliding base 5061, a driving gear 5062, a pushing guide 5063, a pushing block 5064, a pushing rack 5065, and a pushing motor, wherein the pushing guide 5063 and the pushing rack 5065 are axially disposed on the rotating shaft 504, and the sliding base 5061 is slidably connected to the pushing guide 5063. The pushing motor is arranged on the sliding base 5061, the output end of the pushing motor is connected with the driving gear 5062, and the driving gear 5062 is meshed with the driving gear 5062; the pushing block 5064 is elastically connected to the sliding base 5061 by a spring, and pushes the material on the rotating shaft 504. The pushing motor drives the driving gear 5062 to rotate, so as to drive the sliding base 5061 to move along the pushing guide 5063, and the material is pushed by a pushing block 5064 connected with the sliding base 5061.
Further, as shown in fig. 12, a pushing part detecting body 502 is connected to the slide base 5061, a plurality of pushing switches 503 are provided in the axial direction on the rotating shaft 504, and the pushing part detecting body 502 and the pushing switches 503 are engaged to detect the position of the material on the rotating shaft 504. As shown in fig. 13, a pushing mechanism stopper 507 is provided near the distal end of the rotating shaft body 504, and the pushing mechanism stopper 507 serves to limit the maximum stroke of the pushing mechanism 506.
The main shaft assembly 5 ensures strength and rigidity by means of a structure, and the maximum deformation amount is not more than 1mm when bearing. The pushing mechanism 506 can ensure that the clamped material does not shake during the running process of the AGV.
The specific working process of the invention is as follows:
1. the AGV receives a system instruction to take a foil (copper foil/aluminum foil) from a cold-pressing pre-divided lower material position, and then automatically gives a cold-pressing pre-divided lower material position overhead winding drum; and driving away from the docking station after the loading task is finished.
The AGV drives into the machine platform and parks in a preset parking space;
the AGV is loaded and adjusted to a preset X, Y, Z position;
correcting the compensation amount in the direction of X, Y, Z through a calibrated Laser po inteter, and extending the machine platform out of the butt joint fixture after alignment; after the butt joint is in place, the suspension arm shaft stop pin falls down, the butt joint clamp pushes the material roll to the main shaft assembly 5, the lifting pin rises after the butt joint clamp is in place, the clamp returns to the machine table, the pushing shaft clamps the material, and each shaft resets.
2. The method comprises the steps that an AGV receives a system instruction, the foil (copper foil/aluminum foil) is transferred to a loading position of a die cutting machine from a cold pressing pre-dividing lower material position, an empty winding drum with a tail material at the loading position is taken down, and then a material is wound on a material winding drum to the loading position; and driving away from the docking station after the transfer task is completed.
The automatic transfer system is used for automatically conveying pole rolls or other roll-shaped materials in the new energy lithium battery production process, is suitable for the cold pressing, slitting and blanking process and the die cutting, slitting and feeding process of the pole rolls, and realizes automatic transfer among the processes through the butt joint of the AGV and production host equipment, wherein the AGV is the most important component in the whole system. The system requires that the AGV lifting mechanism is accurate in butt joint (+ -2 mm), high in speed, heavy in load (700kg), high in stability, strong in compatibility and high in multifunctional integration, the AGV can be in butt joint with production equipment, automatic storage, storage and automatic transfer of pole pieces are achieved, meanwhile, the winding drum can be taken and placed and transferred, and the design difficulty is very high. The AGV body adopts differential gear train, and lifting mechanism adopts multiaxis parallel motion, and XYZ linear direction main motion axle all adopts the motion mode of ball and linear guide collocation, is provided power by servo motor, guarantees the accuracy nature of motion.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An automatic transfer cantilever shaft type AGV system is characterized by comprising an AGV (1), a translation mechanism (2), a lifting mechanism (3) and a supporting shaft assembly (5);
the translation mechanism (2) is arranged on the AGV car (1) and has a degree of freedom of moving along the direction X, Y;
the lifting mechanism (3) is arranged on the translation mechanism (2) and has a degree of freedom of movement along the Z direction;
the supporting shaft assembly (5) is arranged on the lifting mechanism (3) and used for supporting materials.
2. The automated transfer cantilevered axis AGV system of claim 1, wherein said translation mechanism (2) comprises an X-direction translation floor (201), an X-direction slide rail (202), a Y-direction translation floor (203), a Y-direction slide rail (204), a mounting floor (205), a Y-direction drive mechanism (207), and an X-direction drive mechanism (213), wherein the mounting floor (205) is disposed on the AGV car (1), the Y-direction slide rail (204) is disposed on the mounting floor (205), and the Y-direction translation floor (203) is slidably connected to the Y-direction slide rail (204);
the Y-direction driving mechanism (207) is arranged on the AGV (1) and is connected with the Y-direction translation bottom plate (203); the Y-direction driving mechanism (207) is used for driving the Y-direction translation bottom plate (203) to move along a Y-direction sliding rail (204);
the X-direction sliding rail (202) is arranged on the Y-direction translation bottom plate (203), and the X-direction translation bottom plate (201) is connected with the X-direction sliding rail (202) in a sliding manner;
the X-direction driving mechanism (213) is arranged on the Y-direction translation bottom plate (203) and is connected with the X-direction translation bottom plate (201); the X-direction driving mechanism (213) is used for driving the X-direction translation bottom plate (201) to move along the X-direction slide rail (202);
the lifting mechanism (3) is arranged on the X-direction translation bottom plate (201).
3. The automated translating cantilevered axis AGV system of claim 2 further comprising a rotating mechanism; the lifting mechanism (3) can rotate relative to the X-direction translation bottom plate (201), and the rotating mechanism is used for driving the lifting mechanism (3) to rotate.
4. The automated transfer cantilevered axis AGV system of claim 3, wherein said rotating mechanism comprises a spinning rack (211) and a rotary drive mechanism (313), wherein the spinning rack (211) is disposed on said X-translation floor (201) and is of an arcuate configuration; the rotary driving mechanism (313) is arranged on the lifting mechanism (3);
the rotary driving mechanism (313) comprises a rotary driving motor and a driving gear arranged at the output end of the rotary driving motor, and the driving gear is meshed with the spinning rack (211); the rotary driving motor drives the driving gear to rotate, so that the lifting mechanism (3) is driven to rotate relative to the X-direction translation bottom plate (201).
5. The AGV system according to claim 1, wherein the lifting mechanism (3) comprises a lifting frame (301), a lifting slide (302), a lifting slide (304), and a lifting driving mechanism, wherein the lifting frame (301) is disposed on the translation mechanism (2), the lifting slide (304) is disposed on the lifting frame (301) along a vertical direction, and the lifting slide (302) is slidably connected to the lifting slide (304); the lifting driving mechanism is arranged on the lifting frame (301) and is connected with the lifting sliding plate (302) in a sliding manner; the lifting driving mechanism is used for driving the lifting sliding plate (302) to move along the lifting sliding plate (302).
6. The automated transfer cantilevered axis AGV system of claim 1, wherein said spindle assembly (5) comprises a pivoting shaft (504), a pushing mechanism (506), a lift pin assembly (508) and an end cover (510), wherein the pivoting shaft (504) is horizontally disposed and the head end is connected to said lifting mechanism (3); the rotary shaft body (504) is of a hollow structure, and the tail end of the rotary shaft body is provided with an end cover (510);
the lifting pin assembly (508) is arranged in the rotating shaft body (504) and is positioned at the tail end of the rotating shaft body (504), and the lifting pin assembly (508) is used for axially limiting materials sleeved on the rotating shaft body (504).
7. The automated transfer cantilevered axis AGV system of claim 6, wherein said lift pin assembly (508) comprises a drive mount (5081), a linear drive mechanism, a tilt push rod (5085), a tilt pin (5089) and a tilt pin mount (50812), wherein the tilt pin mount (50812) is disposed at the end of said pivot shaft (504), the inner end of the tilt pin (5089) is hinged to the tilt pin mount (50812), and the outer end is provided with a limit hook;
the linear driving mechanism is arranged on the driving seat (5081) and can move along the axial direction; the output end of the linear driving mechanism is connected with a turnover push rod (5085), the pushing end surface of the turnover push rod (5085) is an inclined surface, and the inclined surface is in contact with the turnover pin (5089); the overturning push rod (5085) moves forwards through the driving of the linear driving mechanism, so that the overturning pin (5089) is pushed to overturn upwards.
8. The automated translating cantilevered shaft AGV system of claim 7 wherein the bottom of said flip pin (5089) is provided with a bearing (5088).
9. The automated portable cantilevered axis AGV system of claim 6 wherein said rotatable shaft (504) has a plurality of rollers (505) axially disposed on an outer surface thereof.
10. The AGV system according to claim 6, wherein the pushing mechanism (506) comprises a sliding base (5061), a driving gear (5062), a pushing rail (5063), a pushing block (5064), a pushing rack (5065) and a pushing motor, wherein the pushing rail (5063) and the pushing rack (5065) are axially disposed on the rotating shaft (504), the sliding base (5061) is slidably connected to the pushing rail (5063), the pushing motor is disposed on the sliding base (5061), and an output end of the pushing motor is connected to the driving gear (5062), and the driving gear (5062) is engaged with the driving gear (5062); the push block (5064) is elastically connected to the sliding base (5061) and used for pushing the materials on the rotating shaft body (504).
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| CN202010730183.8A CN113979355B (en) | 2020-07-27 | 2020-07-27 | Automatic move and carry cantilever shaft type AGV system |
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| CN116039807A (en) * | 2023-01-31 | 2023-05-02 | 三一机器人科技有限公司 | Pitching assembly and multi-degree-of-freedom cantilever shaft AGV |
| CN116080511A (en) * | 2023-01-16 | 2023-05-09 | 三一机器人科技有限公司 | Cantilever axle device and AGV |
| CN117023114A (en) * | 2023-07-10 | 2023-11-10 | 珠海创智科技有限公司 | Long-distance taking and discharging handle mechanism |
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| CN117023114B (en) * | 2023-07-10 | 2024-05-24 | 珠海创智科技有限公司 | Long-distance taking and discharging handle mechanism |
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