CN115973962A - Empty and full material exchange method of coil material transportation AGV and coil material transportation AGV - Google Patents
Empty and full material exchange method of coil material transportation AGV and coil material transportation AGV Download PDFInfo
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- CN115973962A CN115973962A CN202211556111.1A CN202211556111A CN115973962A CN 115973962 A CN115973962 A CN 115973962A CN 202211556111 A CN202211556111 A CN 202211556111A CN 115973962 A CN115973962 A CN 115973962A
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Abstract
The invention discloses an empty and full material exchange method of a coil material transportation AGV and the coil material transportation AGV, wherein the method comprises the following steps: AGV receives the material loading signal of capstan head board, AGV removes to get into according to navigation path the last unloading region of capstan head board, AGV detects empty material lifting mechanism on the AGV with the relative position of capstan head board, and right empty material lifting mechanism carries out X, Y, Z direction adjustment location and makes empty material on the capstan head board rolls up the core and puts empty material lifting mechanism, AGV detects full material lifting mechanism on the AGV with the relative position of capstan head board, and right full material lifting mechanism carries out X, Y, Z direction adjustment location and makes the capstan head board will full material on the material lifting mechanism rolls up the core and takes away, AGV withdraws from the last unloading region of capstan head board. The invention can load the empty material winding core and the full material winding core simultaneously, and improves the feeding efficiency of the turret machine table.
Description
Technical Field
The invention relates to the technical field of Automatic Guided Vehicles (AGV), in particular to an empty and full material exchange method of an AGV (automatic Guided Vehicle) and an AGV capable of loading empty and full materials simultaneously.
Background
The AGV is widely applied to industries such as warehouse logistics, processing and the like, and can automatically move according to a planned path.
In the existing industries of transferring, taking and placing coiled materials and foils, especially front-section processes such as coating, rolling and slitting in the new energy lithium battery industry, or similar industrial site for carrying coiled materials, an artificial hydraulic forklift or an forking AGV is mainly used for entering a region of a turret machine table for transferring, taking and placing.
The manual hydraulic forklift consumes manpower, the forking type AGV is generally only provided with one material taking mechanism, therefore, when the forking type AGV is used for feeding the turret machine table, the forking type AGV needs to be moved to the turret machine table, an empty material winding core on the turret machine table is taken down, the forking type AGV moves to an empty material buffer storage frame and places the empty material winding core on the empty material buffer storage frame, then the full material buffer storage frame is moved to take down a full material winding core with a coil material, the forking type AGV moves to the turret machine table to be used for feeding the turret machine table, the whole feeding process needs to be repeated among the turret machine table, the empty material buffer storage frame and the full material buffer storage frame, the consumed time is long, and the feeding efficiency is low.
Therefore, the prior art is in need of improvement.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide an empty/full switching method for a coil transportation AGV and a coil transportation AGV capable of loading empty/full coils simultaneously, which are capable of loading empty coils and full coils simultaneously, and improving the loading efficiency of a turret machine.
In order to realize the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an empty and full material exchange method for an AGV for coil transportation, which is applied to material exchange between the AGV for coil transportation and a turret machine, wherein the method includes the following steps:
the AGV receives a feeding signal of the turret machine table;
the AGV moves into a loading and unloading area of the turret machine station according to a navigation path;
the method comprises the steps that the AGV detects the relative position of an empty material lifting mechanism on the AGV and a turret machine platform, and the empty material lifting mechanism is subjected to X, Y, Z direction adjustment and positioning, so that empty material winding cores on the turret machine platform are placed into the empty material lifting mechanism;
the AGV detects the relative position of a full material lifting mechanism on the AGV and the turret machine platform, and adjusts and positions the full material lifting mechanism in the X, Y, Z direction so that the turret machine platform takes away the full material winding cores on the full material lifting mechanism;
and the AGV exits the feeding and discharging area of the turret machine table.
The empty material lifting mechanism is provided with a pressure sensor, after an empty material winding core on the turret machine platform is placed into the empty material lifting mechanism, when an air expansion shaft of the turret machine platform is drawn out of the empty material winding core, the AGV adjusts the direction of X, Y, Z of the empty material lifting mechanism so that a numerical value detected by the pressure sensor on the empty material lifting mechanism is kept within a first preset range.
When an air expansion shaft of the turret machine table extends into the full material core, the AGV adjusts the full material lifting mechanism in the X, Y, Z direction so that the value detected by the pressure sensor on the full material lifting mechanism is kept in a second preset range.
The empty material lifting mechanism comprises a left empty material lifting part and a right empty material lifting part which are respectively and independently driven in the XYZ direction;
the full material lifting mechanism comprises a left full material lifting part and a right full material lifting part which are independently driven in the XYZ direction respectively.
Before the AGV enters the loading and unloading area of the turret machine station, the direction is adjusted to enable the empty material lifting mechanism on the AGV to face the turret machine station;
empty material roll cores on the turret machine platform are placed into the empty material lifting mechanisms, then the AGV rotates in situ in the adjusting direction, and the full material lifting mechanisms on the AGV face the turret machine platform.
In a second aspect, the invention further provides an AGV for transporting a coil stock, which is capable of loading empty and full materials simultaneously, and comprises a base, wherein traveling wheels are arranged at the bottom of the base, a left X moving unit and a right X moving unit are arranged above the base, a left lifting unit is arranged on the left X moving unit, and a right lifting unit is arranged on the right X moving unit 5;
the left lifting unit comprises a left YZ moving unit arranged on the left X moving unit in a sliding manner, and a left full material lifting part and a left empty material lifting part which are arranged on the left YZ moving unit;
the right lifting unit comprises a right YZ moving unit arranged on the right X moving unit in a sliding manner, and a right full material lifting part and a right empty material lifting part which are arranged on the right YZ moving unit;
0 the left full material lifting part and the right full material lifting part are oppositely arranged left and right to form a full material lifting mechanism,
the left empty material lifting part and the right empty material lifting part are oppositely arranged left and right to form an empty material lifting mechanism.
The left full material lifting part is in linkage with the left empty material lifting part, and the right full material lifting part is in linkage with the right empty material lifting part.
The left YZ moving unit comprises a left Z-direction moving unit 5 arranged on the left X-direction moving unit in a sliding mode, a left Y-direction moving unit arranged on the left Z-direction moving unit in a sliding mode, and a left full material lifting part and a left empty material lifting part are arranged on the left Y-direction moving unit in a sliding mode;
the right YZ moving unit comprises a right Z-direction moving unit arranged on the right X-direction moving unit in a sliding mode, a right Y-direction moving unit arranged on the right Z-direction moving unit in a sliding mode, and the right full material lifting part and the right empty material lifting part are arranged on the right Y-direction moving unit in a sliding mode.
0 wherein, left full material portion of lifting, left empty material portion of lifting, right full material portion of lifting, right empty material portion of lifting all include:
a lifting fixed seat, a lifting moving seat which is arranged on the lifting fixed seat and is elastically abutted with the lifting fixed seat, a V-shaped fork which is arranged on the lifting moving seat, a lifting fixed seat and a lifting moving seat
And the lifting fixed seats are arranged on the corresponding left Y-direction moving unit or 5 right Y-direction moving units.
The X-shaped mobile unit comprises a base, a left X-shaped mobile unit and a right X-shaped mobile unit, and is characterized by further comprising a middle seat arranged on the base, wherein a middle seat X displacement unit is connected between the middle seat and the base, and the left X-shaped mobile unit and the right X-shaped mobile unit are further arranged on the middle seat.
It is understood that within the scope of the present invention, the above-mentioned technical features of the present invention and those specifically described below (in the embodiments) can be combined with each other to constitute a new or preferred technical solution, to be limited to space, and not to be described in any more detail herein.
According to the empty and full material exchanging method of the AGV for coil transportation, the empty material lifting mechanism and the full material lifting mechanism are respectively arranged on the AGV, after the AGV enters the loading and unloading area of the turret machine table, the empty material lifting mechanism is in positioning butt joint with the turret machine table, the empty material winding core on the turret machine table is taken and placed on the empty material lifting mechanism, then the full material lifting mechanism is in positioning butt joint with the turret machine table, so that the turret machine table takes the full material winding core with the coil on the full material lifting mechanism, and the empty material winding core which is taken down does not need to be firstly placed on the empty material buffer storage frame and then the full material winding core with the coil in the prior art.
Drawings
FIG. 1 is a schematic flow chart illustrating an empty/full exchange method of an AGV according to the present invention;
FIG. 2 is a schematic diagram of a structure of an AGV and a turret table for transporting a coil according to the present invention;
FIG. 3 is a schematic diagram of an AGV according to the present invention;
FIG. 4 is an exploded view of the structure of FIG. 3;
FIG. 5 is a schematic view of the structure of the middle seat of the present invention;
FIG. 6 is a schematic view of the base of the present invention;
FIG. 7 is an exploded view of the left lifting unit, the right lifting unit, and the middle base of the present invention;
FIG. 8 is a schematic cross-sectional view of the right full lift portion and the right empty lift portion of the present invention.
Description of the reference numerals:
100-AGV, 10-base, 11-obstacle sensor, 12-frame, 13-driven wheel, 14-steering wheel, 15-middle base guide rail, 20-left X mobile unit, 21-left X mobile guide rail, 30-right X mobile unit, 31-right X mobile guide rail, 40-left lifting unit, 50-right lifting unit, 60-left YZ mobile unit, 70-left full material lifting part, 80-left empty material lifting part, 90-right YZ mobile unit, 110-right full material lifting part, 120-right empty material lifting part, 130-left Z mobile unit, 140-left Y mobile unit, 150-right Z mobile unit, 160-right Y-direction moving unit, 170-lifting fixed seat, 180-lifting moving seat, 181-guide shaft, 190-V-shaped fork, 200-turret machine table, 201-air expansion shaft, 202-positioning marker, 210-pressure sensor, 220-middle seat, 230-middle seat X displacement unit, 250-mirror reflection photoelectricity, 260-diffuse reflection photoelectricity, 270-visual sensor, 280-laser distance measuring sensor, 290-correlation photoelectricity, 300-full material lifting mechanism, 400-empty material lifting mechanism, 500-empty material winding core, 600-full material winding core and 700-coil material.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides an empty and full material exchanging method for an AGV for transporting a coil material, which is applied to material exchanging between the AGV100 for transporting a coil material and two turret tables 200, as shown in fig. 2, the two turret tables 200 are arranged on the left and right, each turret table 200 is provided with an air expansion shaft 201, and the air expansion shaft 201 is used for extending into a full material core 600 with a coil material 700, so as to take away the full material core 600 on the AGV100 and the coil material 700 thereon. When the roll material 700 on the turret machine 700 is used up, the full roll core 600 becomes the empty roll core 500, the turret machine 200 puts the empty roll core 500 on the AGV of the present invention, and the two ends of the empty roll core 500 and the full roll core 600 are hollow tubes, so that the air expansion shaft 201 can extend into the two ends of the roll core conveniently. The air expansion shaft 201 expands under the action of air after extending into the full-material winding core 600, so that the air expansion shaft expands tightly with the full-material winding core 600, and the roll material 700 is convenient to take away. When empty material core 500 is to be put down to capstan head board 200, the gas shaft 201 exhausts and makes the gas shaft 201 diameter diminish to make gas shaft 201 and empty material core 500 break away from, then gas shaft 201 opens to empty material core 500 both ends outside, and empty material core 500 can be taken away to AGV.
The turret table 200 is further provided with a positioning marker 202, and the agv100 detects the positioning marker 202 for position detection and positioning docking.
Specifically, as shown in fig. 1, the empty/full exchange method for an AGV for transporting a coil stock of the present invention includes the following steps:
s101, the AGV receives a feeding signal of the turret machine platform.
After the coil 700 on the turret machine platform 200 is used up or before the coil 700 is about to be used up, a feeding signal is sent, the feeding signal can be directly sent to the AGV100 or sent to the control platform and then sent to the AGV100 by the control platform, the AGV100 scans whether the feeding signal exists at regular time, and the AGV100 enters the next step after receiving the feeding signal. The AGV100 is provided with a wireless communication module for receiving signals transmitted from the turret table 200 or the control platform.
And S102, the AGV moves into a loading and unloading area of the turret machine according to the navigation path.
After receiving the loading signal of the turret machine 200, the AGV100 moves according to a navigation path between the AGV100 and the turret machine 200, where the navigation path is determined by laser + a ground magnetic stripe, or by laser + a two-dimensional code, or by SLAM (location and map creation in time).
The base of the AGV100 is provided with a travelling wheel and a travelling wheel driving mechanism, the AGV100 is internally provided with an electric control system, and the electric control system drives the travelling wheel to rotate according to a navigation path so that the AGV moves until entering a loading and unloading area of the turret machine table 200 according to the navigation path. In the embodiment of the present invention, the middle area between the two turret tables 200 is a loading and unloading area of the turret table 200.
In the embodiment of the present invention, before the AGV100 moves according to the navigation path, the full winding core 600 with the coil 700 is taken out from the full buffer rack. Or the AGV100 of the present invention first gets the full core 600 with the coil 700 in advance, and then scans and receives the feeding signal of the turret table 100 at regular time.
As shown in FIG. 3, the AGV100 for transporting coil material of the present invention is provided with an empty lifting mechanism 400 and a full lifting mechanism 300. As shown in fig. 2, the empty lifting mechanism 400 is used for loading the empty winding core 500, the full lifting mechanism 300 is used for loading the full winding core 600, and the roll material 700 is mounted on the full winding core 600.
S103, the AGV detects the relative position of the empty material lifting mechanism on the AGV and the turret machine platform, and adjusts and positions the direction of X, Y, Z of the empty material lifting mechanism so that empty material winding cores on the turret machine platform are placed into the empty material lifting mechanism.
After the AGV100 with the full winding core 600 and the coil 700 enters the loading and unloading area of the turret machine 200, the relative position between the empty material lifting mechanism 400 on the AGV100 and the turret machine 200 is detected, and then the electric control system on the AGV100 moves, adjusts and positions the empty material lifting mechanism 400 in the X, Y, Z direction according to the relative position, so that the turret machine 200 is butted with the empty material lifting mechanism 400.
Specifically, the AGV100 is provided with a driving mechanism for moving the empty lifting mechanism 400 in the X, Y, Z direction, so that after the AGV100 enters the loading and unloading area of the turret table 200, the empty lifting mechanism 400 is precisely moved in the XYZ direction to position and align the empty lifting mechanism 400 with the empty winding core 500 on the turret table 200, that is, the central axis of the air-expanding shaft 201 of the turret table 200 is substantially aligned with the central axis of the empty winding core 500 placed on the empty lifting mechanism 400, after alignment, the turret table 200 acts to place the empty winding core 500 on the empty lifting mechanism 400 of the AGV100, then the air-expanding shaft 201 of the turret table 200 is exhausted to reduce the diameter and separated from the empty winding core 500, then the air-expanding shaft 201 moves to the outer sides of the two ends of the empty winding core 500 and is extracted from the empty winding core 500, and the AGV100 completes the process of taking the empty winding core 500 from the turret table 200.
In the present invention, the empty lifting mechanism 400 and the full lifting mechanism 300 of the AGV100 are respectively provided with a sensor assembly for detecting the relative position and positioning of the empty lifting mechanism 400, the full lifting mechanism 300 and the turret table 200.
Preferably, the sensor assembly of the present invention includes a specularly reflective photosensor 250,
the mirror reflection photoelectricity 250 is used for detecting reflective paper attached to a material stopping shaft shoulder of the inflatable shaft 201 of the turret machine table 200, finding the physical position of the inflatable shaft 201 and providing a position reference for positioning.
Preferably, the sensor assembly of the present invention further comprises a vision sensor 270.
The vision sensor 270 detects the distance between the empty lifting mechanism 400 or the full lifting mechanism 300 of the AGV100 and the positioning marker 202 on the turret table 200 in the XYZ direction, and the electronic control system continuously adjusts the empty lifting mechanism 400 or the full lifting mechanism 300 to move in the XYZ direction to reach the preset value according to the distance to complete the positioning.
The sensor assembly of the present invention further includes a diffuse reflected photo-electricity 260 and an incident photo-electricity 290.
When the material is taken, the diffuse reflection photoelectric sensor 260 detects that the distances from the two ends of the winding core on the full material buffer shelf or the turret machine table 200 to the lifting mechanisms are the same, so that the material on the empty material lifting mechanism 400 or the full material lifting mechanism 300 can be centered.
When the correlation photoelectric device 290 is used for taking material, the correlation photoelectric device 290 detects that there is no material on the empty lifting mechanism 400 or the full lifting mechanism 300 before the full buffer rack or the turret table 200 can take material.
And S104, the AGV detects the relative position of the full material lifting mechanism on the AGV and the turret machine platform, and adjusts and positions the direction of X, Y, Z of the full material lifting mechanism so that the turret machine platform takes away the full material winding cores on the full material lifting mechanism.
After the AGV100 takes the empty core 500 from the turret 200, the AGV100 detects the relative position between the full lift mechanism 300 and the turret 200 through the sensor assembly on the full lift mechanism 300, and then the electric control system on the AGV100 performs X, Y, Z direction movement adjustment positioning on the full lift mechanism 300 according to the relative position, so that the turret 200 is butted with the full lift mechanism 300.
Specifically, the AGV100 is provided with a driving mechanism for moving the full lifting mechanism 300 in the X, Y, Z directions, respectively, so that the AGV100 accurately moves the full lifting mechanism 300 in the XYZ directions to position and align the full winding core 600 on the full lifting mechanism 300 with the air-expanding shaft 201 of the turret table 200, that is, the central axis of the air-expanding shaft 201 of the turret table 200 and the central axis of the full winding core 600 are substantially on the same straight line, after alignment, the turret table 200 operates to extend the air-expanding shaft 201 from both ends of the full winding core 600 into the full winding core 600, then the air-expanding shaft 201 of the turret table 200 admits air, the diameter of the air-expanding shaft 201 expands and then expands tightly with the full winding core 600, then the turret table 200 operates to take the full winding core 600 with the coil 700, and the AGV100 finishes the feeding process to the turret table 200.
As shown in FIG. 3, the full lift mechanism 300 and the empty lift mechanism 400 of the AGV100 of the present invention are located on the front and rear sides of the floor of the AGV 100. Preferably, in the empty and full material exchanging method of the turret table 200 of the present invention, the direction of the AGV100 is adjusted to direct the empty lifting mechanism 400 on the AGV100 toward the turret table 200 before the AGV100 enters the loading and unloading area of the turret table 200, so that the AGV100 does not need to rotate in situ after entering the loading and unloading area of the turret table 200, which is convenient for directly performing position detection and moving positioning on the empty lifting mechanism 400 and the turret table 200.
After the empty material winding core 500 on the turret machine table 200 is placed into the empty material lifting mechanism 400, the AGV100 rotates in situ in the adjusting direction to enable the full material lifting mechanism 300 on the AGV100 to face the turret machine table 200, so that the full material lifting mechanism 300 and the turret machine table 200 can be conveniently subjected to position detection and moving positioning in the next step after the empty material winding core 500 is taken out.
S105, the AGV exits the feeding and discharging area of the turret machine table.
When the loading and unloading area of the AGV100 on the turret table 200 is the loading and unloading area of the turret table 200, the traveling wheels on the base 10 of the AGV100 rotate to exit the loading and unloading area of the turret table 200, and return to the original position according to the navigation path to wait for the next loading process.
Further, the empty lifting mechanism 400 is provided with a pressure sensor 210, after the empty winding core 500 on the turret table 200 is placed into the empty lifting mechanism 400, when the inflatable shaft 201 of the turret table 200 is pulled out from the empty winding core 500, the AGV100 adjusts the empty lifting mechanism 400 in the X, Y, Z direction so that the value detected by the pressure sensor 210 on the empty lifting mechanism 400 is kept within a first preset range. In this embodiment, the first preset range may be set within 2% of the dead weight of the empty material winding core 500, and if the dead weight of the empty material winding core 500 is a, the first preset range is [ a-2%, a +2% ].
When the empty core 500 on the turret table 200 is placed in the empty lifting mechanism 400, and the value detected by the pressure sensor 210 on the empty lifting mechanism 400 is just equal to the dead weight of the empty core 500, the air shaft 201 of the turret table 200 is separated from the empty core 500, and the empty core 500 is completely lifted by the empty lifting mechanism 400. Then the air expansion shaft 201 is extracted from the empty material winding core 500, the diameter of the air expansion shaft 201 can be reduced by exhausting air before extraction, or the diameter of the air expansion shaft 201 is reduced by exhausting air before the empty material winding core 500 is placed into the empty material lifting mechanism 400, so that the air expansion shaft can be smoothly extracted later.
In the drawing process, the electric control system of the AGV100 monitors the value of the pressure sensor 210 on the empty material lifting mechanism 400 in real time, when the value of the pressure sensor 210 on the empty material lifting mechanism 400 exceeds a first preset range [ a-2%, a +2% ], it is indicated that the air expansion shaft 201 and the empty material winding core 500 are eccentric and generate friction, and then the electric control system of the AGV100 immediately adjusts the position of the empty material lifting mechanism 400 in the X, Y, Z direction, so that the value of the pressure sensor 210 on the empty material lifting mechanism 400 returns to the first preset range [ a-2%, a +2% ], thus, no friction or very little friction is generated in the drawing process, and the air expansion shaft 201 or the empty material winding core 500 is prevented from being damaged. Ideally, the pressure sensor 210 of the empty material lifting mechanism 400 is always equal to the weight of the empty material core 500, and the position of the empty material lifting mechanism 400 does not need to be adjusted, so that no friction is generated during the extraction process.
The full material lifting mechanism 300 is provided with a pressure sensor 210, when the inflatable shaft 201 of the turret table 200 extends into the full material winding core 600, the AGV100 adjusts the full material lifting mechanism 300 in the X, Y, Z direction so that the value detected by the pressure sensor 210 on the full material lifting mechanism 300 is kept in a second preset range. In this embodiment, the second preset range may be set within 1% of the weight of the full-charge core 600 plus the roll material 700, and if the weight of the full-charge core 600 plus the roll material 700 is b, the second preset range is [ b-1%, b +1% ].
When the air expansion shaft 201 of the turret machine table 200 extends into the full-material winding core 600, the electric control system of the AGV100 monitors the value of the pressure sensor 210 on the full-material lifting mechanism 300 in real time, and when the value of the pressure sensor 210 on the full-material lifting mechanism 300 exceeds a second preset range [ b-1%, b +1% ], it indicates that the air expansion shaft 201 and the full-material winding core 600 are eccentric and generate friction, the electric control system of the AGV100 immediately adjusts the position of the full-material lifting mechanism 300 in the direction X, Y, Z so that the value of the pressure sensor 210 on the full-material lifting mechanism 300 returns to the second preset range [ b-1%, b +1% ], so that no friction or very small friction is generated in the extending process, and the air expansion shaft 201 or the full-material winding core 600 is prevented from being damaged. Ideally, the pressure sensor 210 on the full lift mechanism 300 is always equal to the weight of the full core 600 plus the coil 700, and the position of the full lift mechanism 300 does not need to be adjusted, so that there is no friction during the insertion process.
When the inflatable shaft 201 of the turret machine table 200 extends into the full-material winding core 600 and is inflated, the inflatable shaft 201 completely lifts the full-material winding core 600 and the coil 700, and the value detected by the pressure sensor 210 on the full-material lifting mechanism 300 is equal to zero or a preset value slightly larger than zero.
Further, as shown in fig. 2 and 3, the empty lifting mechanism 400 includes a left empty lifting part 80 and a right empty lifting part 120 that are independently driven in XYZ directions, respectively. The full material lifting mechanism 300 includes a left full material lifting part 70 and a right full material lifting part 110 which are independently driven in XYZ directions. Thus, in the empty and full material exchanging process of the present invention, the left empty lifting part 80 and the right empty lifting part 120 of the empty lifting mechanism 400 can be separately and independently adjusted in position, and the left full lifting part 70 and the right full lifting part 110 of the full lifting mechanism 300 can also be separately and independently adjusted in position, so as to improve the accuracy of the empty lifting mechanism 400 and the full lifting mechanism 300 in positioning and aligning with the turret machine 200.
With continued reference to fig. 2-5, the present invention provides an AGV100 for simultaneously loading empty and full material, which includes a base 10, and traveling wheels are disposed at the bottom of the base 10. As shown in fig. 2, an obstacle sensor 11 is provided on the base 10 for detecting an obstacle to prevent the AGV100 from hitting the obstacle during movement. As shown in fig. 6, the base 10 includes a housing 12, and a steering wheel 14 and a driven wheel 13 provided in the housing 12. A traveling wheel driving mechanism is arranged in the base 10 to drive the steering wheel 14 to rotate, and in this embodiment, an electric control system of the AGV is further arranged in the base 10.
A left X moving unit 20 and a right X moving unit 30 are arranged above a base 10 on a coil material transportation AGV100, a left lifting unit 40 is arranged on the left X moving unit 20, and a right lifting unit 50 is arranged on the right X moving unit 30. The left X moving unit 20 moves in the X direction above the base 10 to move the left lifting unit 40 thereon, and the right X moving unit 30 moves in the X direction above the base 10 to move the right lifting unit 50 thereon.
In the present embodiment, the left lifting unit 40 includes a left YZ moving unit 60 slidably installed on the left X moving unit 20, and a left full material lifting unit 70 and a left empty material lifting unit 80 installed on the left YZ moving unit 60. The right lifting unit 50 includes a right YZ moving unit 90 slidably disposed on the right X moving unit 30, and a right full charge lifting part 110 and a right empty charge lifting part 120 disposed on the right YZ moving unit 90.
The left YZ moving unit 60 enables the left full material lifting part 70 and the left empty material lifting part 80 thereon to move along the Y direction and the Z direction; the right YZ moving unit 90 allows the right full lift 110 and the right empty lift 120 to move in the Y-direction and the Z-direction.
The left full material lifting part 70 and the right full material lifting part 110 are oppositely arranged left and right to form a full material lifting mechanism 300, and the left empty material lifting part 80 and the right empty material lifting part 120 are oppositely arranged left and right to form an empty material lifting mechanism 400.
Namely, the AGV100 for transporting coil material is respectively provided with a full material lifting mechanism 300 and an empty material lifting mechanism 400, the full material lifting mechanism 300 is used for loading a full material core 600, and the full material core 600 is provided with coil material 700. The empty lifting mechanism 400 is used to load the empty core 500, so that the AGV100 can load empty and full materials at the same time, thereby improving the efficiency of material exchange with the turret table 200.
The full lifting mechanism 300 of the AGV100 for transporting roll material is composed of the left full lifting part 70 and the right full lifting part 110, which are oppositely arranged left and right, so that when the full lifting core 600 is placed on the full lifting mechanism 300, both ends of the full lifting core 600 are supported by the left full lifting part 70 and the right full lifting part 110, respectively, to improve the supporting strength and ensure balance, and simultaneously, the left full lifting part 70 and the right full lifting part 110 are respectively arranged on the left lifting unit 40 and the right lifting unit 50, and the movements of the left lifting unit 40 and the right lifting unit 50 in XYZ directions are independently driven, so that the movements of the left full lifting part 70 and the right full lifting part 110 in XYZ directions can be independently controlled, and the butting positioning accuracy of the left full lifting part 70, the right full lifting part 110 and the turret table 200 can be improved, if the left full lifting part 70 is aligned with the turret table 200 on the left side, the left full lifting part 70 is not moved, and only the right full lifting part 110 is aligned with the right turret table 200.
Similarly, the empty lifting mechanism 400 of the AGV100 for transporting a coil material of the present invention is composed of the left empty lifting unit 80 and the right empty lifting unit 120 which are oppositely arranged left and right, so that when the empty winding core 500 is placed on the full lifting mechanism 300, two ends of the empty winding core 500 are respectively supported by the left empty lifting unit 80 and the right empty lifting unit 120, so as to enhance the supporting strength and ensure balance, meanwhile, the left empty lifting unit 80 and the right empty lifting unit 120 are respectively arranged on the left lifting unit 40 and the right lifting unit 50, and the movements of the left lifting unit 40 and the right lifting unit 50 in the XYZ direction are independently driven, so that the movements of the left empty lifting unit 80 and the right empty lifting unit 120 in the XYZ direction can be independently controlled, so as to enhance the accuracy of the butt-joint positioning of the left empty lifting unit 80, the right empty lifting unit 120 and the turret table 200.
Preferably, as shown in fig. 3 to 5, the AGV100 further includes an intermediate seat 220 disposed on the base 10, an intermediate seat X displacement unit 230 is connected between the intermediate seat 210 and the base 10, and the left X moving unit 20 and the right X moving unit 30 are further disposed on the intermediate seat 220.
In the present invention, an intermediate seat X displacement unit 230 is connected between the intermediate seat 220 and the base 10, such that the intermediate seat 220 can move in the X direction relative to the base 10, and the movement of the intermediate seat 220 in the X direction drives the left X moving unit 20 and the right X moving unit 30 thereon to move, thereby driving the left lifting unit 40 and the right lifting unit 50 connected to the X moving unit 20 and the right X moving unit 30 to integrally move in the X direction at the same time. That is, the movement of the middle seat 220 can simultaneously drive the left lifting unit 40 and the right lifting unit 50 to move. The middle seat 220 and the middle seat X displacement unit 230 are located in a secondary X-direction moving mechanism, the secondary X-direction moving mechanism can perform primary positioning after the AGV100 enters the loading and unloading area of the turret machine 200, so that the distances from the left end and the right end of the AGV100 to the left and the right turret machine 200 are substantially equal, then the left full material lifting part 70 and the left empty material lifting part 80 are accurately positioned and adjusted in the XYZ direction by the left X moving unit 20 and the left YZ moving unit 60, and the right full material lifting part 110 and the right empty material lifting part 120 are accurately positioned and adjusted in the XYZ direction by the right X moving unit 30 and the right YZ moving unit 90.
The base 10 is provided with a middle seat guide rail 15, and the middle seat 220 is slidably mounted on the middle seat guide rail 15. The middle base 220 is provided with a left X-moving guide rail 21 and a right X-moving guide rail 31, respectively, the left lifting unit 40 is slidably mounted on the left X-moving guide rail 21, and the right lifting unit 50 is slidably mounted on the right X-moving guide rail 31.
The middle seat X displacement unit 230, the left X movement unit 20 and the right X movement unit 30 of the invention all adopt screw nut transmission mechanisms, and each screw nut transmission mechanism comprises a motor, a speed reducer, a screw nut and the like.
Preferably, as shown in fig. 2, the left full material lifting portion 70, the left empty material lifting portion 80, the right full material lifting portion 110, and the right empty material lifting portion 120 of the AGV100 of the present invention are all provided with a laser distance measuring sensor 280, and the laser distance measuring sensor 280 is used for the initial positioning detection after the AGV100 enters the loading and unloading area of the turret table 200.
The laser distance measuring sensor 280 detects the distance between the left lifting unit 40 and the right lifting unit 50 of the AGV100 and the left and right turret tables 200 in the X direction. The electric control system of the AGV100 controls the movement of the X displacement unit 230 of the middle base according to the feedback value of the laser distance measuring sensor 280 to drive the middle base 220 to move in the X direction, so that the distances between the left and right sides of the middle base 220 and the turret machine platforms 200 on the left and right sides are substantially equal, and the distances between the left lifting unit 40 and the right lifting unit 50 on the middle base 220 and the turret machine platforms 200 on the left and right sides are substantially equal.
The middle base X displacement unit 230 can perform coarse adjustment in the X direction quickly, and the butt joint positioning efficiency is improved.
Preferably, the left full material lifting portion 70 and the left empty material lifting portion 80 are arranged in a linkage manner, and the right full material lifting portion 110 and the right empty material lifting portion 120 are arranged in a linkage manner. Specifically, the left full charge lifting unit 70 is connected to the left empty material lifting unit 80 through a link, and the right full charge lifting unit 110 is connected to the right empty material lifting unit 120 through a link, so that the left full charge lifting unit 70 and the left empty material lifting unit 80 can share one set of XYZ-direction driving mechanism, the left full charge lifting unit 70 and the left empty material lifting unit 80 are not required to be respectively provided with an XYZ-direction driving mechanism, the right full charge lifting unit 110 and the right empty material lifting unit 120 can share one set of XYZ-direction driving mechanism, and the right full charge lifting unit 110 and the right empty material lifting unit 120 are not required to be respectively provided with an XYZ-direction driving mechanism.
Specifically, as shown in fig. 7, the left YZ moving unit 60 of the present invention includes a left Z moving unit 130 slidably disposed on the left X moving unit 20, a left Y moving unit 140 slidably disposed on the left Z moving unit 130, and the left full material lifting unit 70 and the left empty material lifting unit 80 slidably disposed on the left Y moving unit 140. The left Z-direction moving unit 130 moves the left Y-direction moving unit 140 in the Z direction to drive the left full material lifting portion 70 and the left empty material lifting portion 80 thereon to move along the Z direction, and the left Y-direction moving unit 140 can drive the left full material lifting portion 70 and the left empty material lifting portion 80 to move on the left Y-direction moving unit 140 in the Y direction.
The right YZ moving unit 90 includes a right Z moving unit 150 slidably disposed on the right X moving unit 30, a right Y moving unit 160 slidably disposed on the right Z moving unit 150, and the right full material lifting unit 110 and the right empty material lifting unit 120 are slidably disposed on the right Y moving unit 160. The right Z-direction moving unit 150 moves the right Y-direction moving unit 160 in the Z direction to drive the right full material lifting portion 110 and the right empty material lifting portion 120 thereon to move along the Z direction, and the right Y-direction moving unit 160 can drive the right full material lifting portion 110 and the right empty material lifting portion 120 to move along the Y direction on the right Y-direction moving unit 160. In the embodiment of the present invention, the left Z-direction moving unit 130, the left Y-direction moving unit 140, the right Z-direction moving unit 150, and the right Y-direction moving unit 160 may adopt a screw nut transmission mechanism or other transmission mechanisms.
As shown in fig. 8, the left full lift portion 70, the left empty lift portion 80, the right full lift portion 110, and the right empty lift portion 120 of the AGV100 of the present invention each include: the lifting device comprises a lifting fixed seat 170, a lifting movable seat 180 which is arranged on the lifting fixed seat 170 and elastically abutted with the lifting fixed seat 170, a V-shaped fork 190 which is arranged on the lifting movable seat 180, and a pressure sensor 210 which is arranged between the lifting fixed seat 170 and the lifting movable seat 180, wherein the lifting fixed seat 170 is arranged on a corresponding left Y-direction moving unit 140 or a right Y-direction moving unit 160.
That is, the left full charge lifting unit 70, the left empty lifting unit 80, the right full charge lifting unit 110, and the right empty lifting unit 120 of the present invention are each composed of a lifting fixed seat 170, a lifting movable seat 180, a V-shaped fork 190, and a pressure sensor 210, wherein the lifting movable seat 180 is elastically deformed after the V-shaped fork 190 loads the empty winding core 500 or the full winding core 600 on the lifting fixed seat 170 due to the elastic contact of the two, and the pressure sensor 210 detects the elastic change value and converts the elastic change value into a gravity value. Preferably, the lifting fixing base 170 is provided with a guide shaft 181, and the lifting moving base 180 is movably sleeved on the guide shaft 181.
The V-shaped fork 190 is arranged in a V shape, can meet the requirements of wide material rolling width and various rolling core rolling diameters in a large range, and is wide in application range.
The left full material lifting part 70, the left empty material lifting part 80, the right full material lifting part 110 and the right empty material lifting part 120 of the AGV are all provided with position sensor components, and the sensor components comprise a mirror reflection photoelectric sensor 250, a diffuse reflection photoelectric sensor 260, a vision sensor 270, a laser distance measuring sensor 280 and a correlation photoelectric sensor 290.
The specular reflection photoelectricity 250, the vision sensor 270, and the laser ranging sensor 280 are used for position detection and positioning docking of the AGV100 and the turret table 200.
The diffuse reflected light 260 and the reflected light 290 are used for the AGV100 to detect the material during the material pick-up.
According to the empty and full material exchanging method of the AGV for transporting the coil material and the AGV100 for transporting the coil material, the empty lifting mechanism 400 and the full material lifting mechanism 300 are respectively arranged on the AGV100, the empty lifting mechanism 400 and the turret machine table 200 are positioned and butted after entering the loading and unloading area of the turret machine table 200, the empty material winding core 500 on the turret machine table 200 is taken and placed on the empty lifting mechanism 400, then the full material lifting mechanism 300 is positioned and butted with the turret machine table 200, so that the full material winding core 600 with the coil material 700 placed on the full material lifting mechanism 300 is taken and placed by the turret machine table 200, and the empty and full material exchanging method greatly improves the loading efficiency of the AGV100 for the turret machine table 200.
The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.
Claims (10)
1. An empty and full material exchange method of a coil transport AGV is applied to material exchange of the coil transport AGV and a turret machine table, and is characterized by comprising the following steps:
the AGV receives a feeding signal of the turret machine table;
the AGV moves into a feeding and discharging area of the turret machine station according to the navigation path;
the AGV detects the relative position of an empty material lifting mechanism on the AGV and the turret machine table, and adjusts and positions the empty material lifting mechanism in the X, Y, Z direction so that an empty material winding core on the turret machine table is placed into the empty material lifting mechanism;
the AGV detects the relative position of a full material lifting mechanism on the AGV and the turret machine table, and adjusts and positions the full material lifting mechanism in the X, Y, Z direction so that the turret machine table takes away the full material winding cores on the full material lifting mechanism;
and the AGV exits the feeding and discharging area of the turret machine table.
2. The swapping method of claim 1, wherein a pressure sensor is located on the empty pick-up mechanism, and wherein after the empty core on the turret table is placed in the empty pick-up mechanism, the AGV adjusts the empty pick-up mechanism in the X, Y, Z direction so that the value detected by the pressure sensor on the empty pick-up mechanism remains within a first predetermined range when the inflatable shaft of the turret table is extracted from the empty core.
3. The exchange method according to claim 1, wherein a pressure sensor is provided on the full lift mechanism, and when the pneumatic shaft of the turret table is inserted into the full core, the AGV performs X, Y, Z directional adjustment on the full lift mechanism so that the value detected by the pressure sensor on the full lift mechanism is maintained within a second preset range.
4. The exchange method according to claim 1, wherein the empty material lifting mechanism includes a left empty material lifting portion and a right empty material lifting portion that are independently driven in XYZ directions, respectively;
the full material lifting mechanism comprises a left full material lifting part and a right full material lifting part which are independently driven in the XYZ direction respectively.
5. The exchange method of claim 1 wherein the AGV orients an empty material lift mechanism on the AGV toward the turret table prior to entering the loading and unloading area of the turret table;
empty material roll cores on the turret machine platform are placed into the empty material lifting mechanisms, then the AGV rotates in situ in the adjusting direction to enable the full material lifting mechanisms on the AGV to face the turret machine platform.
6. A coil stock transport AGV capable of loading empty and full materials simultaneously comprises a base, wherein traveling wheels are arranged at the bottom of the base, and the AGV is characterized in that a left X moving unit and a right X moving unit are arranged above the base, a left lifting unit is arranged on the left X moving unit, and a right lifting unit is arranged on the right X moving unit;
the left lifting unit comprises a left YZ moving unit arranged on the left X moving unit in a sliding manner, and a left full material lifting part and a left empty material lifting part which are arranged on the left YZ moving unit;
the right lifting unit comprises a right YZ moving unit arranged on the right X moving unit in a sliding manner, and a right full material lifting part and a right empty material lifting part which are arranged on the right YZ moving unit;
left full material lifting unit with right full material lifting unit sets up about relatively and constitutes full material lifting mechanism, left empty material lifting unit with right empty material lifting unit sets up about relatively and constitutes empty material lifting mechanism.
7. A coil transport AGV according to claim 6, characterized in that said left full lift is linked to said left empty lift and said right full lift is linked to said right empty lift.
8. The AGV of claim 7, wherein the left YZ traveler comprises a left Z traveler slidingly disposed on the left X traveler, a left Y traveler slidingly disposed on the left Z traveler, and wherein the left full lift and the left empty lift are slidingly disposed on the left Y traveler;
the right YZ moving unit comprises a right Z-direction moving unit arranged on the right X-direction moving unit in a sliding mode, a right Y-direction moving unit arranged on the right Z-direction moving unit in a sliding mode, and the right full material lifting part and the right empty material lifting part are arranged on the right Y-direction moving unit in a sliding mode.
9. A coil transport AGV according to claim 6, characterized in that said left full lift, left empty lift, right full lift and right empty lift each comprise:
the lifting fixing seat is installed on the lifting fixing seat, the lifting moving seat is elastically abutted to the lifting fixing seat, the V-shaped fork is installed on the lifting moving seat, the pressure sensor is arranged between the lifting fixing seat and the lifting moving seat, and the lifting fixing seat is installed on the corresponding left Y-direction moving unit or right Y-direction moving unit.
10. The AGV according to claim 6, further comprising a middle seat disposed on said base, wherein an X displacement unit of said middle seat is connected between said middle seat and said base, and said left X moving unit and said right X moving unit are disposed on said middle seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211556111.1A CN115973962A (en) | 2022-12-06 | 2022-12-06 | Empty and full material exchange method of coil material transportation AGV and coil material transportation AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211556111.1A CN115973962A (en) | 2022-12-06 | 2022-12-06 | Empty and full material exchange method of coil material transportation AGV and coil material transportation AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115973962A true CN115973962A (en) | 2023-04-18 |
Family
ID=85957110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211556111.1A Pending CN115973962A (en) | 2022-12-06 | 2022-12-06 | Empty and full material exchange method of coil material transportation AGV and coil material transportation AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115973962A (en) |
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2022
- 2022-12-06 CN CN202211556111.1A patent/CN115973962A/en active Pending
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