CN116534634A - Automatic feeding, discharging and carrying AGV for pole coil - Google Patents
Automatic feeding, discharging and carrying AGV for pole coil Download PDFInfo
- Publication number
- CN116534634A CN116534634A CN202310629810.2A CN202310629810A CN116534634A CN 116534634 A CN116534634 A CN 116534634A CN 202310629810 A CN202310629810 A CN 202310629810A CN 116534634 A CN116534634 A CN 116534634A
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- main shaft
- lifting
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- driving
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- 238000007599 discharging Methods 0.000 title claims description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 123
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 5
- 238000012937 correction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention belongs to the technical field of pole roll loading and unloading in the new energy industry, and particularly relates to an automatic pole roll loading, unloading and carrying AGV. The device comprises a vehicle body, a three-degree-of-freedom deviation correcting system, a lifting mechanism, a telescopic main shaft mechanism and a pushing mechanism, wherein the three-degree-of-freedom deviation correcting system is arranged on the vehicle body and has X, Y degrees of freedom for moving in the directions of X, Y and rotating around a Z axis; the lifting mechanism is arranged on the three-degree-of-freedom deviation correcting system and has the degree of freedom of moving along the Z direction; the telescopic main shaft mechanism is arranged on the lifting mechanism, is used for bearing the pole coil and has the degree of freedom of stretching along the Y direction; the pushing mechanism is arranged on the telescopic main shaft mechanism and used for pushing out the pole coil borne by the telescopic main shaft mechanism. The automatic AGV conveying system can travel in all directions, can simultaneously convey the pole coil and the empty winding drum at one time, can place the pole coil at a remote cache position, and meets the requirement of an 'one-support-two-material' layout mode.
Description
Technical Field
The invention belongs to the technical field of pole roll loading and unloading in the new energy industry, and particularly relates to an automatic pole roll loading, unloading and carrying AGV.
Background
In the new energy industry, the axial loading and unloading process of the pole coil and the machine table is often realized by adopting a manual OHT (overhead travelling transport vehicle); the equipment has high cost, occupies high space and affects the installation and arrangement of the machine; the labor cost training fee rises year by year, and on-site personnel may not respond to the material demand in time, so that beat waste is caused; automatic OHT has been gradually promoted in recent years, but the fundamental problems of steel structure equipment cost and space cannot be solved.
AGVs for automatic pole roll feeding are pushed out by manufacturers, a differential wheel chassis is adopted, and each time a pole roll is carried, so that the equipment is low in efficiency, single in function and incapable of adapting to the ubiquitous layout mode of one support and two materials of a caching station.
Disclosure of Invention
The invention aims to solve the problems that the existing AGV for automatically feeding the pole coil is low in working efficiency and single in function.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides an automatic pole roll feeding, discharging and carrying AGV, which comprises a vehicle body, a three-degree-of-freedom deviation correcting system, a lifting mechanism, a telescopic main shaft mechanism and a pushing mechanism, wherein the three-degree-of-freedom deviation correcting system is arranged on the vehicle body and has the degree of freedom of X, Y to move and rotate around a Z axis; the lifting mechanism is arranged on the three-degree-of-freedom deviation correcting system and has the degree of freedom of moving along the Z direction; the telescopic main shaft mechanism is arranged on the lifting mechanism, is used for bearing the pole coil and has the degree of freedom of stretching along the Y direction; the pushing mechanism is arranged on the telescopic main shaft mechanism and used for pushing out the pole coil borne by the telescopic main shaft mechanism.
The telescopic main shaft mechanism comprises a main shaft, a telescopic guide rail, a guide sliding block and a telescopic driving mechanism, wherein the guide sliding block is arranged on the lifting mechanism, the telescopic guide rail is arranged on the main shaft along the length direction of the main shaft, the main shaft is arranged along the Y direction and is in sliding fit with the guide sliding block through the telescopic guide rail, and the telescopic driving mechanism is arranged between the lifting mechanism and the main shaft and is used for driving the main shaft to stretch along the Y direction.
At least one row of balls are arranged at the top of the main shaft along the length direction; and lifting stop pin mechanisms are arranged at two ends of the main shaft and used for limiting the pole coil.
The cross section of the main shaft is of a U-shaped structure, and the balls are arranged at the tops of two sides of the main shaft; the lifting stop pin mechanism is accommodated in the U-shaped groove of the main shaft.
Visual recognition components are arranged on two sides of the main shaft.
The pushing mechanism comprises a guide rod, a pushing plate, a spring and a pushing driving part, wherein the guide rod is arranged at the bottom of the main shaft and is parallel to the main shaft, the pushing plate is in sliding connection with the guide rod, the pushing driving part is arranged at the bottom of the main shaft, the output end of the pushing driving part is connected with the pushing plate, and the spring is arranged between the pushing plate and the pushing driving part.
The three-degree-of-freedom deviation correcting system comprises a Y deviation correcting driving mechanism, an X deviation correcting driving mechanism and a rotation deviation correcting driving mechanism which are sequentially connected from bottom to top, wherein the Y deviation correcting driving mechanism has the degree of freedom of linear motion along the Y direction, the X deviation correcting driving mechanism has the degree of freedom of linear motion along the X direction, and the rotation deviation correcting driving mechanism has the degree of freedom of rotation around the Z axis.
The rotary deviation correcting driving mechanism comprises a rotary motor, a rotary driving pinion, a rotary driving large gear and a rotary table, wherein the rotary table and the rotary motor are arranged on the X deviation correcting driving mechanism, the rotary table can rotate, the rotary driving large gear and the rotary table are coaxially arranged, and the rotary driving pinion is arranged on an output shaft of the rotary motor and meshed with the rotary driving large gear; the lifting mechanism is arranged on the turntable.
The lifting mechanism comprises a stand column, a lifting guide rail, a lifting driving assembly and a lifting seat, wherein the bottom of the stand column is connected with the three-degree-of-freedom deviation correcting system, the lifting guide rail is paved on the stand column along the Z direction, the lifting seat is in sliding fit with the lifting guide rail, the lifting driving assembly is arranged on the stand column and connected with the lifting seat, and the lifting driving assembly is used for driving the lifting seat to perform lifting movement; the telescopic main shaft mechanism is arranged on the lifting seat.
The walking mechanism is arranged below the car body, and navigation systems are arranged on two sides of the car body.
The invention has the advantages and beneficial effects that:
the automatic feeding, discharging and carrying AGV for the pole rolls can travel in all directions, can carry the pole rolls and empty reels at one time, can place the pole rolls at a remote cache position, and meets the economical and efficient AGV carrying system of a one-support-two-material layout mode.
Drawings
FIG. 1 is an isometric view of an automatic pole roll loading, unloading and handling AGV of the present invention;
FIG. 2 is a front view of an automatic pole roll loading, unloading and handling AGV of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic view of a lifting column according to the present invention;
FIG. 5 is a schematic view of the docking of an AGV with a stand for automatic loading, unloading and handling of pole rolls according to the present invention.
In the figure: 1-car body, 2-Y correction driving mechanism, 3-X correction driving mechanism, 4-lifting mechanism, 401-upright post, 402-lifting guide rail, 403-lifting motor, 404-lifting seat, 5-main shaft, 6-lifting stop pin mechanism, 7-ball, 8-telescopic guide rail, 9-pushing mechanism, 901-guide rod, 902-pushing plate, 903-spring, 904-pushing driving component, 10-guiding slide block, 11-rotation correction driving mechanism, 111-rotating motor, 112-rotating driving pinion, 113-rotating driving large gear, 12-navigation system, 13-telescopic driving mechanism, 131-telescopic motor, 132-telescopic driving gear, 133-telescopic driving rack, 14-pole coil, and 15-caching stand.
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.
As shown in fig. 1-3, the invention provides an automatic pole roll feeding, discharging and carrying AGV, which comprises a vehicle body 1, a three-degree-of-freedom deviation correcting system, a lifting mechanism 4, a telescopic main shaft mechanism and a pushing mechanism 9, wherein the three-degree-of-freedom deviation correcting system is arranged on the vehicle body 1 and has the degree of freedom of X, Y in moving and rotating around a Z axis; the lifting mechanism 4 is arranged on the three-degree-of-freedom deviation correcting system and has the degree of freedom of moving along the Z direction; the telescopic main shaft mechanism is arranged on the lifting mechanism 4, is used for bearing the pole coil and has the freedom degree of stretching along the Y direction; the pushing mechanism 9 is disposed on the telescopic spindle mechanism and is used for pushing out the pole coil carried by the telescopic spindle mechanism.
As shown in fig. 3, in the embodiment of the present invention, a traveling mechanism is provided below the vehicle body 1. Specifically, running gear includes two drive wheels and four universal follower wheels of taking rudder, and wherein two drive wheels of taking rudder are arranged in automobile body 1 both sides, and four universal follower wheels are arranged in automobile body four corners, realize the omnidirectional walking function of AGV. The AGV adopts an omni-directional driving wheel train, so that space can be saved to the greatest extent in a roadway, and the efficiency is improved.
Further, both sides of the vehicle body 1 are provided with navigation systems 12. Specifically, the navigation system 12 is a laser profile navigation sensor, and the laser profile navigation sensor is adopted, so that the ground is not damaged, and no additional construction is needed.
As shown in fig. 1-3, in the embodiment of the present invention, the three-degree-of-freedom deviation correcting system includes a Y deviation correcting driving mechanism 2, an X deviation correcting driving mechanism 3 and a rotation deviation correcting driving mechanism 11 sequentially connected from bottom to top, wherein the Y deviation correcting driving mechanism 2 has a degree of freedom of rectilinear motion along the Y direction, the X deviation correcting driving mechanism 3 has a degree of freedom of rectilinear motion along the X direction, and the rotation deviation correcting driving mechanism 11 has a degree of freedom of rotation around the Z axis.
In this embodiment, the Y deviation rectifying driving mechanism 2 and the X deviation rectifying driving mechanism 3 both adopt a function of linear driving by a lead screw and nut mechanism in cooperation with a guide rail and slide block mechanism, and any other existing driving mechanism capable of realizing linear motion may be adopted, which is not limited herein.
As shown in fig. 4, in the embodiment of the present invention, the rotation correction driving mechanism 11 includes a rotating motor 111, a rotation driving pinion 112, a rotation driving large gear 112 and a turntable, wherein the turntable and the rotating motor 111 are both disposed on the X correction driving mechanism 3, and the turntable is rotatable, the rotation driving large gear 112 is coaxially mounted with the turntable, and the rotation driving pinion 112 is disposed on an output shaft of the rotating motor 111 and is meshed with the rotation driving large gear 112; the lifting mechanism 4 is arranged on the turntable. The rotation motor 111 drives the rotation driving pinion 112 to rotate, so that the turntable and the lifting mechanism 4 thereon are driven to rotate around the Z axis by the rotation driving bull gear 112.
As shown in fig. 4, in the embodiment of the present invention, the lifting mechanism 4 includes a column 401, a lifting guide rail 402, a lifting driving assembly and a lifting seat 404, wherein the bottom of the column 401 is connected with a three-degree-of-freedom deviation correcting system, the lifting guide rail 402 is laid on the column 401 along the Z direction, the lifting seat 404 is in sliding fit with the lifting guide rail 402, the lifting driving assembly is disposed on the column 401 and connected with the lifting seat 404, and the lifting driving assembly is used for driving the lifting seat 404 to perform lifting movement; the telescopic spindle mechanism is arranged on the lifting seat 404. Specifically, the lifting driving assembly includes a lifting motor 403, a screw and a nut, wherein the screw is disposed inside the upright 401 along the Z direction and can rotate, the nut is in threaded connection with the screw, and the nut is connected with the lifting seat 404. The lifting motor 403 is arranged at the top of the upright 401 and is connected with a screw rod, and the lifting motor 403 drives the screw rod to rotate, so that the lifting seat 404 is driven to lift by a screw nut.
As shown in fig. 1-3, in the embodiment of the present invention, the telescopic spindle mechanism includes a spindle 5, a telescopic guide rail 8, a guide slider 10, and a telescopic driving mechanism 13, where the guide slider 10 is disposed on a lifting seat 404 of the lifting mechanism 4, the telescopic guide rail 8 is disposed on the spindle 5 along a length direction of the spindle 5, the spindle 5 is disposed along a Y direction and is slidably matched with the guide slider 10 through the telescopic guide rail 8, and the telescopic driving mechanism 13 is disposed between the lifting mechanism 4 and the spindle 5, for driving the spindle 5 to stretch along the Y direction.
As shown in fig. 4, in the embodiment of the present invention, the telescopic driving mechanism 13 includes a telescopic motor 131, a telescopic driving gear 132 and a telescopic driving rack 133, wherein the telescopic driving rack 133 is disposed on the main shaft 5 along the length direction, and preferably, the telescopic driving rack 133 and the telescopic guide rail 8 are disposed on opposite sides of the main shaft 5, respectively. The telescopic motor 131 is arranged on the upright post 401, the telescopic driving gear 132 is arranged at the output end of the telescopic motor 131 and is meshed with the telescopic driving rack 133, and the telescopic motor 131 drives the telescopic driving gear 132 to rotate, so that the main shaft 5 is driven to stretch along the Y direction through the telescopic driving rack 133.
In the embodiment of the invention, at least one row of balls 7 is arranged at the top of the main shaft 5 along the length direction so as to reduce friction between the pole coil and the main shaft 5; the two ends of the main shaft 5 are provided with lifting stop pin mechanisms 6, the two ends of the main shaft 5 can bear pole coils, and the lifting stop pin mechanisms 6 are used for limiting the pole coils and preventing the pole coils from falling off.
Further, the cross section of the main shaft 5 is of a U-shaped structure, and the balls 7 are arranged at the tops of two sides of the main shaft 5; the lifting stop pin mechanism 6 is accommodated in the U-shaped groove of the main shaft 5. Specifically, the lifting stop pin mechanism 6 comprises a limit pin and a driving part, wherein the lower end of the limit pin is hinged with the main shaft 5 through a rotating shaft, the driving part is arranged in a U-shaped groove of the main shaft 5, the output end of the driving part is hinged with the limit pin, and when the driving part drives the limit pin to rotate to a vertical state, the upper end of the limit pin protrudes out of the top of the main shaft 5, so that limit of pole coils is realized; when the driving part drives the limiting pin to rotate to the upper end lower than the top of the main shaft 5, the limit of the pole coil is eliminated.
Further, visual recognition components are arranged on two sides of the main shaft 5. Specifically, the visual recognition component is a visual positioning sensor.
As shown in fig. 2-3 and fig. 5, in the embodiment of the invention, the pushing mechanism 9 includes a guide rod 901, a pushing plate 902, a spring 903 and a pushing driving component 904, where the guide rod 901 is disposed at the bottom of the main shaft 5 and parallel to the main shaft 5, the pushing plate 902 is slidably connected with the guide rod 901, the pushing driving component 904 is disposed at the bottom of the main shaft 5, and an output end is connected with the pushing plate 902, and the spring 903 is disposed between the pushing plate 902 and the pushing driving component 904. The pushing driving part drives the pushing plate 902 to slide along the guide rod 901, so that the pole coil is pushed.
In the embodiment of the invention, an electric automatic control system is arranged in the vehicle body 1 and the lifting mechanism 4; as the AGV, the invention has the advantages of quick and flexible arrangement, does not occupy workshop space and saves labor cost. When in work, the empty winding drum and the pole winding drum can be carried simultaneously through the main shaft 5; in one feeding procedure, one stop can be achieved, one end of the front-extending main shaft 5 can be connected with an empty winding drum of the machine table, after the main shaft 5 rotates 180 degrees, the pole roll 14 borne by the other end is pushed onto the machine table, and the efficiency is greatly improved. The main shaft 5 can independently complete the forward extending action, and the loaded empty winding drum or pole coil is placed on any side of the front end or the rear end of the tray, so that the space utilization rate of a workshop is improved.
The invention provides an automatic feeding, discharging and carrying AGV for pole rolls, which comprises the following working procedures:
navigation technology:
AGV charging technology: the AGV uses the lithium cell as power supply, and the AGV can use dedicated charging station to park and charge on line, supplements the electric quantity of loss. The AGV adopts the side impact mode in online charging, and the metal sliding friction of the charging contact can be reduced.
The communication technology comprises the following steps: and a wireless communication mode is adopted between the AGV control console and the AGV, and the control console and the AGV form a wireless local area network. The control console sends a system control instruction, a task scheduling instruction and a collision preventing scheduling instruction to the AGV by means of the wireless local area network. The control console can receive the communication signal sent by the AGV at the same time. The AGV reports the execution condition of various instructions, the current position of the AGV and the current state of the AGV to a control console by means of a wireless local area network.
AGV console software technology: the system comprises an AGV vehicle dispatching system, a task management system and an AGV graphic monitoring system.
Take pole coil feeding as an example: as shown in fig. 5, the AGV receives a command from the control console to reach the buffer storage area, and is docked with the buffer storage stand 15 to take a coil of pole coil; the main shaft 5 is lifted to a preset height by the lifting mechanism 4 through the navigation system 12 to reach a preset position of a machine feeding station, and the accurate position of the machine butt joint shaft is confirmed through the visual identification component; the three-degree-of-freedom deviation correcting mechanism and the lifting mechanism 4 move together to align the spindle end of the AGV, on which the pole coil is not mounted, with the spindle of the machine, lower the lifting stop pin mechanism 6, and lift the lifting stop pin mechanism 6 after the residual coil of the machine is empty; the lifting mechanism 4 rotates 180 degrees through the three-degree-of-freedom deviation correcting mechanism, the AGV main shaft end carrying the pole coil is aligned to the machine main shaft, the lifting stop pin mechanism 6 is lifted, the pole coil is pushed to the preset position of the machine main shaft through the pushing mechanism 9, each shaft of the AGV is restored, and the empty winding drum is conveyed to the buffer storage stand 15, so that the primary pole coil feeding process is completed.
The invention is used for new energy industry, and is axially butted with a die cutting machine, a roller machine and the like, thereby realizing the application scheme of automatic feeding and discharging and carrying of pole rolls. The pole rolls and the empty reels can be carried at one time, and the pole rolls can be placed at a remote cache position, so that the economical and efficient AGV carrying system of a layout mode of 'one-support-two-material' is met.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The automatic pole roll feeding, discharging and carrying AGV is characterized by comprising a vehicle body (1), a three-degree-of-freedom deviation correcting system, a lifting mechanism (4), a telescopic main shaft mechanism and a pushing mechanism (9), wherein the three-degree-of-freedom deviation correcting system is arranged on the vehicle body (1) and has the degree of freedom of X, Y to move and rotate around a Z axis; the lifting mechanism (4) is arranged on the three-degree-of-freedom deviation correcting system and has the degree of freedom of moving along the Z direction; the telescopic main shaft mechanism is arranged on the lifting mechanism (4), is used for bearing the pole coil and has the degree of freedom of stretching along the Y direction; the pushing mechanism (9) is arranged on the telescopic main shaft mechanism and used for pushing out the pole coil borne by the telescopic main shaft mechanism.
2. The pole roll automatic feeding, discharging and carrying AGV according to claim 1, wherein the telescopic main shaft mechanism comprises a main shaft (5), a telescopic guide rail (8), a guide sliding block (10) and a telescopic driving mechanism (13), wherein the guide sliding block (10) is arranged on the lifting mechanism (4), the telescopic guide rail (8) is arranged on the main shaft (5) along the length direction of the main shaft (5), the main shaft (5) is arranged along the Y direction and is in sliding fit with the guide sliding block (10) through the telescopic guide rail (8), and the telescopic driving mechanism (13) is arranged between the lifting mechanism (4) and the main shaft (5) and is used for driving the main shaft (5) to stretch along the Y direction.
3. The automatic pole roll feeding, discharging and carrying AGV according to claim 2, wherein the top of the spindle (5) is provided with at least one row of balls (7) along the length direction; lifting stop pin mechanisms (6) are arranged at two ends of the main shaft (5), and the lifting stop pin mechanisms (6) are used for limiting the pole coil.
4. The automatic pole roll feeding, discharging and carrying AGV according to claim 2, wherein the cross section of the main shaft (5) is of a U-shaped structure, and the balls (7) are arranged at the tops of two sides of the main shaft (5); the lifting stop pin mechanism (6) is accommodated in the U-shaped groove of the main shaft (5).
5. The pole roll automatic feeding, discharging and carrying AGV according to claim 2, wherein visual identification components are arranged on two sides of the main shaft (5).
6. The pole roll automatic feeding, discharging and carrying AGV according to claim 2, wherein the pushing mechanism (9) comprises a guide rod (901), a pushing plate (902), a spring (903) and a pushing driving component (904), wherein the guide rod (901) is arranged at the bottom of the main shaft (5) and is parallel to the main shaft (5), the pushing plate (902) is slidably connected with the guide rod (901), the pushing driving component (904) is arranged at the bottom of the main shaft (5), the output end is connected with the pushing plate (902), and the spring (903) is arranged between the pushing plate (902) and the pushing driving component (904).
7. The pole roll automatic loading, unloading and carrying AGV according to claim 1, wherein the three-degree-of-freedom deviation correcting system comprises a Y deviation correcting driving mechanism (2), an X deviation correcting driving mechanism (3) and a rotation deviation correcting driving mechanism (11) which are sequentially connected from bottom to top, wherein the Y deviation correcting driving mechanism (2) has a degree of freedom of linear motion along a Y direction, the X deviation correcting driving mechanism (3) has a degree of freedom of linear motion along an X direction, and the rotation deviation correcting driving mechanism (11) has a degree of freedom of rotation around a Z axis.
8. The automatic pole roll feeding, discharging and conveying AGV according to claim 7, wherein the rotary deviation correcting driving mechanism (11) comprises a rotary motor (111), a rotary driving pinion (112), a rotary driving large gear (112) and a rotary table, wherein the rotary table and the rotary motor (111) are arranged on the X deviation correcting driving mechanism (3), the rotary table is rotatable, the rotary driving large gear (112) is coaxially arranged with the rotary table, and the rotary driving pinion (112) is arranged on an output shaft of the rotary motor (111) and is meshed with the rotary driving large gear (112); the lifting mechanism (4) is arranged on the turntable.
9. The automatic pole roll feeding, discharging and carrying AGV according to claim 1, wherein the lifting mechanism (4) comprises a stand column (401), a lifting guide rail (402), a lifting driving assembly and a lifting seat (404), wherein the bottom of the stand column (401) is connected with the three-degree-of-freedom deviation correcting system, the lifting guide rail (402) is paved on the stand column (401) along the Z direction, the lifting seat (404) is in sliding fit with the lifting guide rail (402), and the lifting driving assembly is arranged on the stand column (401) and is connected with the lifting seat (404) and is used for driving the lifting seat (404) to perform lifting movement; the telescopic main shaft mechanism is arranged on the lifting seat (404).
10. The pole roll automatic feeding, discharging and carrying AGV according to claim 1, wherein a traveling mechanism is arranged below the vehicle body (1), and navigation systems (12) are arranged on two sides of the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629810.2A CN116534634A (en) | 2023-05-30 | 2023-05-30 | Automatic feeding, discharging and carrying AGV for pole coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629810.2A CN116534634A (en) | 2023-05-30 | 2023-05-30 | Automatic feeding, discharging and carrying AGV for pole coil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116534634A true CN116534634A (en) | 2023-08-04 |
Family
ID=87457685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310629810.2A Pending CN116534634A (en) | 2023-05-30 | 2023-05-30 | Automatic feeding, discharging and carrying AGV for pole coil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116534634A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729927A (en) * | 2023-08-15 | 2023-09-12 | 沈阳新松机器人自动化股份有限公司 | AGV (automatic guided vehicle) suitable for carrying coil stock in pre-working procedure of electrode workshop |
-
2023
- 2023-05-30 CN CN202310629810.2A patent/CN116534634A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729927A (en) * | 2023-08-15 | 2023-09-12 | 沈阳新松机器人自动化股份有限公司 | AGV (automatic guided vehicle) suitable for carrying coil stock in pre-working procedure of electrode workshop |
| CN116729927B (en) * | 2023-08-15 | 2023-10-20 | 沈阳新松机器人自动化股份有限公司 | AGV (automatic guided vehicle) suitable for carrying coil stock in pre-working procedure of electrode workshop |
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