CN218841619U

CN218841619U - Coil stock transportation AGV of high accuracy butt joint

Info

Publication number: CN218841619U
Application number: CN202223269549.XU
Authority: CN
Inventors: 李特; 郭建红
Original assignee: Suzhou Jiashun Intelligent Robot Co ltd
Current assignee: Suzhou Jiashun Intelligent Robot Co ltd
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-04-11
Anticipated expiration: 2032-12-06

Abstract

The utility model relates to a high accuracy butt joint coil stock transportation AGV, it includes the base, the bottom of base is provided with the walking wheel, be provided with left X mobile unit, right X mobile unit above the base, be provided with left lifting unit on the left X mobile unit, be provided with right lifting unit on the right X mobile unit; the left lifting unit comprises a left YZ moving unit arranged on the left X moving unit in a sliding mode and a left material lifting part 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 material lifting part arranged on the right YZ moving unit; and the left material lifting part and the right material lifting part are respectively provided with a pressure-bearing detection unit. This AGV can improve the butt joint precision with the capstan head board, reduces the friction, effectively avoids rolling up the wearing and tearing of core, inflatable shaft, the loading and unloading of more smooth and easy completion material.

Description

Coil stock transportation AGV of high accuracy butt joint

Technical Field

The utility model relates to an automatic Guided Vehicle (Automated Guided Vehicle is AGV) technical field for short.

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, particularly front-section processes of coating, rolling, slitting and the like in the new energy lithium battery industry or the field of the industry of carrying similar coiled materials, a fork-type AGV is used for entering the area of a turret machine table to load and unload the materials.

The fork AGV is provided with a material lifting mechanism, a turret machine table is loaded with materials (full material winding cores) or unloaded with materials (empty material winding cores) through the material lifting mechanism, the loaded materials are used by loading the full material winding cores onto an air expansion shaft of the turret machine table, and the unloaded materials are used by unloading and transferring the empty material winding cores which are used up on the air expansion shaft of the turret machine table. During loading and unloading, excessive friction may occur between the material lifting mechanism and the air expansion shaft, which is likely to cause wear and damage of the apparatus.

Therefore, the prior art is in need of improvement.

SUMMERY OF THE UTILITY MODEL

In view of above-mentioned prior art's weak point, the utility model aims at providing a coil stock transportation AGV of high accuracy butt joint aims at improving the butt joint precision when AGV and capstan head board loading and unloading, reduces the friction.

The utility model provides a technical scheme that its technical problem adopted is:

a high-precision butt joint Automatic Guided Vehicle (AGV) for coil transportation comprises a base, wherein walking 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; the left lifting unit comprises a left YZ moving unit arranged on the left X moving unit in a sliding mode and a left material lifting part 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 material lifting part arranged on the right YZ moving unit; and the left material lifting part and the right material lifting part are both provided with pressure-bearing detection units.

The AGV for transporting coil stock as described above, wherein the left YZ moving unit includes a left Z moving unit slidably disposed on the left X moving unit, a left Y moving unit slidably disposed on the left Z moving unit, and the left material lifting part is disposed on the left Y moving unit; the right YZ moving unit comprises a right Z moving unit arranged on the right X moving unit in a sliding mode, a right Y moving unit arranged on the right Z moving unit in a sliding mode, and the right material lifting part is arranged on the right Y moving unit.

In the AGV for transporting a coil stock as described above, the left X moving unit, the right X moving unit, the left Z moving unit, the right Z moving unit, the left Y moving unit, and the right Y moving unit are each provided with an independent driving mechanism.

Coil stock transportation AGV as before, left side material portion of lifting, right side material portion of lifting all include:

the lifting device comprises a lifting fixed seat, a lifting moving seat, a V-shaped fork and a pressure-bearing detection unit, wherein the lifting moving seat is installed on the lifting fixed seat and elastically abutted to the lifting fixed seat, the V-shaped fork is installed on the lifting moving seat, the pressure-bearing detection unit is arranged between the lifting fixed seat and the lifting moving seat, and the lifting fixed seat is installed on a corresponding left Y moving unit or a right Y moving unit.

According to the AGV for coil material transportation, the base of the AGV comprises a chassis and a middle seat X moving unit, wherein the middle seat X moving unit is arranged on the chassis in a sliding mode, and the left X moving unit and the right X moving unit are arranged on the middle seat X moving unit.

According to the AGV for coil transportation, the pressure bearing detection unit adopts a pressure sensor.

According to the AGV for transporting the coil stock, the position sensor assemblies are installed on the left material lifting portion and the left material lifting portion, and each sensor assembly comprises a mirror reflection photoelectric sensor, a diffuse reflection photoelectric sensor, a vision sensor, a laser distance measuring sensor and a correlation photoelectric sensor.

The utility model has the advantages that: when loading and unloading operations are carried out between the coil material transport AGV and the turret machine table, the AGV receives signals and then enters a material loading and unloading area of the turret machine table, and the position corresponding to the turret machine table is adjusted to load or unload materials. In the process, the AGV detects the bearing of the material lifting mechanism, the bearing value of the material lifting mechanism is compared with a preset range to judge whether friction exists between the bearing value and the turret machine table, if friction exists, the butt joint precision of the material lifting mechanism and the turret machine table is further adjusted and positioned, the friction is reduced, abrasion of a roll core and an air expansion shaft is effectively avoided, the material is more smoothly loaded and unloaded, and then the AGV exits from a material loading and unloading area.

Drawings

Certain embodiments of the invention will now be described in detail, by way of example and not limitation, with reference to the figures, in which like reference numerals identify identical or similar parts or features. Those skilled in the art will appreciate that the drawings are not necessarily to scale.

In the drawings:

fig. 1 is a schematic view of a roll core (i.e., an empty material roll core) of the present invention;

FIG. 2 is a schematic view of the full-material roll core of the present invention;

FIG. 3 is a schematic diagram of an AGV according to the present invention;

FIG. 4 is an exploded view of an AGV according to the present invention;

FIG. 5 is a first schematic diagram of a partial structure of an AGV according to the present invention;

FIG. 6 is a second schematic diagram of a partial structure of an AGV according to the present invention;

the designations in the figures illustrate the following:

1. AGV; 100. an obstacle sensor; 101. a laser ranging sensor; 102. emitting light to the outside; 103. mirror reflection photoelectricity; 104. diffuse reflection photoelectricity; 105. a vision sensor; 2. a base; 200. a chassis; 2001. the middle seat is an X-direction track; 2002. a middle seat X-direction sliding block; 201. a middle seat X moving unit; 2010. a right X movement track; 2011. a right X-direction slider; 3. a material lifting mechanism; 300. a left material lifting part; 301. a right material lifting part; 302. lifting the fixed seat; 303. lifting the movable seat; 304. a pressure sensor; 305. a V-shaped fork; 4. a left X moving unit; 401. a left Z-track; 402. a left Z-direction drive rail; 403. a left Z-direction jacking seat; 404. a left Z-direction lifting block; 405. a left Y moving unit; 406. a left Y-direction track; 5. a right X moving unit; 500. empty material winding cores; 600. and (4) fully winding the core.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them.

Based on the described embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs.

The use of "first," "second," and the like in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Referring to the accompanying drawings 1-6, the high-precision butted Automatic Guided Vehicle (AGV) 1 is shown, and comprises a base 2, wherein traveling wheels are arranged at the bottom of the base 2, a left X-ray moving unit 4 and a right X-ray moving unit 5 are arranged above the base 2, a left lifting unit is arranged on the left X-ray moving unit 4, and a right lifting unit is arranged on the right X-ray moving unit 5; the left lifting unit comprises a left YZ moving unit arranged on the left X moving unit 4 in a sliding manner, and a left material lifting part 300 arranged on the left YZ moving unit; the right lifting unit comprises a right YZ moving unit arranged on the right X moving unit 5 in a sliding manner, and a right material lifting part 301 arranged on the right YZ moving unit; and pressure-bearing detection units are arranged on the left material lifting part 300 and the right material lifting part 301.

The left X moving unit 4 enables the left material lifting part 300 to move in the X direction relative to the base, the right X moving unit 5 enables the right material lifting part 301 to move in the X direction relative to the base, and the left YZ moving unit enables the left material lifting part 300 on the left material lifting part to move in the Y direction and the Z direction; the right YZ moving unit enables the right material lifting part 301 on the right YZ moving unit to move along the Y direction and the Z direction. The left material lifting part 300 and the right material lifting part 301 are oppositely arranged left and right to form a material lifting mechanism 3. When the full-material roll core 600 is loaded or the empty-material roll core 500 is unloaded, the two ends of the roll core are respectively supported by the left material lifting part 300 and the right material lifting part 301, so that the supporting strength is improved, and the balance is ensured. Simultaneously, the left material lifting part 300 and the right material lifting part 301 are provided with pressure-bearing detection units, so that the pressure-bearing numerical value during the butt joint of the two ends of the winding core can be better monitored, the butt joint precision is improved, and the friction during material loading and unloading is reduced.

In some embodiments, the left YZ moving unit includes a left Z moving unit slidably disposed on the left X moving unit 4, a left Y moving unit slidably disposed on the left Z moving unit, and the left material lifting part 300 is disposed on the left Y moving unit;

the right YZ moving unit comprises a right Z moving unit arranged on the right X moving unit 5 in a sliding mode, a right Y moving unit arranged on the right Z moving unit in a sliding mode, and the right material lifting part 301 is arranged on the right Y moving unit.

Specifically, the left X moving unit 4 comprises a left frame, the right X moving unit 5 comprises a right frame, the left frame is mounted on a left X moving track of the base through a sliding block, the right frame is mounted on a right X moving track 2010 of the base through a sliding block, a left Z direction track 401 is mounted on the left frame, a right Z direction track is mounted on the right frame, the left Z moving unit can be mounted on the left Z direction track 401 in a lifting and sliding manner, and the right Z moving unit can be mounted on the right Z direction track in a lifting and sliding manner. Set up left Y on the left Z mobile unit and to track 406, set up right Y on the right Z mobile unit and to the track, left Y mobile unit slidable mounting is on left Y to track 406, and right Y mobile unit slidable mounting is on right Y to the track, installs left material lifting unit 300 on the left Y mobile unit, installs right material lifting unit 301 on the right Y mobile unit.

In some embodiments, the left X moving unit 4, the right X moving unit 5, the left Z moving unit, the right Z moving unit, the left Y moving unit, and the right Y moving unit are each configured with an independent driving mechanism. Therefore, the left material lifting part 300 and the right material lifting part 301 are independent from each other in the adjustment in the XYZ direction, and the butt joint positioning accuracy of the material lifting mechanism 3 and the turret machine table can be improved better. Each driving mechanism can be realized by adopting a screw nut, and each screw nut transmission mechanism comprises a motor, a speed reducer, a screw nut and the like.

Taking the Z-direction movement of the left material lifting part as an example, a lead screw nut mechanism is arranged on the left frame, wherein a nut is fixedly connected with a left Z-direction lifting seat 403, the left Z-direction lifting seat 403 is controlled to slide along a horizontally arranged left Z-direction driving rail 402, the left Z-direction lifting seat 403 is in contact with the bevel edge of a left Z-direction lifting block 404 in the sliding process, and the left Z-direction moving unit is controlled to lift along the left Z-direction rail 401.

In some embodiments, the left material lifting portion 300 and the right material lifting portion 301 each include: the lifting device comprises a lifting fixed seat 302, a lifting movable seat 303 which is arranged on the lifting fixed seat 302 and elastically abutted with the lifting fixed seat 302, a V-shaped fork 305 which is arranged on the lifting movable seat 303, and a pressure bearing detection unit which is arranged between the lifting fixed seat 302 and the lifting movable seat 303, wherein the pressure bearing detection unit can adopt a pressure sensor 304, and the lifting fixed seat 302 is arranged on a corresponding left Y-shaped movable unit or right Y-shaped movable unit.

That is the utility model discloses a left side material portion 300, the right side material portion 301 of lifting are lifted by lifting fixing base 302, lift and remove seat 303, V type fork 305 and pressure sensor 304 and constitute, lift and remove seat 303 lifting fixing base 302, because elasticity butt between them, V type fork 305 loads empty material and rolls up core 500 or full material and roll up core 600 after, lift and remove seat 303 and take place elastic deformation, pressure sensor 304 detects this elastic change value and converts into the gravity value. Preferably, the lifting fixed seat 302 is provided with a guide shaft, and the lifting movable seat 303 is movably sleeved on the guide shaft. The V-shaped fork 305 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 has wide application range.

In some embodiments, the base 2 of the AGV1 includes a chassis 200, and a middle seat X moving unit 201, wherein the middle seat X moving unit 201 is slidably disposed on the chassis 200, and the left X moving unit 4 and the right X moving unit 5 are disposed on the middle seat X moving unit 201.

The middle seat X moving unit 201 can move in the X direction relative to the chassis 200, and the movement of the middle seat X moving unit 201 in the X direction drives the left X moving unit 4 and the right X moving unit 5 thereon to move, so as to drive the left lifting unit and the right lifting unit connected with the left X moving unit 4 and the right X moving unit 5 to move in the X direction as a whole. That is, the utility model discloses the removal of middle seat X mobile unit 201 can drive left lifting unit and right lifting unit simultaneously and remove. The middle base X moving unit 201 is a secondary X-direction moving mechanism, and the secondary X-direction moving mechanism enables the AGV1 to perform preliminary positioning after entering a material loading and unloading area of the turret machine, so that distances from left and right ends of the AGV1 to left and right turret machines are substantially equal, and then performs accurate positioning adjustment on the left material lifting part 300 in XYZ directions by the left X moving unit 4 and the left YZ moving unit, and then performs accurate positioning adjustment on the right material lifting part 301 in XYZ directions by the right X moving unit 5 and the right YZ moving unit.

The base plate 200 is provided with an intermediate base X-direction rail 2001, and the intermediate base X moving unit 201 is slidably attached to the intermediate base X-direction rail 2001 via an intermediate base X-direction slider 2002. The middle seat X moving unit 201 is provided with a left X moving rail and a right X moving rail 2010, the left lifting unit is slidably mounted on the left X moving rail, and the right lifting unit is slidably mounted on the right X moving rail 2010 through a right X-direction slider 2011.

The utility model discloses a position sensor subassembly is all installed to AGV 1's left material portion 300, right material portion 301 of lifting, and sensor subassembly includes specular reflection photoelectricity 103, diffuse reflection photoelectricity 104, vision sensor 105, laser rangefinder sensor 101, correlation photoelectricity 102.

Specifically, the mirror reflection photoelectricity 103 is used for detecting reflective paper attached to a material stopping shaft shoulder of an inflatable shaft of the turret machine table, finding the physical position of the inflatable shaft and providing a position reference for positioning.

When taking materials, the diffuse reflection photoelectric sensor 104 detects that the distances from the two ends of the winding core on the full material buffer frame or the turret machine table to the material lifting mechanism 3 are the same, and thus, the materials on the material lifting mechanism 3 can be ensured to be centered.

The vision sensor 105 detects the distance between the material lifting mechanism 3 of the AGV1 and the positioning marker on the turret table in the XYZ direction, and the electronic control system continuously adjusts the material lifting mechanism 3 to move in the XYZ direction according to the distance to reach the preset value, thereby completing the positioning.

The laser distance measuring sensor 101 detects the distance between the left lifting unit and the right lifting unit of the AGV1 and the distance between the left lifting unit and the right lifting unit and the left and right turret machine stations in the X direction. The electric control system of the AGV1 controls the middle seat X moving unit 201 to move in the X direction according to the feedback value of the laser ranging sensor 101, so that the distances between the left and right sides of the middle seat X moving unit 201 and the turret machine tables on the left and right sides are substantially equal, and the distances between the left lifting unit and the right lifting unit on the middle seat X moving unit 201 and the turret machine tables on the left and right sides are substantially equal.

When the correlation photoelectric device 102 is used for taking materials, the correlation photoelectric device 102 can take materials from the full-material buffer rack or the turret machine when detecting that no material exists on the material lifting mechanism 3.

The base 2 of the AGV1 is provided with a barrier sensor 100 for detecting a barrier and preventing the AGV1 from colliding with the barrier in the moving process, and an electric control system of the AGV1 is further arranged in the base 2.

Further, an AGV is provided with two groups of material lifting mechanisms, and each group of material lifting mechanisms is provided with a pressure-bearing detection unit. One group is an empty material lifting mechanism for unloading the empty material winding core 500 on the turret machine table; one group is full material lifting mechanism for loading full material winding core 600 on the turret machine table, thereby avoiding that the AGV needs to go back and forth many times to realize the loading and unloading of the turret machine table.

The empty material lifting mechanism and the full material lifting mechanism are respectively arranged on the AGV1, after the empty material lifting mechanism and the turret machine table are positioned and butted with each other after entering a material loading and unloading area of the turret machine table, the empty material winding core 500 on the turret machine table is taken and placed on the empty material lifting mechanism, and then the full material lifting mechanism and the turret machine table are positioned and butted with each other, so that the turret machine table takes the full material winding core 600 which is placed on the full material lifting mechanism and is provided with the coil material, and the empty and full material exchanging structure greatly improves the efficiency of loading the AGV1 which is used for transporting the coil material to the turret machine table.

The high-precision butt joint method of the high-precision butt joint AGV for the coil transportation is applied to material loading and unloading between the AGV1 for the coil transportation and a turret machine table, and the material loading and unloading in the method comprises the steps of loading a full-material winding core 600 to the turret machine table and unloading an empty-material winding core 500 with the material on the turret machine table being used up. Usually, two capstan head board symmetries set up, all are equipped with inflatable shaft on every capstan head board, and inflatable shaft stretches into full material and rolls up core 600 in the time of loading the material, takes away the material on the AGV 1. When the uninstallation material, empty material on the capstan head board rolls up core 500 and places on AGV1, and the inflatable shaft is withdrawn from empty material roll core 500, and AGV1 transports empty material roll core 500 away. Referring to fig. 1-2, the empty core 500 (i.e., the empty core is empty and only the empty core remains), and the full core 600 (i.e., the empty core has the empty core) have hollow tubular ends, so that the air shaft can extend into the hollow tubular cores from the two ends. The air expansion shaft expands under the action of air after extending into the full-material winding core 600, so that the air expansion shaft and the full-material winding core 600 expand tightly, and the materials are convenient to take away. When the empty winding core 500 is to be put down by the turret machine, the diameter of the air expansion shaft is reduced by exhausting the air expansion shaft, the air expansion shaft is separated from the empty winding core 500, then the air expansion shaft withdraws from the two ends of the empty winding core 500, and the AGV1 can take away the empty winding core 500.

Specifically, as shown in fig. 3, the high-precision docking method for the AGV1 for coil transportation according to the present invention includes the following steps:

a high-precision docking method of a high-precision docking AGV1 for coil transportation is applied to material loading and unloading between the AGV1 and a turret machine platform and comprises the following steps:

s1, the AGV1 receives a material loading and unloading signal of the turret machine table.

The material loading and unloading signals comprise a signal that the turret machine needs to load a full material roll core 600 or a signal that the turret machine needs to unload an empty material roll core 500, the turret machine sends corresponding demand signals according to the current working state, and the AGV1 regularly scans whether the material loading and unloading signals exist. Generally, after materials on a turret machine station are used up or before the materials are used up, a demand signal is sent out, and the following operations are involved: AGV1 uninstallation empty material rolls up core 500, AGV1 loads full material and rolls up core 600. After unloading the empty winding core 500, the conventional AGV1 obtains the full winding core 600 after the empty winding core 500 is placed on the material buffer rack and loads the full winding core onto the turret machine. The AGV1 is provided with a wireless communication module which is used for receiving signals sent by a turret machine or a control platform and entering the next step after receiving the signals.

And S2, the AGV1 enters a material loading and unloading area of the turret machine according to the navigation path.

After receiving a material loading and unloading signal of a turret machine, the AGV1 moves according to a navigation path between the AGV1 and the turret machine, wherein the navigation path is determined by laser and a ground magnetic stripe, or determined by laser and a two-dimensional code, or determined by an SLAM (positioning in time and map creation).

The base 2 of the AGV1 is provided with a travelling wheel and a travelling wheel driving mechanism, the AGV1 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 AGV1 moves according to the navigation path until entering a material loading and unloading area of a turret machine table. In the embodiment of the utility model, the middle zone between two capstan head boards is the material loading and unloading region of capstan head board promptly.

The embodiment of the utility model provides an in, AGV1 removes according to the navigation path before, if the brick tower board needs to load full charge and rolls up core 600, then AGV1 takes out the full charge that is equipped with the coil stock and rolls up core 600 from full charge buffer memory frame earlier. Or the utility model discloses a AGV1 has got earlier that the full material that is equipped with the coil stock rolls up core 600, then regularly scans the material loading and unloading signal of receiving the capstan head board. If the brick tower machine needs to unload the empty core 500, the AGV1 does not need to pre-load the full core 600. The conventional AGV1 only has a set of material lifting mechanism 3, and the lifting mechanism is used to load the full material winding core 600 and unload the empty material winding core 500, so that the AGV1 needs to go back and forth many times to load and unload the material on the turret table. And the utility model discloses in hereafter will mention an AGV1 that has two sets of material lifting mechanism 3, wherein a set of material lifting mechanism 3 is responsible for loading full material and rolls up core 600, and another group of material lifting mechanism 3 is responsible for uninstalling empty material and rolls up core 500.

S3, AGV1 detects material lifting mechanism 3 on the AGV1 with the relative position of capstan head board, right material lifting mechanism 3 begins to carry out the loading or the uninstallation of material after adjusting the location.

After the AGV1 enters the material loading and unloading area, the relative position of the material lifting mechanism 3 and the turret machine platform is detected, and then the electric control system on the AGV1 adjusts and positions the material lifting mechanism 3 according to the relative position, so that the turret machine platform is in butt joint with the material lifting mechanism 3.

Specifically, the turret machine platform is provided with a positioning marker, and the AGV1 detects the positioning marker and is used for position detection and positioning butt joint. When the AGV1 needs to unload the empty material winding core 500 from the turret machine table, the material lifting mechanism 3 of the AGV1 enters a material loading and unloading area of the turret machine table in an empty load state, and the electric control system adjusts and positions the material lifting mechanism 3 according to the relative position of the AGV1 and the turret machine table, so that the turret machine table and the material lifting mechanism 3 are butted to start to unload the empty material winding core 500. When the AGV1 needs to load a full-material mat onto the turret machine, the material lifting mechanism 3 of the AGV1 enters a material loading and unloading area of the turret machine in a state of loading a full-material roll core 600, and the electric control system adjusts and positions the material lifting mechanism 3 according to the relative position of the AGV1 and the turret machine, so that the turret machine and the material lifting mechanism 3 are butted to start material loading.

S4, AGV1 acquires the pressure-bearing numerical value of material lifting mechanism 3 when loading and unloading or uninstallation material, AGV1 adjusts material lifting mechanism 3, makes material lifting mechanism 3' S pressure-bearing numerical value is accomplished when keeping in predetermineeing the within range the loading or the uninstallation of material.

When the empty winding core 500 is unloaded, in the process that the empty winding core 500 on the turret machine platform is placed into the material lifting mechanism 3, when the pressure-bearing numerical value on the material lifting mechanism 3 is just equal to the self weight of the empty winding core 500, the air expansion shaft of the turret machine platform 200 is separated from the empty winding core 500, and the empty winding core 500 is completely supported by the material lifting mechanism 3 at the moment. Then the air expansion shaft extracts the empty material winding core 500, the air expansion shaft can exhaust air firstly to reduce the diameter before extraction, or the air expansion shaft exhausts air firstly to reduce the diameter before the empty material winding core 500 is placed into the material lifting mechanism 3, so that the empty material winding core can be extracted smoothly at the back.

In the drawing process, the electric control system of the AGV1 monitors the pressure-bearing value on the material lifting mechanism 3 in real time, when the pressure-bearing value on the material lifting mechanism 3 exceeds a first preset range, if the first preset range is [ a-2%, a +2% ] (a is the dead weight of an empty material winding core 500), it indicates that the air expansion shaft and the empty material winding core 500 are eccentric and friction is generated, the electric control system of the AGV1 immediately adjusts the position of the material lifting mechanism 3 in the X, Y, Z direction so that the pressure-bearing value of the material lifting mechanism 3 returns to the first preset range [ a-2%, a +2% ], and thus no friction or very small friction is generated in the drawing process, and the air expansion shaft or the empty material winding core 500 is prevented from being damaged. The ideal process of taking out is, and the pressure-bearing numerical value on the material lifting mechanism 3 is equal to the dead weight of empty material core 500 always in the in-process of uninstalling the material, and the position of material lifting mechanism 3 also need not to adjust, and the process of taking out does not have frictional force at all like this.

When the full-material winding core 600 is loaded and the air expansion shaft of the turret machine table extends into the full-material winding core 600, the AGV1 adjusts the direction of X, Y, Z of the material lifting mechanism 3 so that the pressure bearing value of the material lifting mechanism 3 is kept within a second preset range. In this embodiment, the second preset range may be set within 1% of the weight of the full-charge winding core 600 (including the winding core and the material), and if the weight of the full-charge winding core 600 is b, the second preset range is [ b-1%, b +1% ].

When an air expansion shaft of a turret machine table extends into a full-material winding core 600, an electric control system of the AGV1 monitors a pressure-bearing value of a material lifting mechanism 3 in real time, when the pressure-bearing value on the material lifting mechanism 3 exceeds a second preset range [ b-1%, b +1% ], the air expansion shaft and the full-material winding core 600 are eccentric and generate friction, the electric control system of the AGV1 immediately adjusts the position of the material lifting mechanism 3 in the direction of X, Y, Z so that the pressure-bearing value on the material lifting mechanism 3 returns to the second preset range [ b-1%, b +1% ], and therefore no friction or very little friction is generated in the extending process, and the air expansion shaft or the full-material winding core 600 is prevented from being damaged. The ideal process of extending is that the bearing value of the material lifting mechanism 3 is always equal to the weight of the full material winding core 600, the position of the material lifting mechanism 3 does not need to be adjusted, and thus, no friction force exists in the process of extending.

When the air expansion shaft of the turret machine table extends into the full-material winding core 600 and is inflated, the air expansion shaft completely lifts the full-material winding core 600, and the pressure-bearing value of the material lifting mechanism 3 is equal to zero or is a preset value slightly larger than zero.

In some embodiments, the material lifting mechanism 3 is provided with a pressure sensor 304 to obtain a pressure-bearing value and feed the pressure-bearing value back to the electronic control system.

In some embodiments, the material lifting mechanism 3 comprises a left material lifting part 300 and a right material lifting part 301 which are independently driven in XYZ directions. Therefore, the left material lifting part 300 and the right material lifting part 301 can independently adjust the positions, and the butt joint positioning precision of the material lifting mechanism 3 and the turret machine table can be effectively improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, which may be modified, combined, and varied by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a coil stock transportation AGV of high accuracy butt joint, includes the base, the bottom of base is provided with walking wheel, its 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 mode and a left material lifting part 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 material lifting part arranged on the right YZ moving unit;

and the left material lifting part and the right material lifting part are both provided with pressure-bearing detection units.

2. A high precision docked web transport AGV according to claim 1, characterized by:

the left YZ moving unit comprises a left Z moving unit arranged on the left X moving unit in a sliding mode, a left Y moving unit arranged on the left Z moving unit in a sliding mode, and the left material lifting part is arranged on the left Y moving unit;

the right YZ moving unit comprises a right Z moving unit arranged on the right X moving unit in a sliding mode, a right Y moving unit arranged on the right Z moving unit in a sliding mode, and the right material lifting part is arranged on the right Y moving unit.

3. A high precision docked web transport AGV according to claim 2, characterized by:

the left X moving unit, the right X moving unit, the left Z moving unit, the right Z moving unit, the left Y moving unit and the right Y moving unit are all provided with independent driving mechanisms.

4. A high precision docked web transport AGV according to claim 3, characterized by:

left side material portion of lifting, right material portion of lifting all include:

5. A high accuracy docked web transport AGV according to claim 4 further comprising:

the AGV base comprises a chassis and a middle seat X moving unit, the middle seat X moving unit is arranged on the chassis in a sliding mode, and the middle seat X moving unit is provided with the left X moving unit and the right X moving unit.

6. A high accuracy docked web transport AGV according to claim 5 further comprising:

the pressure-bearing detection unit adopts a pressure sensor.

7. A high accuracy docked web transport AGV according to claim 6 further comprising:

position sensor subassembly is all installed to left side material portion of lifting, sensor subassembly includes specular reflection photoelectricity, diffuse reflection photoelectricity, vision sensor, laser rangefinder sensor, correlation photoelectricity.