CN220114533U - Heavy-load differential flat AGV for automatic coiled material carrying - Google Patents

Abstract

The utility model discloses a heavy-load differential flat AGV for automatically carrying coiled materials, which comprises a vehicle body assembly, heavy-load steering wheels, a jacking mechanism, a clamping mechanism, a hydraulic system, a control system, a safety system, an automatic navigation system, a power system, an automatic charging system and a positioning system, wherein the safety system is positioned at four corners of the vehicle body assembly, the power system and the hydraulic system are positioned in the vehicle body assembly, and the positioning system and the control system are positioned at two ends of the vehicle body assembly. The heavy-load differential flat AGV for automatically carrying the coiled materials effectively solves the problems that the existing large-scale coiled materials cannot be automatically transported and self-discharged, and the like, and one person can monitor a plurality of vehicles to automatically transport the coiled materials, so that the heavy-load differential flat AGV has the advantages of high working efficiency, less labor consumption, safety, reliability, low use cost, energy conservation and environmental protection; the aluminum coil transfer device not only can be used for aluminum coil transfer operation, but also can be used for transfer operation of other large-scale metal or nonmetal coiled materials, and has wider application range.

Description

Heavy-load differential flat AGV for automatic coiled material carrying

Technical Field

The utility model relates to the field of automatic coil stock transferring, in particular to a heavy-load differential flat AGV for automatic coil stock carrying.

Background

The utility model provides a dull and stereotyped AGV of heavy load differential of coiled material automatic handling, is a supporting equipment who carries out automatic transportation of coiled material, relates to the automatic special technical field of transporting of coiled material, in coiled material processing vehicle, carries out feeding, transport and discharge operation to coiled material, along with the continuous development of science and technology, people are also higher and higher to the manufacturing process requirement of the dull and stereotyped AGV of heavy load differential of automatic handling of coiled material.

The existing coiled material carrying has certain defects when in use, in the existing coiled material transferring, various equipment and manual cooperation are mainly needed to be completed jointly, the operation efficiency is low, the workload is large, the danger coefficient is high, the use cost is high, certain adverse effects are brought to the actual use process, and therefore, the heavy-load differential flat AGV for automatic coiled material carrying is provided.

Disclosure of Invention

The technical problems to be solved are as follows: aiming at the defects of the prior art, the utility model provides a heavy-load differential flat AGV for automatically carrying coiled materials, which effectively solves the problems that the existing large-scale coiled materials cannot be automatically transported and self-discharged, and the like, and can be used for automatically transporting the coiled materials by monitoring a plurality of vehicles by one person, thereby having the advantages of high working efficiency, less labor consumption, safety, reliability, low use cost, energy conservation and environmental protection; the aluminum coil transfer device not only can be used for aluminum coil transfer operation, but also can be used for transfer operation of other large-scale metal or nonmetal coiled materials, has wider application range, and can effectively solve the problems in the background technology.

The technical scheme is as follows: in order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the utility model provides a heavy load differential flat AGV of coiled material automatic handling, includes automobile body assembly, heavy load steering wheel, climbing mechanism, presss from both sides and embraces mechanism, hydraulic system, control system, safety coefficient, automatic navigation system, driving system, automatic charging system and positioning system, safety coefficient is located the four corners position of automobile body assembly, driving system and hydraulic system are located the inside of automobile body assembly, positioning system, control system are located the both ends position of automobile body assembly, climbing mechanism is located the middle part on the automobile body assembly, it is located the both sides on the automobile body assembly to press from both sides and embraces the mechanism, heavy load steering wheel is located the bottom four corners of automobile body assembly, automatic navigation system is located the middle part position of automobile body assembly bottom.

Preferably, the vehicle body assembly mainly comprises a vehicle frame, a cover plate and an auxiliary bracket, wherein the vehicle frame is a main load bearing component of load, and the cover plate and the auxiliary bracket are used for covering a cavity in the vehicle and mounting electric components.

Preferably, the heavy-duty steering wheel is arranged below the vehicle body assembly, the internal structural component of the heavy-duty steering wheel adopts a rigid welding structure, the heavy-duty steering wheel is provided with a hydraulic cylinder as support and shock absorption, and the driving wheels at the two ends of the heavy-duty steering wheel are provided with sensors for controlling differential rotation.

Preferably, the lifting mechanism lifts the coiled material, the clamping mechanism clamps the coiled material to be limited and fixed when the coiled material is lifted, and the lifting mechanism and the clamping mechanism are driven by a hydraulic system.

Preferably, the safety system is provided with a lighting lamp, a fault and operation warning sound which are enough to operate at night, emergency stop switches are arranged at four corners, safety touch edges are arranged at the periphery, and a laser obstacle avoidance sensor operation protection structure is arranged at the opposite angles.

Preferably, the automatic navigation system comprises a GPS navigation structure and a laser navigation structure.

Preferably, the power system uses a battery as a power source, and a monitoring control mechanism is arranged on the battery.

Preferably, the automatic charging system is provided with a charging brush plate and is matched with an automatic charger for automatic charging, and the positioning system obtains the position of the positioning system through an automatic navigation system.

The beneficial effects are that: compared with the prior art, the heavy-load differential flat AGV for automatically carrying the coiled material has the following beneficial effects: the heavy-load differential flat AGV for automatically carrying the coiled materials effectively solves the problems that the existing large-scale coiled materials cannot be automatically transported and self-discharged, and the like, and one person can monitor a plurality of vehicles to automatically transport the coiled materials, so that the automatic transport AGV has the advantages of high working efficiency, less labor consumption, safety, reliability, low use cost, energy conservation and environmental protection; the heavy-load differential flat AGV can be used for aluminum coil transferring operation, can also be used for transferring operation of other large-scale metal or nonmetal coiled materials, has wider application range, and has the advantages of simple structure, convenience in operation and better use effect compared with the traditional mode.

Drawings

FIG. 1 is a schematic view of the overall structure of a heavy load differential flat AGV for automatic coil handling according to the present utility model.

FIG. 2 is a schematic diagram of the front view of the heavy duty differential flat AGV with automatic coil handling according to the present utility model.

FIG. 3 is a schematic illustration of a side view of an exemplary heavy duty differential flat AGV with automatic coil handling according to the present utility model.

FIG. 4 is a schematic top view of the heavy duty differential flat AGV of the present utility model with automatic coil handling.

FIG. 5 is a schematic view of the omni-directional movement pattern in a heavy duty differential flat AGV for automatic coil handling in accordance with the present utility model.

In the figure: 1. a vehicle body assembly; 2. heavy-duty steering wheels; 3. a jacking mechanism; 4. a clamping mechanism; 5. a hydraulic system; 6. a control system; 7. a security system; 8. an automatic navigation system; 9. a power system; 10. an automatic charging system; 11. and a positioning system.

Detailed Description

The technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings and detailed description, but it will be understood by those skilled in the art that the examples described below are some, but not all, examples of the present utility model, and are intended to be illustrative of the present utility model only and should not be construed as limiting the scope of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. The specific conditions are not noted in the examples and are carried out according to conventional conditions or conditions recommended by the manufacturer. The reagents or apparatus used were conventional products commercially available without the manufacturer's attention.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

1-5, the heavy-duty differential flat AGV for automatically carrying coiled materials comprises a vehicle body assembly 1, heavy-duty steering wheels 2, a jacking mechanism 3, clamping mechanisms 4, a hydraulic system 5, a control system 6, a safety system 7, an automatic navigation system 8, a power system 9, an automatic charging system 10 and a positioning system 11, wherein the safety system 7 is positioned at four corners of the vehicle body assembly 1, the power system 9 and the hydraulic system 5 are positioned in the vehicle body assembly 1, the positioning system 11 and the control system 6 are positioned at two ends of the vehicle body assembly 1, the jacking mechanism 3 is positioned at the middle part of the vehicle body assembly 1, the clamping mechanisms 4 are positioned at two sides of the vehicle body assembly 1, the heavy-duty steering wheels 2 are positioned at four corners at the bottom of the vehicle body assembly 1, and the automatic navigation system 8 is positioned at the middle part of the bottom of the vehicle body assembly 1, so that the problems that automatic transfer and self-unloading of the existing large coiled materials cannot be automatically carried out can be effectively solved, one person can monitor a plurality of vehicles to automatically transfer coiled materials, the working efficiency is high, the working quantity is low, the use cost is safe and reliable, and the use cost is energy-saving and environment-friendly; the aluminum coil transfer device not only can be used for aluminum coil transfer operation, but also can be used for transfer operation of other large-scale metal or nonmetal coiled materials, and has wider application range.

Further, the utility model comprises a vehicle body assembly 1, a heavy-duty steering wheel 2, a jacking mechanism 3, a clamping mechanism 4, a hydraulic system 5, a control system 6, a safety system 7, an automatic navigation system 8, a power system 9, an automatic charging system 10 and a positioning system 11.

Further, the vehicle body assembly 1 mainly comprises a vehicle frame, a cover plate, an auxiliary bracket and the like, wherein the vehicle frame is a main load bearing component of a load, and the cover plate and the auxiliary bracket are used for covering a cavity in the vehicle body and installing electric components.

Further, the heavy-load steering wheel 2 is arranged below the frame, the structural parts of the heavy-load steering wheel are rigidly welded, the hydraulic oil cylinder is used as support and shock absorption, the height is adjustable, and the differential rotation can be realized by virtue of sensor control of driving wheels at the two ends of the heavy-load steering wheel, so that the novel omnidirectional movement is realized.

Further, the jacking mechanism 3 refers to the novel middle two-group coiled material jacking device for transferring automatic material taking or unloading of coiled materials.

Further, press from both sides and hold mechanism 4 and indicate four groups of this novel both sides press from both sides and hold device for coil stock is spacing fixed at the coiled material of transporting the in-process, prevents that the coiled material from rocking in the transportation.

Further, the hydraulic system 5 is used for lifting the jacking mechanism 3, the clamping mechanism 4 and the steering wheel through hydraulic pressure. In order to ensure stable lifting, the lifting system is composed of a high-pressure pump, a balance valve, an explosion-proof valve, a reversing valve, an oil path block, a hydraulic accessory, a servo motor, a control system, a lifting oil cylinder and the like. In order to ensure that the safety hydraulic cylinder is provided with a pipeline explosion-proof valve, the possibility of overturning a vehicle body caused by pipeline breakage is avoided.

Further, the control system 6 is based on an intelligent CAN-BUSControl Area Network controller area network bus control system. The serial communication bus is a serial communication bus in various modes, has high bit rate and high electromagnetic interference resistance, and can detect any generated errors.

Further, the safety system 7 has multiple safety protection, and the safety operation of equipment is protected. In the aspect of safety protection of the whole vehicle operation, the operation protection such as a lighting lamp, a fault and operation warning sound which are enough to operate at night, emergency stop switches arranged at four corners, safety touch edges arranged at the periphery, laser obstacle avoidance sensors arranged at opposite angles and the like are arranged; and secondly, a pipeline safety valve is arranged in the hydraulic system and the control system to prevent the pipeline from being damaged and dangerous, a manual emergency unloading valve is arranged to prevent the unloading from being possible under the fault condition, an electric quantity detection function is arranged, and when the electric quantity is lower than the limit value, the vehicle alarms and prompts charging and stops running if necessary.

Further, the automatic navigation system 8 includes two composite navigation modes, namely GPS navigation and laser navigation. The GPS navigation obtains real-time position information of the equipment through GPS satellite positioning or Beidou satellite positioning, so that the equipment can take materials, discharge materials and carry according to planned paths and sites. The laser navigation is that a reflection device is preset on site, the equipment emits laser through a vehicle navigation laser radar, after one circle of laser scanning, the laser irradiates the transmitting plate, the laser primary path returns, a series of reflection angles of the transmitting plate can be obtained, and the coordinates of the laser rotation center can be calculated through calculation. The real-time position information of the equipment is obtained through calculation by the vehicle-mounted controller, so that the equipment can take, discharge and carry according to a planned path and a station.

Further, the power system 9 refers to the equipment taking a battery as a power source, and the battery has the advantages of small volume, light weight, large capacity, strong cruising ability, good safety and built-in battery management system, can monitor battery parameters in real time through control, can analyze faults and alarm, and has the protection functions of overcharge protection, overdischarge protection, temperature protection, equalization function and the like.

Further, the automatic charging system 10 refers to an automatic charger in a charging area, where a charging brush board is installed on a vehicle body, and when the automatic charger receives a charging command, the automatic charger automatically operates to the charging area, and the charging brush board of the vehicle body contacts with a brush block on the charger to perform automatic charging.

Furthermore, the positioning system 11 means that the device acquires the self position in real time through GPS navigation or laser navigation, and has the characteristics of high precision, strong anti-interference capability and the like.

Working principle: the utility model comprises a vehicle body assembly 1, a heavy-duty steering wheel 2, a jacking mechanism 3, a clamping mechanism 4, a hydraulic system 5, a control system 6, a safety system 7, an automatic navigation system 8, a power system 9, an automatic charging system 10 and a positioning system 11;

the vehicle body assembly 1 mainly comprises a vehicle frame, a cover plate, an auxiliary bracket and the like, wherein the vehicle frame is a main load bearing component of a load, and the cover plate and the auxiliary bracket are used for covering a cavity in the vehicle body and installing electric components; the heavy-load steering wheel 2 is arranged below the frame, the structural parts of the heavy-load steering wheel are rigidly welded, the hydraulic oil cylinder is used for supporting and damping, the height is adjustable, and the driving wheels at the two ends of the heavy-load steering wheel can realize differential rotation under the control of the sensor, so that the novel omnidirectional movement is realized; the jacking mechanism 3 refers to two groups of coil jacking devices in the middle of the novel automatic feeding or discharging device for transferring coils; the clamping mechanism 4 refers to four groups of clamping devices on two sides of the novel coil stock, and is used for limiting and fixing coiled materials in the transferring process and preventing the coiled materials from shaking in the transferring process; the hydraulic system 5 is used for lifting the jacking mechanism, the clamping mechanism and the steering wheel through hydraulic pressure. In order to ensure stable lifting, the lifting system is composed of a high-pressure pump, a balance valve, an explosion-proof valve, a reversing valve, an oil path block, a hydraulic accessory, a servo motor, a control system, a lifting oil cylinder and the like. In order to ensure that a pipeline explosion-proof valve is arranged on the safety hydraulic cylinder, the possibility of overturning a vehicle body caused by pipeline breakage is avoided; the control system 6 is based on an intelligent CAN-BUS (Control Area Network) controller area network bus control system. The serial communication bus is a serial communication bus in various modes, has high bit rate and high electromagnetic interference resistance, and can detect any generated error; the safety system 7 has multiple safety protection, and the safety operation of equipment is protected. In the aspect of safety protection of the whole vehicle operation, the operation protection such as a lighting lamp, a fault and operation warning sound which are enough to operate at night, emergency stop switches arranged at four corners, safety touch edges arranged at the periphery, laser obstacle avoidance sensors arranged at opposite angles and the like are arranged; secondly, a pipeline safety valve is arranged in the hydraulic system and the control system to prevent the pipeline from being damaged and dangerous, a manual emergency unloading valve is arranged to prevent the unloading from being possible under the fault condition, an electric quantity detection function is arranged, and when the electric quantity is lower than the limit value, the vehicle alarms and prompts charging and stops running if necessary; the automatic navigation 8 comprises two composite navigation modes of GPS navigation and laser navigation. The GPS navigation obtains real-time position information of the equipment through GPS satellite positioning or Beidou satellite positioning, so that the equipment can take materials, discharge materials and carry according to planned paths and sites. The laser navigation is that a reflection device is preset on site, the equipment emits laser through a vehicle navigation laser radar, after one circle of laser scanning, the laser irradiates the transmitting plate, the laser primary path returns, a series of reflection angles of the transmitting plate can be obtained, and the coordinates of the laser rotation center can be calculated through calculation. The real-time position information of the equipment is obtained through calculation by the vehicle-mounted controller, so that the equipment can take, discharge and carry according to a planned path and a station; the power system 9 is characterized in that the equipment takes a battery as a power source, and the battery has the advantages of small volume, light weight, large capacity, strong cruising ability, good safety, built-in battery management system, real-time monitoring of battery parameters through control, analysis of faults and alarm, and protection functions such as overcharge protection, overdischarge protection, temperature protection and equalization function; the automatic charging system 10 means that a vehicle body is provided with a charging brush board, and is matched with an automatic charger in a charging area, when the novel vehicle body automatically operates to the charging area after receiving a charging command, the charging brush board of the vehicle body is contacted with a brush block on the charger so as to automatically charge; the positioning system 11 is used for acquiring the position of the equipment in real time through GPS navigation or laser navigation, and has the characteristics of high precision, strong anti-interference capability and the like.

In the coil transferring operation, the device of the utility model is operated to a coil storage position; 2. driving into the lower part of the coiled material storage device, starting the jacking mechanism to jack the coiled material from the coiled material storage device, and driving out of the lower part of the coiled material storage device; 3. the jacking mechanism descends to an initial position, and the clamping mechanism starts to clamp the coiled material; 4. automatically running to a transfer destination according to a set route; 5. after reaching the transfer destination, the clamping mechanism starts to release clamping, and the coiled material is jacked up again by the jacking mechanism; 6. the coil is driven to the lower part of the coil storage device of the transfer destination, the jacking mechanism is lowered, and the coil falls onto the storage device; 7. and (5) driving out of the lower part of the coiled material storage device, and carrying out next coiled material transferring circulation or parking at a set position according to a command issued by a control person.

The utility model adopting the structure can effectively solve the problems that the existing large coiled material transfer cannot automatically transport and self-discharge, and the like, and the existing coiled material transfer needs a plurality of devices and manual cooperation to be completed together, thereby having low operation efficiency, large workload, high danger coefficient and high use cost. By using the novel device, one person can monitor the automatic transfer coiled materials of a plurality of vehicles, the working efficiency is high, the labor amount is less, the safety and the reliability are realized, and the use cost is low; the aluminum coil transfer device not only can be used for aluminum coil transfer operation, but also can be used for transfer operation of other large-scale metal or nonmetal coiled materials, and has wider application range.

It should be noted that in this document, relational terms such as first and second (first and second), and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims.

Claims (8)

1. The utility model provides a coiled material automatic handling's heavy load differential dull and stereotyped AGV, includes automobile body assembly (1), heavy load steering wheel (2), climbing mechanism (3), presss from both sides and embraces mechanism (4), hydraulic system (5), control system (6), safety coefficient (7), automatic navigation system (8), driving system (9), automatic charging system (10) and positioning system (11), its characterized in that: the safety system (7) is located at four corners of the vehicle body assembly (1), the power system (9) and the hydraulic system (5) are located inside the vehicle body assembly (1), the positioning system (11) and the control system (6) are located at two ends of the vehicle body assembly (1), the jacking mechanism (3) is located at the middle of the vehicle body assembly (1), the clamping mechanism (4) is located at two sides of the vehicle body assembly (1), the heavy-load steering wheel (2) is located at four corners of the bottom of the vehicle body assembly (1), and the automatic navigation system (8) is located at the middle of the bottom of the vehicle body assembly (1).

2. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the vehicle body assembly (1) mainly comprises a vehicle frame, a cover plate and an auxiliary bracket, wherein the vehicle frame is a main load bearing component of a load, and the cover plate and the auxiliary bracket are used for covering a cavity in the vehicle and installing electric components.

3. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the heavy-load steering wheel (2) is arranged below the vehicle body assembly (1), the internal structural components of the heavy-load steering wheel (2) adopt a rigid welding structure, a hydraulic cylinder is arranged on the heavy-load steering wheel (2) to serve as support and shock absorption, and the driving wheels at the two ends of the heavy-load steering wheel (2) are provided with sensors to control differential rotation.

4. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the lifting mechanism (3) lifts the coiled material, the clamping mechanism (4) clamps the coiled material to be limited and fixed when the coiled material is lifted, and the lifting mechanism (3) and the clamping mechanism (4) are driven by a hydraulic system (5).

5. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the safety system (7) is provided with a lighting lamp, a fault and operation warning sound which are enough to operate at night, emergency stop switches are arranged at four corners, safety touch edges are arranged at the periphery, and a laser obstacle avoidance sensor operation protection structure is arranged at the opposite angles.

6. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the automatic navigation system (8) comprises a GPS navigation structure and a laser navigation structure.

7. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the power system (9) takes a battery as a power source, and a monitoring control mechanism is arranged on the battery.

8. The heavy duty differential flat plate AGV for automatic coil handling according to claim 1 wherein: the automatic charging system (10) is provided with a charging brush plate and is matched with an automatic charger to automatically charge, and the positioning system (11) obtains the position of the automatic charging brush plate through the automatic navigation system (8).