A transport device

Abstract

This invention discloses a transport device, which includes a body, a material picking mechanism, and a material dispensing mechanism. The body is equipped with a traveling mechanism; the material picking mechanism is connected to the body and is used to pick up the material roll at the target location; the material dispensing mechanism is connected to the body and is used to place the empty roll at the target location. When the transport device moves to the material picking position near the machine, it can sequentially perform the actions of picking up the material roll and placing the empty roll on the machine, without switching between different transport devices to perform the above-mentioned picking and dispensing actions, and without the need for a transfer station. That is, the empty-full switching can be completed in a single transport task, which is beneficial to improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent device manufacturing technology, and in particular to a transportation device. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as AGV carts, generally refer to transport devices with automatic navigation capabilities, meaning they can travel along a predetermined navigation path. For example, an AGV can transport heavy coils weighing 3500 kg.

[0003] In existing technologies, heavy coiled materials are mostly handled by operators using manual overhead cranes / gantry cranes. Manual operation requires high skill levels, is inefficient, and is prone to collisions.

[0004] In addition, a small number of manufacturers have used AGVs to handle heavy-duty coils in this scenario. However, completing the empty-full switch (picking up the coil and placing the empty coil) requires two handling actions, resulting in low production efficiency. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a transportation device that can complete the switching between empty and full loads in a single handling task, which is beneficial to improving production efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A transport device, comprising:

[0008] The body is equipped with a walking mechanism;

[0009] The material handling mechanism, connected to the machine body, is used to pick up the material roll at the target position;

[0010] The feeding mechanism, connected to the machine body, is used to place the empty reel at the target position.

[0011] Optionally, in the above-described transport device, the unloading mechanism includes:

[0012] A rotating arm is rotatably mounted on the machine body and is provided with a first support portion for placing the empty spool.

[0013] A first drive mechanism is used to control the rotation of the rotating arm relative to the machine body to move the empty reel from the first initial position to the target position, or to control the rotating arm to reset.

[0014] Optionally, in the above-described transport device, the first bearing portion includes a first limiting groove for horizontally supporting the empty reel, and the first limiting groove is rotatably connected to the rotating arm.

[0015] Optionally, the above-mentioned transport device further includes a first gear and a second gear;

[0016] The first gear is fixedly connected to the machine body, and the rotation center axis of the rotating arm is collinear with the center axis of the first gear;

[0017] The second gear is fixedly connected to the first bearing part and rotatably connected to the rotating arm, and the rotation center axis of the second gear is parallel to the rotation center axis of the rotating arm;

[0018] The first gear and the second gear are connected by a transmission. If the rotation angle of the rotating arm relative to the first gear is α, then the rotation angle of the second gear relative to the rotating arm is -α.

[0019] Optionally, in the above-described transport device, the material handling mechanism includes:

[0020] The second support section is used to receive the material roll;

[0021] The second drive mechanism is used to control the second bearing part to move from the second initial position to the target position along the guide mechanism, or to control the second bearing part to reset.

[0022] Optionally, in the above-mentioned transport device, the second bearing part is provided with a second limiting groove for horizontally supporting the material roll;

[0023] The machine body is provided with a third limiting groove for placing the material roll;

[0024] When the second bearing part is in the second initial position, the second limiting groove is located directly below the third limiting groove.

[0025] Optionally, the above-mentioned transport device further includes:

[0026] A navigation system for controlling the transport device to move to a navigation termination position, which is located near the target location;

[0027] The alignment system is used to detect the positional deviation between the navigation stop position and the standard picking position, and to adjust the movement of the transport device to reduce the positional deviation, wherein the positional deviation is zero when the transport device is located at the standard picking position.

[0028] Optionally, in the above-described transport device, the body includes:

[0029] The chassis is equipped with the aforementioned walking mechanism;

[0030] The column is connected to the material handling mechanism and the material discharging mechanism;

[0031] The third drive mechanism is connected to the alignment system signal and can adjust the horizontal movement of the column relative to the chassis to reduce the position deviation according to the position deviation.

[0032] Optionally, in the above-described transport device, the alignment system includes:

[0033] A QR code label is placed on the side of or near the target location;

[0034] A QR code camera, mounted on the column and signal-connected to the third drive mechanism, is used to take pictures of the QR code label to obtain the position deviation, and to control the column to move horizontally relative to the chassis to reduce the position deviation based on the position deviation.

[0035] Optionally, in the above-described transport device, the body includes:

[0036] The main body is equipped with the walking mechanism and is connected to the material picking mechanism and the material discharging mechanism;

[0037] The protrusion protrudes from the material-taking side of the main body and is provided with a support wheel.

[0038] As can be seen from the above technical solution, the conveying device provided by the present invention is equipped with dual material positions, namely a material picking mechanism for picking up material rolls and a material dispensing mechanism for placing empty rolls. Therefore, when the conveying device moves to the material picking position near the target position, it can sequentially perform the actions of picking up the material roll and placing the empty roll at the target position, without needing to switch between different conveying devices to perform the above-mentioned material picking and dispensing actions, and without the need for intermediate transfer stations. That is, a single handling task can complete the switching between empty and full loads, which is beneficial to improving production efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 An isometric view of a transportation device provided in an embodiment of the present invention;

[0041] Figure 2 A combined structural diagram of the transmission gear set disposed on the rotating arm provided in an embodiment of the present invention;

[0042] Figure 3 for Figure 2 An exploded view of the transmission gear set in the diagram;

[0043] Figure 4 This is a schematic diagram illustrating the angle analysis principle during the rotation of the rotating arm, provided in an embodiment of the present invention.

[0044] Figure 5 This is a structural diagram of a portion of a machine with a material roll provided in an embodiment of the present invention;

[0045] Figure 6 A side view of the machine and transport device with material rolls before docking, provided in an embodiment of the present invention;

[0046] Figure 7 A top view of the machine and transport device with material rolls before docking, provided in an embodiment of the present invention;

[0047] Figure 8 An isometric view of a transport device with a material roll provided in an embodiment of the present invention;

[0048] Figure 9 for Figure 8 A side view of a transport device with a roll of material in the middle;

[0049] Figures 10 to 12 These are the front view, top view, and side view of the transportation device provided in the embodiments of the present invention.

[0050] in:

[0051] 1-Main body, 2-Material handling mechanism, 3-Material discharging mechanism

[0052] 4-QR code camera, 5-empty reel, 6-machine base, 7-material reel,

[0053] 101-Chassis, 102-Column, 103-Transverse guide rail, 121-Third limiting groove

[0054] 201 - Vertical guide rail, 202 - Longitudinal guide rail, 203 - Second load-bearing unit

[0055] 221-Slider, 231-Second limiting groove,

[0056] 301-Mounting base, 302-Rotating arm, 303-First gear,

[0057] 304 - Second gear, 305 - First bearing part

[0058] 501 - Second bearing, 601 - Guide groove, 701 - First bearing. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] First Specific Embodiment

[0061] Please see Figures 1 to 12 The first specific embodiment of the present invention provides a transport device, which includes a body 1, a material picking mechanism 2, and a material unloading mechanism 3. The body 1 is equipped with a traveling mechanism; the material picking mechanism 2 is connected to the body 1 and is used to pick up the material roll 7 (generally referring to the material roll located on the machine platform 6) at a target position; the material unloading mechanism 3 is connected to the body 1 and is used to place an empty roll 5 at the target position, for example, placing the empty roll 5 on the machine platform 6, so that it continues to wind material to form the material roll 7.

[0062] As can be seen, the transport device provided by the present invention is equipped with dual material positions, namely a material picking mechanism 2 for picking up the material roll 7 and a material dispensing mechanism 3 for placing the empty roll 5. Therefore, when the transport device moves to the material picking position near the target position, it can sequentially perform the actions of picking up the material roll 7 and placing the empty roll 5 at the target position. There is no need to switch between different transport devices to perform the above-mentioned material picking and dispensing actions, nor is there a need for an intermediate transfer station. That is, a single transport task can complete the switching between empty and full loads, which not only enables automatic loading and unloading but also helps to improve production efficiency.

[0063] Please see Figure 1 In a preferred embodiment, the feeding mechanism 3 includes a rotating arm 302 and a first drive mechanism for controlling the rotation of the rotating arm 302 relative to the machine body 1. The rotating arm 302 is rotatably mounted on the machine body 1 and has a first support portion 305 for placing an empty reel 5. The first drive mechanism controls the rotating arm 302 to rotate relative to the machine body 1 by a preset angle to move the empty reel 5 from a first initial position to a target position, and also controls the rotating arm 302 to reset.

[0064] It should be noted that the "first initial position" mentioned in this embodiment refers to the position of the empty reel 5 before the rotating arm 302 places it on the machine base 6 during the transportation process. Generally, as... Figure 1 As shown, at this time, the empty spool 5 is in the "first initial position", which is located above the body 1 for easy transportation.

[0065] Furthermore, it should be noted that the "target position" mentioned in this embodiment refers to the position where the empty roll 5 is placed on the machine 6, which is also the position of the material roll 7 on the machine 6. Generally, as Figure 5As shown in the diagram, the empty spool 5 / material roll 7 is positioned precisely on the machine base 6, facilitating easy placement and removal. However, this is not a limitation; in other specific embodiments, other locations used for placing the empty spool 5 / material roll 7 can also be used as the target location. For ease of explanation, this article uses the machine base 6 as an example for detailed description.

[0066] Specifically, when the material roll 7 is located on the machine base 6, the first bearings 701 on both sides of the material roll 7 are locked in the guide grooves 601 on both sides of the machine base 6 to achieve axial limiting; similarly, when the empty roll 5 is located on the machine base 6, the second bearings 501 on both sides of the empty roll 5 are locked in the guide grooves 601 on both sides of the machine base 6 to achieve axial limiting.

[0067] In a specific implementation, the first bearing part 305 provided on the swivel arm 302 includes a first limiting groove for horizontally supporting the empty reel 5, and the first limiting groove is rotatably connected to the swivel arm 302.

[0068] Furthermore, the transport device also includes a first gear 303 and a second gear 304. Specifically: the first gear 303 is fixedly connected to the body 1, and the rotation center axis of the rotating arm 302 is collinear with the center axis of the first gear 303; the second gear 304 is fixedly connected to the first bearing part 305 and rotatably connected to the rotating arm 302, and the rotation center axis of the second gear 304 is parallel to the rotation center axis of the rotating arm 302; and the first gear 303 and the second gear 304 are drive-connected, such that when the rotating arm 302 rotates by an angle α relative to the first gear 303, the second gear 304 rotates by an angle -α relative to the rotating arm 302.

[0069] Specifically, please see Figure 2 As shown in the angle analysis diagram, if the rotating arm 302 rotates counterclockwise by an angle a relative to the body 1, then the first bearing part 305 rotates clockwise by an angle a relative to the rotating arm 302, which can ensure that the first bearing part 305 can always maintain horizontal support for the empty roll 5 and prevent the empty roll 5 from rolling off.

[0070] Therefore, as long as the first bearing part 305 is rotatably connected to the rotating arm 302, the transmission ratio between the first gear 303 and the second gear 304 is 1:1, and the rotation directions of the second gear 304 and the rotating arm 302 are opposite, the first limiting groove (or the support surface for placing the empty spool 5) of the first bearing part 305 can remain horizontal during the rotation of the rotating arm, preventing the empty spool 5 from falling off. Moreover, since the empty spool 5 is placed on the first bearing part 305 from top to bottom, it is very convenient to place the empty spool 5 on the machine base 6.

[0071] For specific implementation details, please refer to [link / reference]. Figure 3 and Figure 4The first gear 303 and the second gear 304 are connected by multiple gear transmissions. The number of gears and the transmission ratio between the first gear 303 and the second gear 304 can have various design variations, therefore this invention does not impose a specific limitation. Generally, it is necessary to ensure that the final transmission ratio between the first gear 303 and the second gear 304 is 1:1, and that there is an odd number of transmission shafts between the first gear 303 and the second gear 304 to ensure that the second gear 304 and the rotating arm 302 rotate in opposite directions.

[0072] For specific implementation details, please refer to [link / reference]. Figure 1 The first gear 303 is fixedly installed on the side of the column 102. In addition, a mounting base 301 is provided on the side of the column 102, and the rotating arm 302 is rotatably mounted on the mounting base 301.

[0073] Please see Figure 1 In a preferred embodiment, the material receiving mechanism 2 includes a second bearing portion 203 for receiving the material roll 7, and a second driving mechanism for controlling the movement of the second bearing portion 203. The second driving mechanism controls the second bearing portion 203 to move along the guide mechanism from a second initial position to a target position, and also controls the second bearing portion 203 to reset.

[0074] It should be noted that the "target position" mentioned in this paragraph is the same as the target position mentioned above. It refers to the position where the empty roll 5 is placed on the machine 6, which is also the position where the material roll 7 is on the machine 6. This position is also the target position for the second carrier 203 to pick up the material roll 7 after it moves.

[0075] Furthermore, it should be noted that the "second initial position" mentioned in this article refers to the position of the second carrier unit 203 before it picks up the material roll 7 during transportation, and also the position that the second carrier unit 203 returns to after picking up the material roll 7. Generally, as... Figure 1 As shown, at this time, the second support part 203 is located in the "first initial position", which is located above the chassis 101 of the body 1.

[0076] Specifically, please see Figure 1 The guiding mechanism for guiding the movement of the second support unit 203 includes a longitudinal guide rail 202 and a vertical guide rail 201. The longitudinal guide rail 202 is slidably mounted on the vertical guide rail 201 via a slider 221. Specifically, the longitudinal guide rail 202 guides the second support unit 203 to move horizontally, i.e., to extend and retract forward and backward; the vertical guide rail 201 is mounted on the machine body 1 and guides the longitudinal guide rail 202 to move vertically along with the second support unit 203, facilitating the vertical lifting and lowering of the material roll 7.

[0077] In specific implementation, the second carrying unit 203 is controlled to move along the guide mechanism by a second drive mechanism. This second drive mechanism includes a drive mechanism for controlling the horizontal movement of the second carrying unit 203 along the longitudinal guide rail 202, and a drive mechanism for controlling the vertical movement of the second carrying unit 203 along the vertical guide rail 201. Thus, by controlling the vertical lifting / horizontal extension / retraction of the second carrying unit 203, it is possible to control the second carrying unit 203 to move from the second initial position to the position (i.e., the target position) of the material roll 7 located on the machine platform 6, and to control the second carrying unit 203 to return to the second initial position after picking up material, ultimately achieving automatic loading and unloading.

[0078] Furthermore, the second support unit 203 is provided with a second limiting groove 231 for horizontally supporting the material roll 7; the machine body 1 is provided with a third limiting groove 121 for placing the material roll 7; when the second support unit 203 is in the second initial position, the second limiting groove 231 is located directly below the third limiting groove 121. Thus, the third limiting groove 121 provides sufficient load-bearing capacity for the material roll 7, preventing excessive weight of the material roll 7 from damaging the material handling mechanism 2 during long-term transportation. Moreover, when the second support unit 203 retracts back to the second initial position after collecting the material roll 7 from the machine platform 6, it precisely places the material roll 7 within the third limiting groove 121.

[0079] In practice, the transport device is generally equipped with a navigation system. The navigation system is used to control the transport device to automatically move to the vicinity of the machine platform 6 according to a preset path, and then pick up the material roll 7 / place the empty roll 5. However, since the walking mechanism of the transport device generally uses soft and easily damaged polyurethane wheels, the construction ground on which it travels is generally relatively rough and the control precision is low. In addition, due to other uncontrollable factors, when the transport device moves to the picking position near the machine platform 6 to pick up the material roll 7 or place the empty roll 5, there is often a positional deviation of about ±5mm. This results in a large deviation in the action of picking up and placing materials, which is not conducive to the smooth progress of picking up and placing materials. It may even require manual adjustment of the position of the transport device before picking up and placing materials, or manual assistance in picking up and placing materials.

[0080] Therefore, to further ensure the accuracy of material handling during the transport device's loading and unloading, the transport device provided in this embodiment of the invention also employs a positioning system. The positioning system is used to detect the positional deviation (obtaining the deviation distance value) between the navigation termination position and the standard material handling position, and to adjust the movement of the transport device to reduce this positional deviation.

[0081] It should be noted that the "navigation termination position" mentioned in this article refers to the actual position of the transport device when it automatically moves and stops near machine 6 according to the navigation system. Therefore, the navigation termination position is generally located near machine 6, which is also near the target position mentioned in this article. Moreover, the transport device located at the navigation termination position often experiences significant movement deviations when picking up the material roll 7 from machine 6 and when placing the empty roll 5 on machine 6.

[0082] Furthermore, it should be noted that the "standard picking position" mentioned in this article refers to the ideal state where the conveyor device has no operational deviation when picking up the material roll 7 from the machine 6 and placing the empty roll 5 on the machine 6. The position of the conveyor device at this time is the "standard picking position". Therefore, the positional deviation of the conveyor device is zero when it is located at the standard picking position.

[0083] Therefore, the "detection of positional deviation between navigation stop position and standard pick-up position" mentioned in this article actually refers to detecting the positional deviation of the transport device at the navigation stop position relative to its position at the standard pick-up position. This positional deviation is generally determined by detecting the relative positional deviation between the transport device and the machine.

[0084] Specifically, the body 1 of the transport device includes a chassis 101, a column 102, and a third drive mechanism. The traveling mechanism is located on the lower side of the chassis 101; the material handling mechanism 2 and the material unloading mechanism 3 are both mounted on the column 102; the third drive mechanism is signal-connected to the aforementioned alignment system and can adjust the horizontal movement of the column 102 relative to the chassis 101 according to the positional deviation described above to reduce the positional deviation.

[0085] Specifically, the alignment system includes a QR code label and a QR code camera 4. The QR code label is located on the side of the machine 6 or at another location near the machine 6; the QR code camera 4 is located on the side of the machine body 1 and is used to photograph and measure the QR code label to obtain the positional deviation, and to control the movement of the transport device based on this positional deviation to reduce the positional deviation.

[0086] In practice, the QR code camera 4 can be set on the chassis 101, the column 102, the material roll support frame 301, or any other location on the transport device; the QR code label can be set on the side of the machine 6 or on the ground near the machine 6.

[0087] Please see Figure 1 Generally, the column 102 includes a first column and a second column, both located on the upper side of the chassis 101, and both equipped with a material picking mechanism 2 and a material discharging mechanism 3. Furthermore, the chassis 101 is equipped with a transverse guide rail 103, allowing both the first and second columns to move horizontally along the guide rail 103 to adjust the horizontal position of the material picking mechanism 2 and the material discharging mechanism 3, thereby reducing positional deviations during material picking and discharging.

[0088] In practical implementation, the first and second columns are each controlled by a third drive mechanism, moving horizontally along a set of transverse guide rails 103. This involves two sets of power drives. Servo synchronization ensures stable relative positions and synchronized movement between the first and second columns. Furthermore, the first and second columns can also slide independently along the transverse guide rails 103, allowing for adjustable horizontal distance between them. This enables compatibility with different specifications of roll materials and accommodates empty rolls 5 / material rolls 7 of varying lengths, allowing a single transport device to handle multiple different types of empty rolls 5 / material rolls 7. Alternatively, if this requirement is not present, the first and second columns can be connected as a single integrated structure, controlled by the same third drive mechanism to move horizontally along the same set of transverse guide rails 103, eliminating the need to adjust the horizontal distance between them.

[0089] In summary, the transport device provided in this embodiment of the invention can autonomously move to the material picking position near the machine through an automatic navigation system; through an alignment system, it can perform secondary positioning after the transport device moves to the material picking position near the machine to adjust the positional deviation of the transport device and achieve high-precision positioning, which is conducive to the automatic docking and loading and unloading between the transport device and the machine without the need for manual intervention.

[0090] Specifically, the transportation device provided in this embodiment of the invention includes three main processes in addition to the movement process: secondary positioning, picking up the material roll, and placing the empty roll.

[0091] (I) Secondary Positioning

[0092] When the transport device moves to the vicinity of machine 6 according to the navigation system, the QR code camera 4 can capture the QR code label at the corresponding position, take a picture and measure it to obtain the specific value of the positional deviation of the transport device.

[0093] Subsequently, the third drive mechanism controls the column 102 to move horizontally along the transverse guide rail 103 according to the specific feedback values, adjusting the positional deviation to within the range of ±0.5 to ±1mm to meet the accuracy requirements of the material handling operation.

[0094] After the adjustment of column 102 is completed, QR code camera 4 takes another photo and measures to verify the adjustment results.

[0095] Tests have shown that this alignment system enables the transport device to achieve a positioning accuracy within ±1mm.

[0096] (ii) Picking up the roll

[0097] After confirming that the adjustment results are correct, the second drive mechanism controls the second support unit 203 to extend forward along the longitudinal guide rail 202 to directly below the material roll 7 located on the machine platform 6. Then, it controls the longitudinal guide rail 202 to move the second support unit 203 upward along the vertical guide rail 201 to receive and lift the material roll 7. At this time, based on the code disk of the lifting mechanism that controls the raising and lowering of the second support unit 203 and the preset mechanism values ​​in the vehicle controller, it can be ensured that the material roll 7 passes over the machine platform pressure roller guide plate and other mechanisms.

[0098] Then, the second drive mechanism controls the second bearing part 203 to retract back along the longitudinal guide rail 202 to above the third limiting groove 121, and then controls the second bearing part 203 to fall down along the vertical guide rail 201 to below the third limiting groove 121, that is, to fall back to the second initial position, thereby placing the material roll 7 in the third limiting groove 121, thus completing the automatic loading of the material roll 7.

[0099] (III) Placing an empty scroll

[0100] The process of placing the empty reel 5 onto the machine base 6 uses a separate mechanism, namely the unloading mechanism 3. Please refer to [link to relevant documentation]. Figure 1 The feeding mechanism 3 has two symmetrical parts, which are installed on the left and right columns 102 respectively and move synchronously.

[0101] When the empty spool 5 needs to be placed on the machine base 6, the rotating arm 302 rotates around the axis. At the same time, the angle change of the rotating arm 302 relative to the column 102 is obtained through the first gear 303 fixed on the side of the column 102, and is synchronously transmitted to the second gear 304 through gear transmission, so that the first bearing part 305 always maintains a fixed horizontal angle during the rotation of the rotating arm, thus preventing the empty spool 5 from falling.

[0102] After the swivel arm 302 rotates to a certain angle, the first bearing part 305 moves above the machine base 6 and places the empty spool 5 on the machine base 6.

[0103] After completing the above feeding action, the conveyor moves away from the machine 6 and exits the material picking position, while the column 102 returns to its original position.

[0104] At this point, the empty-to-full exchange of the transport unit is complete.

[0105] Tests show that the transportation device provided in this embodiment of the invention can avoid uncontrollable factors such as soft and easily damaged polyurethane wheels and low-precision building surfaces, and achieve high-precision positioning using the above-mentioned alignment system, ultimately achieving a positioning accuracy of ±1mm.

[0106] To further optimize the above technical solution, the transportation device provided in this embodiment of the invention has a chassis 101 with a convex shape.

[0107] Specifically, please see Figure 1The chassis 101 includes a main body and a protruding part. The main body has a column 102 on its upper side and a traveling mechanism on its lower side. The protruding part extends from the material-picking side of the main body, and support wheels are located on its lower, front, or both sides. During roll changing, the protruding part is closer to the machine base 6 than the main body, and can even extend under the material roll 7 to connect with the machine base without interfering with it. Therefore, when the bearing part of the material-picking mechanism 2 / unloading mechanism 3 extends to the target position and is furthest from the machine body, the center of gravity of the transport device remains within the chassis 101 and maintains a greater than zero balance distance δ (reference) with the support wheels. Figure 8 Therefore, it can be seen that the convex chassis helps the transport device maintain balance during roll changing, making it less prone to tilting or tipping over, and eliminating the need to add counterweights or increase the size of the vehicle body.

[0108] Second specific embodiment

[0109] The second embodiment of the present invention provides a transportation device, which differs from the transportation device in the first embodiment in that it uses laser ranging instead of the QR code camera 09 for secondary precise positioning.

[0110] Specifically, a laser emitter is installed on the transport device, and a boss is installed at the corresponding position of the machine platform 6. When the transport device approaches or passes the machine platform 6, it can generate a wave signal, thereby accurately detecting the relative position between the transport device and the machine platform 6, obtaining the position deviation, and adjusting the transport device according to the actual detected position deviation, so as to reduce the position deviation and achieve the purpose of secondary precise positioning.

[0111] Third specific embodiment

[0112] A second embodiment of the present invention provides a transportation device, which differs from the transportation device in the first embodiment described above only in that:

[0113] The first bearing part 305 is provided with a first limiting groove for supporting the empty spool 5. The first limiting groove and the rotating arm 302 are rotatably connected by a bearing, and the rotation range of the first limiting groove is limited by a limiting structure. During the rotation of the rotating arm 302, the first limiting groove can rotate freely within a preset range, and the empty spool 5 is always located within the first limiting groove under the action of gravity.

[0114] Alternatively, the rotation angle of the rotating arm 302 can be measured by an angle measuring instrument, and the first bearing part 305 can be controlled to rotate in the opposite direction by the same angle value based on the measurement result, so that the first bearing part 305 always maintains horizontal support.

[0115] Alternatively, the empty spool 5 can be automatically clamped and released using a gripper mechanism. That is, the first support part 305 includes grippers and a controller for controlling the grippers to perform clamping and releasing actions.

[0116] In summary, the transport device provided in this embodiment of the invention is suitable for handling heavy rolls of material and can also be used in the lithium battery industry, non-ferrous metal industry, printing and papermaking industry, cable industry, etc.

[0117] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0118] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0119] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A transport device, characterized in that, include: The body (1) includes a chassis (101) with a walking mechanism and a column (102) mounted on the chassis (101); The material handling mechanism (2) is connected to the column (102) and is used to pick up the material roll (7) at the target position; The feeding mechanism (3) is connected to the column (102) and is used to place the empty reel (5) at the target position; The feeding mechanism (3) includes: The swivel arm (302) is rotatably disposed on the outer side of the column (102) and is provided with a first bearing part (305) for placing the empty spool (5); The first driving mechanism is used to control the rotating arm (302) to rotate relative to the column (102) to move the empty spool (5) from the first initial position to the target position, or to control the rotating arm (302) to reset. The material handling mechanism (2) includes: The second support part (203) is located inside the column (102) and is used to receive the material roll (7); The guiding mechanism includes a longitudinal guide rail (202) and a vertical guide rail (201); the vertical guide rail (201) is installed on the inner side of the column (102) and is used to guide the longitudinal guide rail (202) to carry the second support part (203) up and down; the longitudinal guide rail (202) is slidably mounted on the vertical guide rail (201) via a slider (221) and is used to guide the second support part (203) to move back and forth; The second drive mechanism is located inside the column (102) and is used to control the second support part (203) to move from the second initial position to the target position along the guide mechanism, or to control the second support part (203) to reset.

2. The transport device according to claim 1, characterized in that, The first support part (305) includes a first limiting groove for horizontally supporting the empty spool (5), and the first limiting groove is rotatably connected to the rotating arm (302).

3. The transport device according to claim 1, characterized in that, It also includes a first gear (303) and a second gear (304); The first gear (303) is fixedly connected to the outer side of the column (102), and the rotation center axis of the rotating arm (302) is collinear with the center axis of the first gear (303); The second gear (304) is fixedly connected to the first bearing part (305) and rotatably connected to the rotating arm (302). The rotation center axis of the second gear (304) is parallel to the rotation center axis of the rotating arm (302). The first gear (303) and the second gear (304) are connected by a transmission. If the rotation angle of the rotating arm (302) relative to the first gear (303) is a, then the rotation angle of the second gear (304) relative to the rotating arm (302) is -a.

4. The transport device according to claim 3, characterized in that, The first gear (303) and the second gear (304) are connected by a plurality of gear transmissions, and the plurality of gears are rotatably connected to the rotating arm (302) respectively.

5. The transport device according to claim 3, characterized in that, The first gear (303) and the second gear (304) are respectively provided with arc-shaped tooth surfaces.

6. The transport device according to claim 1, characterized in that, The second support part (203) is provided with a second limiting groove (231) for horizontally supporting the material roll (7); The column (102) is provided with a third limiting groove (121) for placing the material roll (7); When the second support part (203) is in the second initial position, the second limiting groove (231) is located directly below the third limiting groove (121).

7. The transport device according to claim 1, characterized in that, Also includes: A navigation system for controlling the transport device to move to a navigation termination position, which is located near the target location; The alignment system is used to detect the positional deviation between the navigation stop position and the standard picking position, and to adjust the movement of the transport device to reduce the positional deviation, wherein the positional deviation is zero when the transport device is located at the standard picking position.

8. The transport device according to claim 7, characterized in that, The body (1) also includes: The chassis (101) is equipped with the aforementioned walking mechanism; The third drive mechanism is connected to the alignment system signal and can adjust the horizontal movement of the column (102) relative to the chassis (101) to reduce the position deviation according to the position deviation.

9. The transport device according to claim 8, characterized in that, The alignment system includes: A QR code label is placed on the side of or near the target location; A QR code camera (4) is installed on the column (102) and is signal-connected to the third drive mechanism. It is used to take pictures of the QR code label to obtain the position deviation, and control the column (102) to move horizontally relative to the chassis (101) to reduce the position deviation according to the position deviation.

10. The transport device according to any one of claims 1 to 9, characterized in that, The chassis (101) includes: The main body is provided with the walking mechanism and is connected to the material picking mechanism (2) and the material discharging mechanism (3); The protrusion protrudes from the material-taking side of the main body and is provided with a support wheel.

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