Automatic loading, unloading and carrying AGV for polar roll

Abstract

The present application belongs to the technical field of polar roll feeding and discharging in new energy industry, and particularly relates to a polar roll automatic feeding, discharging and carrying AGV. The AGV comprises a vehicle body, a three-degree-of-freedom rectification system, a lifting mechanism, a telescopic spindle mechanism and a pushing mechanism. The three-degree-of-freedom rectification system is arranged on the vehicle body and has the degrees of freedom of X, Y direction movement and rotation around the Z axis. The lifting mechanism is arranged on the three-degree-of-freedom rectification system and has the degree of freedom of Z direction movement. The telescopic spindle mechanism is arranged on the lifting mechanism and is used for carrying the polar roll and has the degree of freedom of Y direction telescopic movement. The pushing mechanism is arranged on the telescopic spindle mechanism and is used for pushing the polar roll carried by the telescopic spindle mechanism. The present application can walk in all directions, carry the polar roll and the empty roll at the same time at one time, and place the polar roll at a remote buffer position, so as to satisfy the economic and efficient AGV carrying system of the layout mode of "one support and two materials".

Description

Technical Field

[0001] This invention belongs to the field of electrode roll loading and unloading technology in the new energy industry, and specifically relates to an AGV for automatic loading, unloading and handling of electrode rolls. Background Technology

[0002] In the new energy industry, the process of loading and unloading electrode coils along the machine axis is often carried out by manual OHT (overhead traveling transport vehicle). This equipment is expensive, occupies vertical space, and affects the installation and layout of the machine. Labor costs and training fees are rising year by year, and on-site personnel may not be able to respond to material needs in a timely manner, resulting in wasted cycle time. In recent years, automatic OHT has been gradually promoted, but it still cannot solve the fundamental problems of cost and space of steel structure equipment.

[0003] In response to this, some manufacturers have launched AGVs for automatic electrode coil feeding, which use differential wheel chassis and carry one electrode coil at a time. This results in low efficiency, limited functionality, and inability to adapt to the "one-carry-two-materials" layout commonly found in buffer stations. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide an automatic electrode roll feeding, unloading, and handling AGV to solve the problems of low working efficiency and limited functionality of existing automatic electrode roll feeding AGVs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides an automated guided vehicle (AGV) for loading, unloading, and transporting electrode rolls, comprising a vehicle body, a three-degree-of-freedom (DOF) correction system, a lifting mechanism, a telescopic spindle mechanism, and a pushing mechanism. The three-DOF correction system is mounted on the vehicle body and has degrees of freedom for movement in the X and Y directions and rotation about the Z axis. The lifting mechanism is mounted on the three-DOF correction system and has a degree of freedom for movement along the Z direction. The telescopic spindle mechanism is mounted on the lifting mechanism and is used to carry the electrode rolls, and has a degree of freedom for extension and retraction along the Y direction. The pushing mechanism is mounted on the telescopic spindle mechanism and is used to push out the electrode rolls carried by the telescopic spindle mechanism.

[0007] The telescopic spindle mechanism includes a spindle, a telescopic guide rail, a guide slider, and a telescopic drive mechanism. The guide slider is disposed on the lifting mechanism, the telescopic guide rail is disposed on the spindle along the length direction of the spindle, the spindle is arranged along the Y direction and slides with the guide slider through the telescopic guide rail, and the telescopic drive mechanism is disposed between the lifting mechanism and the spindle for driving the spindle to extend and retract along the Y direction.

[0008] The top of the spindle is provided with at least one row of balls along its length; both ends of the spindle are provided with lifting stop pin mechanisms, which are used to limit the polar roll.

[0009] The main shaft has a U-shaped cross-section, and the balls are arranged on the top of both sides of the main shaft; the lifting stop pin mechanism is housed inside the U-shaped groove of the main shaft.

[0010] Visual recognition components are provided on both sides of the main shaft.

[0011] The feeding mechanism includes a guide rod, a feeding plate, a spring, and a feeding drive component. The guide rod is located at the bottom of the main shaft and is parallel to the main shaft. The feeding plate is slidably connected to the guide rod. The feeding drive component is located at the bottom of the main shaft and its output end is connected to the feeding plate. The spring is located between the feeding plate and the feeding drive component.

[0012] The three-degree-of-freedom correction system includes a Y-axis correction drive mechanism, an X-axis correction drive mechanism, and a rotary correction drive mechanism connected sequentially from bottom to top. The Y-axis correction drive mechanism has a degree of freedom of linear motion along the Y direction, the X-axis correction drive mechanism has a degree of freedom of linear motion along the X direction, and the rotary correction drive mechanism has a degree of freedom of rotation around the Z-axis.

[0013] The rotary correction drive mechanism includes a rotary motor, a rotary drive pinion, a rotary drive gear, and a turntable. The turntable and the rotary motor are both mounted on the X-axis correction drive mechanism, and the turntable is rotatable. The rotary drive gear is coaxially mounted with the turntable, and the rotary drive pinion is mounted on the output shaft of the rotary motor and meshes with the rotary drive gear. The lifting mechanism is mounted on the turntable.

[0014] The lifting mechanism includes a column, a lifting guide rail, a lifting drive assembly, and a lifting seat. The bottom of the column is connected to the three-degree-of-freedom correction system. The lifting guide rail is laid on the column along the Z-direction. The lifting seat is slidably engaged with the lifting guide rail. The lifting drive assembly is mounted on the column and connected to the lifting seat. The lifting drive assembly is used to drive the lifting seat to perform lifting movements. The telescopic spindle mechanism is mounted on the lifting seat.

[0015] The vehicle body is equipped with a walking mechanism at its lower part, and a navigation system is located on both sides of the vehicle body.

[0016] The advantages and beneficial effects of this invention are:

[0017] The present invention provides an automatic feeding, unloading and transporting AGV for polar rolls, which can travel in all directions and transport polar rolls and empty rolls at the same time. It can also place polar rolls in a remote buffer position, which is an economical and efficient AGV transport system that meets the "one-carry-two-materials" layout. Attached Figure Description

[0018] Figure 1 This is an isometric view of an AGV for automatic feeding, unloading, and handling of polar rolls according to the present invention.

[0019] Figure 2This is a front view of an AGV for automatic feeding, unloading, and handling of polar rolls according to the present invention.

[0020] Figure 3 for Figure 2 The left view;

[0021] Figure 4 This is a schematic diagram of the lifting column in this invention;

[0022] Figure 5 This is a schematic diagram of the docking of an AGV for automatic feeding, unloading, and handling of polar rolls with a frame according to the present invention.

[0023] In the diagram: 1-Car body, 2-Y-axis correction drive mechanism, 3-X-axis correction drive mechanism, 4-Lifting mechanism, 401-Column, 402-Lifting guide rail, 403-Lifting motor, 404-Lifting seat, 5-Main shaft, 6-Lifting stop pin mechanism, 7-Ball bearing, 8-Telescopic guide rail, 9-Pushing mechanism, 901-Guide rod, 902-Pushing plate, 903-Spring, 904-Pushing drive component, 10-Guide slider, 11-Rotary correction drive mechanism, 111-Rotary motor, 112-Rotary drive pinion, 113-Rotary drive gear, 12-Navigation system, 13-Telescopic drive mechanism, 131-Telescopic motor, 132-Telescopic drive gear, 133-Telescopic drive rack, 14-Pole roll, 15-Buffer rack. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1-3 As shown, this invention provides an automated AGV for loading, unloading, and transporting electrode rolls, including a vehicle body 1, a three-degree-of-freedom (DOF) correction system, a lifting mechanism 4, a telescopic spindle mechanism, and a pushing mechanism 9. The three-DOF correction system is mounted on the vehicle body 1 and has degrees of freedom for movement in the X and Y directions and rotation around the Z axis. The lifting mechanism 4 is mounted on the three-DOF correction system and has a degree of freedom for movement along the Z direction. The telescopic spindle mechanism is mounted on the lifting mechanism 4 and is used to carry the electrode rolls, and has a degree of freedom for extension and retraction along the Y direction. The pushing mechanism 9 is mounted on the telescopic spindle mechanism and is used to push out the electrode rolls carried by the telescopic spindle mechanism.

[0026] like Figure 3 As shown in the embodiment of the present invention, a traveling mechanism is provided below the vehicle body 1. Specifically, the traveling mechanism includes two rudder-driven wheels and four omnidirectional follower wheels, wherein the two rudder-driven wheels are arranged on both sides of the vehicle body 1, and the four omnidirectional follower wheels are arranged at the four corners of the vehicle body, realizing the AGV's omnidirectional traveling function. The AGV adopts an omnidirectional drive wheel system, which can save space to the maximum extent and improve efficiency in the tunnel.

[0027] Furthermore, navigation systems 12 are installed on both sides of the vehicle body 1. Specifically, the navigation system 12 is a laser contour navigation sensor, which does not damage the ground and requires no additional construction.

[0028] like Figure 1-3 As shown, in an embodiment of the present invention, the three-degree-of-freedom correction system includes a Y-correction drive mechanism 2, an X-correction drive mechanism 3, and a rotary correction drive mechanism 11 connected sequentially from bottom to top. The Y-correction drive mechanism 2 has a degree of freedom to move linearly along the Y direction, the X-correction drive mechanism 3 has a degree of freedom to move linearly along the X direction, and the rotary correction drive mechanism 11 has a degree of freedom to rotate around the Z-axis.

[0029] In this embodiment, both the Y-axis correction drive mechanism 2 and the X-axis correction drive mechanism 3 use a lead screw and nut mechanism in conjunction with a guide rail and slider mechanism to achieve linear drive function. Other existing drive mechanisms capable of linear motion can also be used, and no limitation is made here.

[0030] like Figure 4 As shown, in an embodiment of the present invention, the rotary correction drive mechanism 11 includes a rotary motor 111, a rotary drive pinion 112, a rotary drive gear 112, and a turntable. The turntable and rotary motor 111 are both mounted on the X-axis correction drive mechanism 3, and the turntable is rotatable. The rotary drive gear 112 is coaxially mounted with the turntable, and the rotary drive pinion 112 is mounted on the output shaft of the rotary motor 111 and meshes with the rotary drive gear 112. The lifting mechanism 4 is mounted on the turntable. The rotary motor 111 drives the rotary drive pinion 112 to rotate, thereby driving the turntable and its lifting mechanism 4 to rotate around the Z-axis via the rotary drive gear 112.

[0031] like Figure 4 As shown, in an embodiment of the present invention, the lifting mechanism 4 includes a column 401, a lifting guide rail 402, a lifting drive assembly, and a lifting seat 404. The bottom of the column 401 is connected to a three-degree-of-freedom correction system. The lifting guide rail 402 is laid on the column 401 along the Z-direction. The lifting seat 404 is slidably engaged with the lifting guide rail 402. The lifting drive assembly is disposed on the column 401 and connected to the lifting seat 404, and is used to drive the lifting seat 404 to perform lifting movements. A telescopic spindle mechanism is disposed on the lifting seat 404. Specifically, the lifting drive assembly includes a lifting motor 403, a lead screw, and a lead nut. The lead screw is disposed inside the column 401 along the Z-direction and is rotatable. The lead nut is threadedly connected to the lead screw and is also connected to the lifting seat 404. The lifting motor 403 is disposed at the top of the column 401 and connected to the lead screw. The lifting motor 403 drives the lead screw to rotate, thereby driving the lifting seat 404 to rise and fall via the lead nut.

[0032] like Figure 1-3As shown, in an embodiment of the present invention, the telescopic spindle mechanism includes a spindle 5, a telescopic guide rail 8, a guide slider 10, and a telescopic drive mechanism 13. The guide slider 10 is disposed on the lifting seat 404 of the lifting mechanism 4. The telescopic guide rail 8 is disposed on the spindle 5 along the length direction of the spindle 5. The spindle 5 is arranged along the Y direction and slides with the guide slider 10 through the telescopic guide rail 8. The telescopic drive mechanism 13 is disposed between the lifting mechanism 4 and the spindle 5 and is used to drive the spindle 5 to extend and retract along the Y direction.

[0033] like Figure 4 As shown, in an embodiment of the present invention, the telescopic drive mechanism 13 includes a telescopic motor 131, a telescopic drive gear 132, and a telescopic drive rack 133. The telescopic drive rack 133 is disposed on the main shaft 5 along its length. Preferably, the telescopic drive rack 133 and the telescopic guide rail 8 are respectively disposed on opposite sides of the main shaft 5. The telescopic motor 131 is disposed on the column 401, and the telescopic drive gear 132 is disposed at the output end of the telescopic motor 131 and meshes with the telescopic drive rack 133. The telescopic motor 131 drives the telescopic drive gear 132 to rotate, thereby driving the main shaft 5 to extend and retract along the Y direction via the telescopic drive rack 133.

[0034] In an embodiment of the present invention, at least one row of balls 7 is provided on the top of the main shaft 5 along the length direction to reduce friction between the electrode roll and the main shaft 5; lifting stop pin mechanisms 6 are provided at both ends of the main shaft 5, and both ends of the main shaft 5 can carry the electrode roll. The lifting stop pin mechanisms 6 are used to limit the electrode roll and prevent the electrode roll from falling off.

[0035] Furthermore, the main shaft 5 has a U-shaped cross-section, with ball bearings 7 arranged on both sides of the top of the main shaft 5; the lifting stop mechanism 6 is housed inside the U-shaped groove of the main shaft 5. Specifically, the lifting stop mechanism 6 includes a limiting pin and a driving component, wherein the lower end of the limiting pin is hinged to the main shaft 5 via a rotating shaft, the driving component is located inside the U-shaped groove of the main shaft 5, and its output end is hinged to the limiting pin. When the driving component drives the limiting pin to rotate to a vertical state, the upper end of the limiting pin protrudes from the top of the main shaft 5, thereby limiting the electrode roll; when the driving component drives the limiting pin to rotate until its upper end is lower than the top of the main shaft 5, the limiting of the electrode roll is eliminated.

[0036] Furthermore, visual recognition components are provided on both sides of the main shaft 5. Specifically, the visual recognition components are visual positioning sensors.

[0037] like Figure 2-3 , Figure 5As shown, in an embodiment of the present invention, the pushing mechanism 9 includes a guide rod 901, a pushing plate 902, a spring 903, and a pushing drive component 904. The guide rod 901 is located at the bottom of the main shaft 5 and parallel to it. The pushing plate 902 is slidably connected to the guide rod 901. The pushing drive component 904 is located at the bottom of the main shaft 5, and its output end is connected to the pushing plate 902. The spring 903 is located between the pushing plate 902 and the pushing drive component 904. The pushing drive component drives the pushing plate 902 to slide along the guide rod 901, thereby pushing the electrode roll.

[0038] In embodiments of the present invention, both the vehicle body 1 and the lifting mechanism 4 are equipped with an electrical automatic control system. As an AGV, the present invention offers advantages of rapid and flexible deployment, without occupying workshop space and saving labor costs. During operation, the main shaft 5 can simultaneously carry empty drums and electrode rolls. In a single loading process, the empty drum can be unloaded from the machine via one end of the extendable main shaft 5 after a single stop, and the electrode roll 14 carried by the other end can be pushed onto the machine after rotating the main shaft 5 180°, greatly improving efficiency. The main shaft 5 can independently complete the forward extension action, placing the carried empty drum or electrode roll on either side of the front or rear of the pallet, improving the space utilization rate of the workshop.

[0039] The present invention provides an automatic feeding, unloading and handling AGV for polar coils, the workflow of which is as follows:

[0040] Navigation technology:

[0041] AGV charging technology: AGVs use lithium batteries as their power source. AGVs can stop at dedicated charging stations for online charging to replenish lost power. Online charging of AGVs uses a side-charging method, which reduces metal-to-metal sliding friction of the charging contacts.

[0042] Communication Technology: The AGV control console and the AGV communicate wirelessly, forming a wireless local area network (WLAN). The control console sends system control commands, task scheduling commands, and collision avoidance commands to the AGV via the WLAN. The control console can also receive communication signals from the AGV. The AGV reports the execution status of various commands, its current position, and its current status to the control console via the WLAN.

[0043] AGV console software technology includes AGV vehicle scheduling system, task management system and AGV graphic monitoring system.

[0044] Taking the feeding of coils as an example: Figure 5As shown, the AGV receives instructions from the control console to reach the buffer storage area, docks with the buffer rack 15, and takes away a roll of electrode roll. It then reaches the predetermined position of the loading station on the machine via the navigation system 12. The lifting mechanism 4 raises the main shaft 5 to a preset height, and the visual recognition component confirms the accurate position of the docking shaft. Through the coordinated movement of the three-degree-of-freedom correction mechanism and the lifting mechanism 4, the AGV main shaft end without the electrode roll is aligned with the machine main shaft. The lifting stop mechanism 6 is lowered, and after receiving the empty roll from the machine, the lifting stop mechanism 6 is raised. The lifting mechanism 4 rotates 180° via the three-degree-of-freedom correction mechanism to align the AGV main shaft end with the electrode roll with the machine main shaft. The lifting stop mechanism 6 is raised, and the electrode roll is pushed to the preset position on the machine main shaft via the pushing mechanism 9. The AGV axes are restored, and the empty roll is transported to the buffer rack 15, thus completing one electrode roll loading process.

[0045] This invention is applied in the new energy industry, and is an application solution for the automatic loading, unloading, and handling of electrode rolls by axially connecting with die-cutting, roll splitting, and other machines. It can simultaneously handle electrode rolls and empty rolls, and can place the electrode rolls in a remote buffer position, providing an economical and efficient AGV handling system that meets the "one-carry-two-materials" layout requirement.

[0046] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An automated guided vehicle (AGV) for automatic feeding, unloading, and handling of rolls, characterized in that, The system includes a vehicle body (1), a three-degree-of-freedom correction system, a lifting mechanism (4), a telescopic spindle mechanism, and a pushing mechanism (9). The three-degree-of-freedom correction system is mounted on the vehicle body (1) and has degrees of freedom for movement in the X and Y directions and rotation around the Z axis. The lifting mechanism (4) is mounted on the three-degree-of-freedom correction system and has a degree of freedom for movement along the Z direction. The telescopic spindle mechanism is mounted on the lifting mechanism (4) and is used to carry the pole rolls and has a degree of freedom for extension and retraction along the Y direction. The pushing mechanism (9) is mounted on the telescopic spindle mechanism and is used to push out the pole rolls carried by the telescopic spindle mechanism. The telescopic spindle mechanism includes a spindle (5), a telescopic guide rail (8), a guide slider (10), and a telescopic drive mechanism (13). The guide slider (10) is disposed on the lifting mechanism (4). The telescopic guide rail (8) is disposed on the spindle (5) along the length direction of the spindle (5). The spindle (5) is arranged along the Y direction and slides with the guide slider (10) through the telescopic guide rail (8). The telescopic drive mechanism (13) is disposed between the lifting mechanism (4) and the spindle (5) and is used to drive the spindle (5) to telescopically extend and retract along the Y direction. The feeding mechanism (9) includes a guide rod (901), a feeding plate (902), a spring (903), and a feeding drive component (904). The guide rod (901) is located at the bottom of the main shaft (5) and is parallel to the main shaft (5). The feeding plate (902) is slidably connected to the guide rod (901). The feeding drive component (904) is located at the bottom of the main shaft (5) and its output end is connected to the feeding plate (902). The spring (903) is located between the feeding plate (902) and the feeding drive component (904).

2. The AGV for automatic feeding, unloading, and handling of polar rolls according to claim 1, characterized in that, The top of the main shaft (5) is provided with at least one row of balls (7) along the length direction; the two ends of the main shaft (5) are provided with lifting stop pin mechanisms (6), which are used to limit the polar roll.

3. The AGV for automatic feeding, unloading, and handling of rotary rolls according to claim 2, characterized in that, The main shaft (5) has a U-shaped cross-section, and the balls (7) are arranged on the top of both sides of the main shaft (5); the lifting stop mechanism (6) is housed inside the U-shaped groove of the main shaft (5).

4. The AGV for automatic feeding, unloading, and handling of polar rolls according to claim 1, characterized in that, Visual recognition components are provided on both sides of the main shaft (5).

5. The AGV for automatic feeding, unloading, and handling of polar rolls according to claim 1, characterized in that, The three-degree-of-freedom correction system includes a Y-correction drive mechanism (2), an X-correction drive mechanism (3), and a rotational correction drive mechanism (11) connected sequentially from bottom to top. The Y-correction drive mechanism (2) has a degree of freedom to move linearly along the Y direction, the X-correction drive mechanism (3) has a degree of freedom to move linearly along the X direction, and the rotational correction drive mechanism (11) has a degree of freedom to rotate around the Z-axis.

6. The AGV for automatic feeding, unloading, and handling of rotary rolls according to claim 5, characterized in that, The rotary correction drive mechanism (11) includes a rotary motor (111), a rotary drive pinion (112), a rotary drive gear (113), and a turntable. The turntable and the rotary motor (111) are both mounted on the X correction drive mechanism (3), and the turntable is rotatable. The rotary drive gear (113) is coaxially mounted with the turntable. The rotary drive pinion (112) is mounted on the output shaft of the rotary motor (111) and meshes with the rotary drive gear (113). The lifting mechanism (4) is mounted on the turntable.

7. The AGV for automatic feeding, unloading, and handling of polar rolls according to claim 1, characterized in that, The lifting mechanism (4) includes a column (401), a lifting guide rail (402), a lifting drive assembly, and a lifting seat (404). The bottom of the column (401) is connected to the three-degree-of-freedom correction system. The lifting guide rail (402) is laid on the column (401) along the Z direction. The lifting seat (404) is slidably engaged with the lifting guide rail (402). The lifting drive assembly is set on the column (401) and connected to the lifting seat (404). The lifting drive assembly is used to drive the lifting seat (404) to perform lifting movements. The telescopic spindle mechanism is set on the lifting seat (404).

8. The AGV for automatic feeding, unloading, and handling of rotary rolls according to claim 1, characterized in that, The vehicle body (1) is provided with a walking mechanism at the bottom and a navigation system (12) is provided on both sides of the vehicle body (1).

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