trolley

Abstract

The embodiment of the present disclosure provides a transfer trolley, which comprises a trolley body, a rotating mechanism, a plurality of material receiving rods and a control mechanism. The rotating mechanism comprises a ring-shaped track vertically arranged above the trolley body, a caterpillar arranged along the end surface of the ring-shaped track and a first driving device connected with the caterpillar. The plurality of material receiving rods are arranged at intervals on the side surface of the rotating mechanism, and each of the material receiving rods comprises an inner rod and an outer rod sleeved on the inner rod, and the inner rod is connected with the caterpillar. The docking auxiliary mechanism is arranged beside a docking station on the side surface of the rotating mechanism, and comprises a pushing device and a positioning device. The positioning device is used for determining the position of a target docking position. The control mechanism is used for controlling the movement of the trolley body. The technical scheme of the embodiment of the present disclosure can reduce the size of the transfer trolley and reduce the occupation of a working channel.

Description

Technical Field

[0001] This disclosure relates to the field of chemical fiber production technology, and in particular to a transfer vehicle. Background Technology

[0002] The wire spindles produced by the winding machine need to be unloaded and transferred. When the whole wire spindle is taken out of the winding machine at once, a receiving rod with a width equivalent to that of the whole wire spindle is required to connect with the wire rod of the winding machine in the same direction. This results in the entire wire receiving and transfer mechanism or transfer car being too wide, which seriously occupies the working passage during operation, making it impossible for personnel and other receiving mechanisms to pass through. Summary of the Invention

[0003] This disclosure provides a transfer vehicle to solve or alleviate one or more technical problems in the prior art.

[0004] As one aspect of this disclosure, an embodiment of this disclosure provides a transfer vehicle, including:

[0005] Vehicle body;

[0006] The rotating mechanism includes a circular track vertically disposed above the vehicle body, a track disposed along the end face of the circular track, and a first drive device connected to the track; wherein the track can rotate around the circular track under the drive of the first drive device.

[0007] Multiple receiving rods are spaced apart on the side of the rotating mechanism. Each receiving rod includes an inner rod and an outer rod sleeved on the inner rod. The inner rod is connected to the track.

[0008] The docking auxiliary mechanism is located next to the docking station on the side of the rotating mechanism. It includes a pushing device and a positioning device. The positioning device is used to determine the orientation of the target docking position. The pushing device includes a push-pull rod and a second drive device. The rear end of the push-pull rod is connected to the second drive device. When the receiving rod rotates to the docking station, the second drive device drives the front end of the push-pull rod to push the outer rod to move horizontally together, so that the outer rod moves to the target docking position to pick up the material to be transferred.

[0009] The control mechanism is electrically connected to the vehicle body and the positioning device, respectively, and is used to control the movement of the vehicle body and adjust the position of the vehicle body according to the orientation of the target docking position so that the docking station is aligned with the target docking position.

[0010] In one embodiment, the rear end of the outer rod is provided with a boss. When the receiving rod rotates to the docking position, the front end of the push-pull rod corresponds to the position of the boss. The second driving device drives the front end of the push-pull rod to extend horizontally and push the boss to achieve horizontal displacement of the outer rod.

[0011] In one embodiment, the outer rod includes multiple expansion pieces with arc-shaped cross-sections. The rear ends of the expansion pieces are connected to each other, while the front ends are separated from each other. The rear ends of the expansion pieces are connected to a boss. When the outer rod and the inner rod are in a first state, the front ends of the multiple expansion pieces retract and move closer together. When the outer rod and the inner rod are in a second state, the front ends of the multiple expansion pieces move further apart, thereby increasing the diameter of the outer rod.

[0012] In one embodiment, the inner rod has a conical portion at its front end, which is slidably disposed inside the outer rod. The diameter of the conical portion gradually increases from the front end to the rear end. The thickness of the expansion piece gradually decreases from the front end to the rear end, such that the inner diameter of the front end of the outer rod is smaller than the inner diameter of the rear end. When the rear end of the outer rod slides to the conical portion of the inner rod, the outer rod and the inner rod are in a first state. When the front end of the outer rod slides to the conical portion of the inner rod, the outer rod and the inner rod are in a second state.

[0013] In one embodiment, the pushing device further includes a push-pull groove disposed at the front end of the push-pull rod. The push-pull groove is arranged parallel to the movement direction of the receiving rod at the docking station. When the receiving rod moves to the docking station, the lower part of the protrusion of the receiving rod is placed in the push-pull groove.

[0014] In one embodiment, the docking auxiliary mechanism includes a first housing, a pushing device and a positioning device disposed within the first housing, and the first housing is disposed between the vehicle body and the rotating mechanism.

[0015] In one embodiment, a mounting groove is provided on the side of the first housing near the front end of the outer rod, and a positioning device is provided on the first inclined surface of the mounting groove, with the first inclined surface facing the front end of the outer rod. The positioning device includes a camera.

[0016] In one embodiment, a first connecting post is provided between the inner rings of the circular track, and the first connecting post is connected to the vehicle body through a second connecting post.

[0017] In one embodiment, the first drive unit is disposed in a second housing between the vehicle body and the rotating mechanism.

[0018] The embodiments disclosed herein employ the above-described technical solution to reduce the size of the transfer vehicle and decrease the occupancy of the work passage.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. Further aspects, embodiments, and features of this disclosure will become readily apparent from the accompanying drawings and the following detailed description, in addition to the illustrative aspects, embodiments, and features described above. Attached Figure Description

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments provided according to this disclosure and should not be construed as limiting the scope of this disclosure.

[0021] Figure 1 A perspective structural diagram of a transfer vehicle according to an embodiment of the present disclosure is shown.

[0022] Figure 2 A side cross-sectional view of the docking station of the transfer vehicle according to an embodiment of the present disclosure is shown.

[0023] Explanation of reference numerals in the attached drawings: 10, vehicle body; 20, rotating mechanism; 21, circular track; 22, track; 30, docking auxiliary mechanism; 31, pushing device; 32, positioning device; 33, first housing; 311, push-pull rod; 312, second drive device; 313, push-pull groove; 314, limiting block; 40, first drive device; 50, receiving rod; 51, inner rod; 52, boss; 53, outer rod; 511, conical part; 531, expanding plate; 60, docking station. Detailed Implementation

[0024] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0025] Figure 1 A perspective structural diagram of a transfer vehicle according to an embodiment of the present disclosure is shown. Figure 1 As shown, the transfer vehicle includes:

[0026] Vehicle body 10.

[0027] In this embodiment, the vehicle body can be an Automated Guided Vehicle (AGV), such as an inertial navigation AGV, a QR code navigation AGV, a laser navigation AGV, or a GPS navigation AGV. The vehicle body 10 is used to move to a designated receiving position according to a receiving instruction; any vehicle body with this capability can be used as the vehicle body in this embodiment. The receiving position, also known as the target docking position, is typically the drop position of the material to be transferred. In one example, the target docking position is the drop position of the winding machine in a chemical fiber production equipment.

[0028] The rotating mechanism 20 includes an annular track 21 vertically disposed above the vehicle body 10, a track 22 disposed along the end face of the annular track 21, and a first drive device 40 connected to the track 22. The track 22 can rotate around the annular track 21 under the drive of the first drive device 40.

[0029] In this embodiment, the long side of the rotating mechanism 20 is aligned with the long side of the vehicle body 10 and is positioned close to one edge of the short side of the vehicle body 10. This allows the rotating mechanism 20 to be closer to the target docking position when receiving materials to be transferred; this direction is referred to as the docking direction. During material reception, the long sides of the vehicle body 10 and the rotating mechanism 20 are perpendicular to the screw direction of the winding machine, meaning the docking direction is the short side of the vehicle body, reducing the size and space occupied by the vehicle body in the docking direction.

[0030] The annular track 21 in the rotating mechanism 20 can be in the shape of a rounded rectangle, a straight-sided ellipse, a circle, or other annular shapes. The annular track 21 is set vertically, which can make full use of the vertical space and reduce the length of the transfer car. This is to reduce the obstruction of the drop position of other winding machines when multiple adjacent winding machines need to unload at the same time.

[0031] In one example, the circular track 21 has inner and outer layers, with the track 22 sandwiched between them. In another example, the track 22 is positioned on either the inner or outer ring of the circular track 21. The track 22 can slide on the circular track 21 without separating from it. The track 22 comprises multiple interconnected links (also called plates or links) that form a loop. Each link has a certain degree of curvature to accommodate the curves of the circular track 21. These links can be made of metal, rubber, or other materials.

[0032] Multiple receiving rods 50 are spaced apart on the side of the rotating mechanism 20. Each receiving rod 50 includes an inner rod 51 and an outer rod 53 sleeved on the inner rod 51. The inner rod 51 is connected to the track 22.

[0033] In this embodiment, multiple receiving rods are equally spaced on the side of the rotating mechanism 20, specifically, on the side facing the docking direction. The inner rod 51 is fixedly connected to the track 22. The number of receiving rods 50 matches the number of materials to be transferred at one time. In one example, the winding machine can produce 12 spindles of wire simultaneously, meaning that 12 spindles of wire need to be transferred at one time, so the number of docking rods 50 is at least 12.

[0034] The docking auxiliary mechanism 30 is located beside the docking station 60 on the side of the rotating mechanism 20. It includes a pushing device 31 and a positioning device 32. The positioning device 32 is used to determine the orientation of the target docking position. The pushing device 31 includes a push-pull rod 311 and a second driving device 312. The rear end of the push-pull rod 311 is connected to the second driving device 312. When the receiving rod 50 rotates to the docking station 60, the second driving device 312 drives the front end of the push-pull rod 311 to push the outer rod 53 to move horizontally together, so that the outer rod 53 moves to the target docking position to receive the material to be transferred.

[0035] In this embodiment, the docking station 60 refers to the preparation area for docking the receiving rod 50 with the target docking position. Specifically, the docking station 60 is located at the location of the docking auxiliary mechanism 30. Driven by the rotating mechanism 20, one of the receiving rods 50 reaches the location of the docking auxiliary mechanism 30 and further docks with the target docking position with the assistance of the docking auxiliary mechanism 30. The pushing device 31 is used to drive the outer rod 53 to move back and forth in the aforementioned docking direction. The positioning device 32 can determine the orientation of the target docking position by optical means, and a marker that facilitates optical positioning can be set at the target docking position.

[0036] The control mechanism is electrically connected to the vehicle body 10 and the positioning device 32 respectively. It is used to control the movement of the vehicle body 10 and adjust the position of the vehicle body 10 according to the orientation of the target docking position determined by the positioning device 32, so that the docking station 60 is aligned with the target docking position.

[0037] In this embodiment, after the vehicle body 10 moves to the side of the target winding machine, the control mechanism determines the orientation information of the target docking position through the positioning device 32, generates a position adjustment command and sends it to the vehicle body 10. The vehicle body 10 further adjusts its own position so that the docking station 60 is aligned with the target docking position.

[0038] According to the embodiments of this disclosure, the transfer cart used for wire splicing is changed from splicing the entire wire along the longitudinal direction of the winding machine screw to splicing the wire one by one in the vertical direction. This reduces the lateral dimension of the wire splicing transfer cart and decreases its occupation of the working channel. At the same time, the vertical dimension of the transfer cart is also reduced by rotating the receiving rod cyclically in the vertical direction through the rotating mechanism. This significantly reduces the overall size of the transfer cart, making it more flexible to move within a limited space.

[0039] In one embodiment, the rear end of the outer rod 53 is provided with a boss 52. When the receiving rod 50 rotates to the docking position 60, the front end of the push-pull rod 311 corresponds to the position of the boss 52. The second driving device 312 drives the front end of the push-pull rod 311 to extend horizontally and push the boss 52 to achieve horizontal displacement of the outer rod 53.

[0040] It should be noted that the terms "front-end," "back-end," and "front side" in the following text refer to the direction of docking. During docking, the direction facing the target docking position is the front-end, and the opposite direction is the back-end.

[0041] In this embodiment, the boss 52 is used to cooperate with the push-pull rod 311 to obtain the driving force of the second driving device 312. A magnetic switch, optical switch, limit switch, or other means can be installed on the docking station 50 to detect whether the boss 52 has reached the docking station 50.

[0042] In one embodiment, the outer rod 53 includes multiple expansion pieces 531 with arc-shaped cross-sections. The rear ends of the expansion pieces 531 are connected to each other, while their front ends are separated. The rear ends of the expansion pieces 531 are connected to the boss 52. When the outer rod 53 and the inner rod 51 are in a first state, the front ends of the multiple expansion pieces 531 contract and move closer together. When the outer rod 53 and the inner rod 51 are in a second state, the front ends of the multiple expansion pieces 531 move further apart, thereby increasing the diameter of the outer rod 53.

[0043] In this embodiment, after the outer rod 53 receives the material to be transferred (spindle), the spindle is a disc-shaped object with a central hole. When the spindle's central hole is fitted onto the outer rod 53, the diameter of the front end of the outer rod can be increased to prevent the spindle from slipping off. Specifically, when the outer rod extends for docking (first state), the diameter of the front end of the outer rod should be smaller than the diameter of the spindle's central hole. When the outer rod retracts (second state), the diameter of the front end of the outer rod should be greater than or equal to the diameter of the spindle's central hole, thereby confining the spindle to the receiving rod 50.

[0044] In one implementation, such as Figure 2 As shown, the inner rod 51 has a conical portion 511 at its front end, which is slidably disposed inside the outer rod 53. The diameter of the conical portion 511 gradually increases from the front end to the rear end. The thickness of the expansion piece 531 gradually decreases from the front end to the rear end, making the inner diameter of the front end of the outer rod 53 smaller than the inner diameter of the rear end. Specifically, when the rear end of the outer rod 53 slides to the conical portion 511 of the inner rod 51, the outer rod 53 and the inner rod 51 are in a first state. When the front end of the outer rod 53 slides to the conical portion 511 of the inner rod 51, the outer rod 53 and the inner rod 51 are in a second state.

[0045] In this embodiment, the expansion plate of the outer rod cooperates with the conical part of the inner rod to open and close the expansion plate, thereby changing the diameter of the front end of the outer rod, so that the receiving rod can fix the wire spindle on the receiving rod after obtaining the wire spindle.

[0046] In one embodiment, the pushing device 31 further includes a push-pull groove 313 disposed at the front end of the push-pull rod 311. The push-pull groove 313 is arranged parallel to the movement direction of the receiving rod 50 at the docking station 60. When the receiving rod 50 moves to the docking station 60, the lower part of the protrusion 52 of the receiving rod 50 is placed in the push-pull groove 313.

[0047] In this embodiment, the lower part of the boss 52 is placed within the push-pull groove 313, which allows the push-pull rod to drive the boss and the outer rod more stably. In one example, the groove direction of the push-pull groove 313 is parallel to the track movement direction at the docking station. A limiting block 314 can be set downstream of the push-pull groove in the track movement direction. The limiting block 314 is located on the front or rear side of the inner surface of the push-pull groove 313, and an opening larger than the width of the boss 52 is maintained between the limiting block and the opposite side of the push-pull groove. Since the receiving rod 50 moves along a circular track on a fixed line, the front and rear positions of the push-pull groove 313 can be changed to place the limiting block 314 on or off the movement path of the boss, thereby blocking or releasing the receiving rod 50. Alternatively, the receiving rod 50 can be kept in a fixed position at the docking station 60 for accurate docking.

[0048] In one embodiment, the docking auxiliary mechanism 30 includes a first housing 33, a pushing device 31 and a positioning device 32 disposed within the first housing 33, and the first housing 33 is disposed between the vehicle body 10 and the rotating mechanism 20.

[0049] In this embodiment of the present disclosure, the first housing 33 serves not only to house the pushing device and the positioning device, but also as a supporting component for the rotating mechanism.

[0050] In one embodiment, a mounting groove is provided on the side of the first housing 33 near the front end of the outer rod 53, and a positioning device 32 is disposed on the first inclined surface of the mounting groove, the first inclined surface being disposed towards the front end of the outer rod 53, and the positioning device 32 includes a camera.

[0051] In this embodiment, the first inclined surface faces the front end of the outer rod 53, so that the camera mounted thereon also faces the front end of the outer rod 53, thereby providing a more convenient angle and a better field of view when shooting and identifying the target docking position.

[0052] In one embodiment, a first connecting post is provided between the inner rings of the circular track 21, and the first connecting post is connected to the vehicle body 10 through a second connecting post.

[0053] In this embodiment, the first connecting column is used to enhance the structural strength of the upper and lower parts of the circular track, and the second connecting column is used to enhance the stability of the entire rotating mechanism in the vertical direction.

[0054] In one example, a set of rotating mechanisms 20, a docking auxiliary mechanism 30, a first drive device 40, and multiple receiving rods 50 are respectively provided on both sides of the short side of the vehicle body 10, so that both sides of the vehicle body 10 can be used for receiving materials, doubling the material receiving capacity of the transfer vehicle. The two sets of rotating mechanisms 20 can be connected by a connecting column.

[0055] In one embodiment, the first drive unit 40 is disposed in a second housing between the vehicle body 10 and the rotating mechanism 20.

[0056] In this embodiment, the second housing serves to house the first drive device 40 and also acts as a support component for the rotating mechanism 20. The annular track 21 and the second housing have openings at their connection point, allowing the track 22 to connect to the first drive device 40.

[0057] In one embodiment, the control mechanism may be located inside the first housing 33, and the control mechanism is electrically connected to the first drive device 40 and the second drive device 312.

[0058] In the description of this specification, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0060] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0061] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0062] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements have been described above. Of course, these are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0063] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this disclosure, and these should all be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A transfer vehicle, comprising: a vehicle body; a rotating mechanism, comprising a ring track vertically arranged above the vehicle body, a track belt arranged along an end surface of the ring track, and a first driving device connected with the track belt; wherein the track belt is rotatable around the ring track under the driving of the first driving device; a plurality of material receiving rods, which are arranged at intervals on the side of the rotating mechanism, and each of the material receiving rods comprises an inner rod and an outer rod sleeved on the inner rod, and the inner rod is connected with the track belt; a docking assisting mechanism, which is arranged beside a docking station on the side of the rotating mechanism, and comprises a pushing device and a positioning device; the positioning device is used for determining the orientation of a target docking position; the pushing device comprises a push-pull rod and a second driving device, the rear end of the push-pull rod is connected with the second driving device, when the material receiving rod rotates to the docking station, the second driving device drives the front end of the push-pull rod to push the outer rod to move horizontally, so that the outer rod moves to the target docking position to receive the material to be transferred; a control mechanism, which is electrically connected with the vehicle body and the positioning device respectively, and is used for controlling the movement of the vehicle body, and adjusting the position of the vehicle body according to the orientation of the target docking position, so that the docking station is aligned with the target docking position; wherein the rear end of the outer rod is provided with a boss, when the material receiving rod rotates to the docking station, the front end of the push-pull rod corresponds to the position of the boss, the second driving device drives the front end of the push-pull rod to extend horizontally and push the boss, so as to drive the outer rod to move horizontally; wherein the outer rod comprises a plurality of arc-shaped expansion pieces, the rear ends of the expansion pieces are connected with each other, and the front ends of the expansion pieces are separated from each other, the rear ends of the expansion pieces are connected with the boss, when the outer rod and the inner rod are in a first state, the front ends of the expansion pieces are contracted and close to each other, when the outer rod and the inner rod are in a second state, the front ends of the expansion pieces are away from each other, so as to increase the diameter of the outer rod; wherein the front end of the inner rod has a conical part, the conical part is slidably arranged in the inner part of the outer rod, the diameter of the conical part gradually increases from the front end to the rear end, the thickness of the expansion piece gradually decreases from the front end to the rear end, so that the inner diameter of the front end of the outer rod is smaller than the inner diameter of the rear end of the outer rod; when the rear end of the outer rod slides to the conical part of the inner rod, the outer rod and the inner rod are in the first state; when the front end of the outer rod slides to the conical part of the inner rod, the outer rod and the inner rod are in the second state.

2. The transfer cart of claim 1, wherein, The pushing device further comprises a push-pull groove arranged at the front end of the push-pull rod, the push-pull groove is arranged in parallel with the movement direction of the material receiving rod at the docking station, when the material receiving rod moves to the docking station, the boss of the material receiving rod is arranged in the push-pull groove.

3. The transfer cart of claim 1, wherein, The docking assisting mechanism comprises a first box, the pushing device and the positioning device are arranged in the first box, and the first box is arranged between the vehicle body and the rotating mechanism.

4. The transfer cart of claim 3, wherein, The first box is provided with a mounting groove near the side of the front end of the outer rod, the positioning device is arranged on a first inclined surface of the mounting groove, the first inclined surface is arranged towards the front end of the outer rod, and the positioning device comprises a camera.

5. The transfer cart of claim 1, wherein, First connecting columns are arranged between inner rings of the annular track, and the first connecting columns are connected with the vehicle body through second connecting columns.

6. The transfer cart of claim 1, wherein, The first driving device is arranged in a second box between the vehicle body and the rotating mechanism.

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